The invention provides a sensing and positioning method of a quadrotor unmanned aerial vehicle carrying millimeter-wave radars, which comprises the following steps: firstly, the unmanned aerial vehicle carries three millimeter-wave radars with different orientations, so that the sensing capability of an unmanned flying platform is improved, and the large-range sensing of the surrounding environment is realized; secondly, processing is carried out according to the input fusion pose and the millimeter wave radar point cloud, that is, point cloud transformation, outlier cloud elimination and 3D point cloud 2D projection are carried out on millimeter wave radar data in sequence, and a two-dimensional local occupation grid map is obtained; then fusing the locally occupied grid map with the old map to obtain a dense global grid containing obstacle information for subsequent use; and finally, the distance from the point to the unmanned aerial vehicle is added into a measurement standard for judging whether the unmanned aerial vehicle is an outlier or not for the first time, and the neighborhood point weight of the point in a plurality of radar coincident detection areas is improved, so that the outlier can be better deleted, and the sensing precision is improved.
本发明提供一种搭载毫米波雷达的四旋翼无人机的感知定位方法,首先,无人机通过搭载三个不同朝向的毫米波雷达,提高了无人飞行平台的感知能力,实现了对周边环境的大范围感知;其次,本发明根据输入的融合位姿以及毫米波雷达点云进行处理,即对毫米波雷达数据依次进行点云变换、离群点云剔除、3D点云2D投影,得到一张二维的局部占据栅格地图;然后将局部占据栅格地图与旧地图进行融合,从而得到一张较为稠密包含障碍物信息的全局栅格,以供后续使用;最后,本发明首次将点到无人机的距离加入到是否是离群点的衡量标准之中,并将处于多个雷达重合探测区域的点的邻域点权重提高,能够更好地删除离群点,提高感知精度。
Perceptual positioning method of four-rotor unmanned aerial vehicle carrying millimeter wave radar
一种搭载毫米波雷达的四旋翼无人机的感知定位方法
2024-07-26
Patent
Electronic Resource
Chinese
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