预建高精度地图的封闭区域UGV自动驾驶导航定位

针对封闭区域UGV自动驾驶应用，本文提出了一种基于平面高精度地图的导航定位方法。该方法利用三维激光扫描数据采用预定义的栅格地图概率值建立多分辨率地图，在保证定位精度的同时提高定位效率，采用极大似然估计获取载体位姿初值并将IMU数据用于计算高斯-牛顿法搜索初值。试验结果表明，基于激光扫描的二维地图构建与匹配定位方法能有效解决帧与帧匹配误差快速累积问题，可以高效地使用已有地图进行连续高精度的载体定位。

UGV's automated driving navigation and localization in closed areas with pre-established high precision planar map

Aiming at the application of UGV automated driving in closed areas,a high precision planar map based navigation and localization method is proposed in this paper. This method establishes multiple resolution grid maps of pre-defined probability with the 3D laser scan, which improves the localization efficiency and insures the map accuracy at the same time. Maximum likelihood estimation is adopted to obtain the initial pose of the carrier, IMU data is used to obtain a reasonable starting value of the carrier's pose for Gauss-Newton search. Field experiment proves it a proper method which efficiently resolves the quick accumulation of scan-scan matching's localization errors that locating with LiDAR scan and the prior map, it's able to provide the carrier's continuous location of high accuracy.