毫米波雷达辅助的多机协同定位与建图研究

王巍; 王胜鹏; 张瑞杰; 骆志青

doi:10.11959/j.issn.2096-3750.2024.00416

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毫米波雷达辅助的多机协同定位与建图研究

理论与技术 | 更新时间：2025-03-13

- 毫米波雷达辅助的多机协同定位与建图研究
- Research on millimeter-wave radar-assisted multi-agent collaborative localization and mapping
- 物联网学报 2024年8卷第3期页码：66-75
- 作者机构：
  
  华中科技大学电子信息与通信学院，湖北武汉 430074
- 作者简介：
  
  [ "王巍（1988‒ ），男，博士，华中科技大学教授，主要研究方向为无线通信、低功耗物联网设计、智能无人系统、毫米波雷达感知等。" ]
  [ "王胜鹏（2000‒ ），男，华中科技大学博士生，主要研究方向为无线通信、毫米波雷达SLAM等。" ]
  [ "张瑞杰（2000‒ ），男，华中科技大学硕士生，主要研究方向为自动驾驶、毫米波雷达SLAM等。" ]
  [ "骆志青（1993‒ ），男，博士，华中科技大学在站博士后，主要研究方向为低功耗物联网感知与定位、毫米波雷达感知、物联网物理层安全等。" ]
- 基金信息：
  
  国家自然科学基金项目(62071194;62471194;62302185);中央高校基本科研业务费专项资金资助;中国博士后科学基金项目(2023M731196;2024T170305)
- DOI：10.11959/j.issn.2096-3750.2024.00416
  中图分类号：
- 收稿日期：2024-08-03，
  
  修回日期：2024-09-15，
  
  纸质出版日期：2024-09-10
- 稿件说明：
移动端阅览
王巍,王胜鹏,张瑞杰等.毫米波雷达辅助的多机协同定位与建图研究[J].物联网学报,2024,08(03):66-75.

WANG Wei,WANG Shengpeng,ZHANG Ruijie,et al.Research on millimeter-wave radar-assisted multi-agent collaborative localization and mapping[J].Chinese Journal on Internet of Things,2024,08(03):66-75.
王巍,王胜鹏,张瑞杰等.毫米波雷达辅助的多机协同定位与建图研究[J].物联网学报,2024,08(03):66-75. DOI： 10.11959/j.issn.2096-3750.2024.00416.

WANG Wei,WANG Shengpeng,ZHANG Ruijie,et al.Research on millimeter-wave radar-assisted multi-agent collaborative localization and mapping[J].Chinese Journal on Internet of Things,2024,08(03):66-75. DOI： 10.11959/j.issn.2096-3750.2024.00416.

摘要

随着无人驾驶技术的发展，低空物联网逐步成为国家产业创新的重点方向。高精度与强适应的实时定位与建图是实现无人系统智能化运行的关键。然而，单一无人系统感知能力的局限性以及视觉传感器的易受干扰性，致使传统方法难以满足复杂动态环境下的实时定位与建图需求。为提升定位与建图的准确性和适应性，创新性地提出了一种毫米波雷达辅助的多机协同定位与建图方案。该方案深入挖掘毫米波雷达时、空、多普勒域等多维度特征，有效筛选可靠点云信息实现本地里程计以及局部地图构建。基于共享局部地图信息，设计多无人系统协同的全局优化机制，实现精准定位与建图。实验结果表明，该方案有效保障了系统的鲁棒性和精确性。

Abstract

With the development of autonomous driving technology

the low-altitude Internet of things has gradually become a key focus of national industrial innovation. High-precision and highly adaptable simultaneous localization and mapping are crucial for the intelligent operation of unmanned systems. However

the limited perception capabilities of a single agent and the susceptibility of visual sensors to interference make it challenging for traditional methods to meet the demands of real-time localization and mapping in complex and dynamic environments. To enhance the accuracy and adaptability of localization and mapping

an innovative millimeter-wave radar-assisted multi-agent collaborative localization and mapping scheme was presented. This scheme deeply explored the multi-dimensional features of millimeter-wave radar in the time

space

and Doppler domains

effectively filtering and collecting reliable point cloud information to achieve local odometry and local map construction. With shared local map information

a collaborative global optimization mechanism was designed to achieve precise localization and mapping. Experimental results demonstrate that this scheme effectively ensures the robustness and accuracy of the system.

关键词

Keywords

references

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