Abstract
Due to the small environmental limitations of GPS satellite positioning and the complexity of the indoor environment, indoor object location technology has the opportunity to display its talents. Considering that the map constructed by ROS SLAM can only describe the two-dimensional information of the environment, the three-dimensional point cloud image can only describe the independent three-dimensional information of the object. This paper combines the indoor 2D map and the 3D point cloud image information of the object constructed by Gmapping algorithm and proposes a composite coordinate positioning system. The whole positioning experimental data has shown that the average measurement error of the position in the object room is only 4.2cm, and its positioning accuracy is 6.7% higher than that of the common ultrasonic and infrared positioning system[1], and the positioning accuracy of the positioning system based on Bluetooth angle measurement[2] is improved by 20% compared with ultra-wideband[3]. Positioning system increased by 72%. The object positioning error is small and the positioning is accurate.
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