设计并实现了一种基于嵌入式平台的激光雷达定位系统,用于特定场景下气浮台的定位与控制.系统主要由激光雷达传感器,DSP嵌入式控制器以及气浮台组成.DSP获取并处理激光雷达传感器原始数据、识别目标特征点、解算坐标值、实现对气浮台位置的实时控制.文章给出室内环境特征点的提取方法、雷达坐标系与系统坐标系坐标转换算法,采用最小二乘法对识别点曲线拟合,并提取有效坐标点,解算物体坐标.实验结果表明,系统的平均定位误差为5 mm,角度误差小于1°,满足气浮台姿态控制所需的定位精度.%An indoor positioning(localization)system based on laser range scanner and embedded platform is de?signed and implemented. The system is used for a gas levitation unit's positioning and control. The system is com?posed of a laser range scanner,a digital signal processor and the gas levitation unit. Digital signal processor cap?tures and process the raw data of the environment,extracts the feature points of the object,calculates the location of laser range scanner and finally achieves the real-time control of gas levitation device. The algorithm of feature points of identification points and extraction,coordinate conversion and the method of least squares curve fit is pro?posed in this paper. Experiment results show that the average positioning error of the system is within 5 mm while the bearing error is less than 1 degree,the system meets the required positioning accuracy of attitude control for our gas levitation system.
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