面向城市动态环境的LiDAR/ IMU/ UWB融合SLAM定位技术研究
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1.东南大学仪器科学与工程学院南京210046; 2.国防科技大学第六十三研究所南京210046

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TH761TH89

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国家重点研发计划(2022YFB3904404)项目资助


Research on LiDAR/IMU/UWB fusion SLAM positioning technology for urban dynamic environments
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1.School of Instrument Science and Engineering, Southeast University, Nanjing 210046, China; 2.63rd Research Institute, National University of Defense Technology, Nanjing 210046, China

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    摘要:

    针对城市环境中动态干扰导致的激光雷达同步定位与地图构建(LiDAR SLAM)定位精度下降问题,提出了一种基于LiDAR/IMU/UWB紧耦合的多源融合SLAM方法,旨在提升系统在动态干扰下的鲁棒性与定位精度。在里程计环节,构建了深度融合惯性测量单元(IMU)预积分和多基站超宽带(UWB)距离观测的因子图框架,其中IMU提供高频运动先验,补偿点云畸变,UWB通过无累积误差的绝对测距引入稳定外部约束,可有效抑制激光雷达(LiDAR)在动态环境下的累积误差,显著提升了在动态干扰场景下的位姿估计鲁棒性。此外,在回环检测与全局优化环节,设计了一种结合UWB信息的扩展描述子,将点云几何特征与UWB绝对测距及信号强度信息进行编码融合,形成区分度更强的场景表征。基于该描述子,采用“粗检索-精验证”两级回环检测策略:先利用UWB信息快速筛选候选回环帧,再经点云描述子几何验证,有效提高了动态与同质化环境下的回环检测准确性。检测到回环后,将UWB历史信息与点云约束共同纳入全局因子图进行协同优化,进一步提升轨迹一致性与地图闭合精度。在真实城市动态场景数据集上的实验表明,所提方法相比FAST-LIO2、MR-ULINS等方法,能显著降低绝对轨迹误差(ATE)。同时,UWB辅助的回环检测机制在查准率-查全率曲线上表现更优,有效减少了动态鬼影与误匹配,验证了该方法在城市动态环境中的有效性和优越性。

    Abstract:

    This paper proposes a multi-source fusion SLAM method based on LiDAR/IMU/UWB tight coupling to address the problem of decreased positioning accuracy caused by dynamic interference in urban environments. The aim is to improve the robustness and localization accuracy of the system under dynamic interference. In the odometery stage, this paper constructs a factor graph framework that deeply integrates IMU pre integration and multi base station UWB distance observation. IMU provides high-frequency motion priors to compensate for point cloud distortion, while UWB introduces stable external constraints through absolute ranging without cumulative errors, which can effectively suppress the cumulative errors of LiDAR in dynamic environments and significantly improve the robustness of pose estimation in dynamic interference scenarios. In addition, in the loop detection and global optimization stage, this paper designs an extended descriptor that combines UWB information to encode and fuse point cloud geometric features with UWB absolute range and signal strength information, forming a more discriminative scene representation. Based on this descriptor, a two-level loop detection strategy of "coarse retrieval fine verification″ is adopted: First, UWB information is used to quickly screen candidate loop frames, and then point cloud descriptor geometry verification is performed, effectively improving the accuracy of loop detection in dynamic and homogeneous environments. After detecting the loop, the UWB historical information and point cloud constraints are jointly incorporated into the global factor map for collaborative optimization, further improving trajectory consistency and map closure accuracy. Experiments real-word urban dynamic-scene datastes show that our method can significantly reduce absolute trajectory error (ATE) compared with methods such as FAST-LIO2 and MR-ULINS. Meanwhile, the UWB assisted loop back detection mechanism performs better on the precision recall curve, effectively reducing dynamic ghosting and false matching, verifying the effectiveness and superiority of this method in urban dynamic environments.

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徐启敏,姚钰欢,赵鑫,胡悦.面向城市动态环境的LiDAR/ IMU/ UWB融合SLAM定位技术研究[J].仪器仪表学报,2025,46(12):229-239

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  • 在线发布日期: 2026-03-02
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