28-04-2023 дата публикации
Номер: CN116027351A
Принадлежит:
The invention discloses a handheld/backpack type SLAM device and a positioning method, the handheld/backpack type SLAM device is divided into a handheld part and a backpack part, the handheld part and the backpack part can be connected through a bolt and an aviation plug, and the data acquisition and positioning method by using the handheld/backpack type SLAM device comprises the following steps: S1, connecting the handheld part with the backpack part through an aviation interface, the knapsack part is placed in the knapsack, the screen is fixed on the body through the bandage, and the equipment is started. And S2, installing an ROS system and the sensor driver. And S3, starting a low-delay mode of the serial port, so that the integrated navigation data can be transmitted to a host at a high frequency of 200Hz. And S4, issuing binocular camera image data, IMU data, laser point cloud data and GNSS data. And S5, fusing the positioning of the camera, the laser radar, the GNSS and the IMU.
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