{"id":508,"date":"2026-10-09T22:44:48","date_gmt":"2026-10-09T14:44:48","guid":{"rendered":"https:\/\/geocommunity.vip\/?p=508"},"modified":"2026-10-09T22:47:42","modified_gmt":"2026-10-09T14:47:42","slug":"practice1","status":"publish","type":"post","link":"https:\/\/geocommunity.vip\/index.php\/2026\/10\/09\/practice1\/","title":{"rendered":"\u8fd0\u52a8\u5efa\u56fe\u8c03\u4f18\u5b9e\u5f55 \u2014\u2014 \u4ece\u788e\u7247\u56fe\u5230\u5bfc\u822a\u7ea7\u5730\u56fe"},"content":{"rendered":"\n

\u65e5\u671f<\/strong>\uff1a2026-10-09 \u665a\n\u6210\u679c<\/strong>\uff1a\u788e\u7247\u7387 48% \u2192 2.0%\uff0c\u4ea7\u51fa\u9879\u76ee\u9996\u5f20\u7269\u7406\u6b63\u786e\uff08\u65e0\u955c\u50cf\uff09\u7684\u5bfc\u822a\u7ea7\u5730\u56fe\u3002<\/p>\n\n\n\n

\n\n\n\n

\u4e00\u3001\u4fee\u4e86\u4e09\u4e2a\u95ee\u9898<\/h2>\n\n\n\n
#<\/th>\u95ee\u9898<\/th>\u6839\u56e0<\/th>\u4fee\u590d<\/th><\/tr><\/thead>
1<\/td>yaw \u7cfb\u7edf\u6027\u504f\u5dee ~30%\uff0c\u5730\u56fe\u788e\u6210\u6e23<\/td>\u7b49\u6548\u8f6e\u8ddd 0.0704 \u662f\u5e9f\u6807\u5b9a\uff08\u7184\u706b\u62d6\u8f6c\u4ea7\u7269\uff0c\u5dee\u7a0b\u4f4e\u4e8e\u7269\u7406\u4e0b\u9650 \u03c0\u00d70.13\u22480.41m\uff09<\/td>\u9640\u87ba\u57fa\u51c6\u91cd\u6807 \u2192 0.333<\/strong>\uff1b\u8ddd\u79bb\u5c3a\u5ea6 3m \u63a8\u8f66\u590d\u6838 \u00d71.124 \u2192 TICKS_PER_REV 788<\/strong><\/td><\/tr>
2<\/td>EKF \u878d\u5408\u88ab\u8f6e\u5f0f yaw \u62d6\u504f<\/td>\u6865\u63a5\u7528\u8f6e\u8ddd\u91cd\u7b97 vyaw\uff0c\u5f03\u6389\u4e86\u540e\u7aef\u5df2\u878d\u5408\u7684\u9640\u87ba\u503c<\/td>odom_bridge<\/code> raw \u6a21\u5f0f\u76f4\u63a5\u900f\u4f20\u540e\u7aef w<\/strong>\uff08\u9640\u87ba\u4f18\u5148\u3001\u7f16\u7801\u5668\u515c\u5e95\uff09\uff0c\u8f6e\u8ddd\u53ea\u7559\u4fdd\u5e95\u8def\u5f84<\/td><\/tr>
3<\/td>\u6240\u6709\u5730\u56fe\u662f\u7269\u7406\u7a7a\u95f4\u7684\u955c\u50cf<\/td>RPLIDAR \u8bbe\u5907\u89d2\uff08\u987a\u65f6\u9488\u6b63\uff09\u88ab\u76f4\u63a5\u5f53 ROS \u89d2\uff08\u9006\u65f6\u9488\u6b63\uff09\u4e0b\u53d1<\/td>lidar.py<\/code> \u4e0b\u53d1\u524d\u53d6\u53cd\u5c04\u89d2 (360\u2212angle)%360<\/code><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

\u4fee\u590d 1\u30012 \u7684\u9a8c\u8bc1\uff1a\u9640\u87ba \u00b12000dps \u5b9a\u6848\uff08\u624b\u8f6c 360\u00b0\u2192365.9\u00b0\uff09\uff1b\u8f6e\u8ddd\u6bd4\u503c\u6cd5 0.991\uff1b\n\u8ddd\u79bb\u4e24\u904d\u5dee 0.09%\u3002\u4fee\u590d 3 \u7684\u9a8c\u8bc1\uff1a\u624b\u6027\u6bd4\u503c +1.04 \u2192 \u22120.99<\/strong>\uff0c\u7535\u68af\u5f52\u4f4d\u771f\u5317\u3002<\/p>\n\n\n\n

\u4e8c\u3001\u6700\u7ec8\u751f\u6548\u53c2\u6570\uff08\u7b2c\u4e09~\u4e94\u5f20\u56fe\u7684\u914d\u7f6e\uff09<\/h2>\n\n\n\n
# mapping.yaml\uff08slam_toolbox\uff09\nminimum_travel_distance: 0.2\nminimum_travel_heading: 0.25\nminimum_time_interval: 0.3\nmax_laser_range: 8.0\nresolution: 0.05\ndo_loop_closing: true\nmap_update_interval: 5.0\n<\/code><\/pre>\n\n\n\n
\u53c2\u6570\u9010\u6761\u542b\u4e49<\/strong>\uff1a<\/p>\n\n\n\n
\u53c2\u6570<\/th>\u503c<\/th>\u542b\u4e49<\/th>\u4e3a\u4ec0\u4e48\u662f\u8fd9\u4e2a\u503c<\/th><\/tr><\/thead>
minimum_travel_distance<\/code><\/td>0.2 m<\/td>\u5efa\u8282\u70b9\u7684\u5e73\u79fb\u95e8\u69db\uff1a\u8f66\u79bb\u4e0a\u4e00\u8282\u70b9\u8d70\u51fa 0.2m\uff0c\u624d\u628a\u5f53\u524d\u5e27\u626b\u63cf\u6536\u8fdb\u4f4d\u59ff\u56fe<\/td>\u9ed8\u8ba4 0.5 \u7ed9 40Hz \u96f7\u8fbe\uff1b\u6211\u4eec 6.3Hz \u4e0b 0.5m = 14 \u5e27\u624d 1 \u8282\u70b9\uff0c\u592a\u7a00\u30020.2 \u8ba9\u8282\u70b9\u5bc6\u5ea6 \u00d72.5<\/td><\/tr>
minimum_travel_heading<\/code><\/td>0.25 rad<\/td>\u5efa\u8282\u70b9\u7684\u65cb\u8f6c\u95e8\u69db\uff1a\u8f6c\u8d85 ~14\u00b0 \u624d\u5efa\u8282\u70b9\uff1b\u4e0e\u8ddd\u79bb\u95e8\u69db”\u6216”\u7684\u5173\u7cfb<\/td>\u5766\u514b\u6389\u5934 180\u00b0 \u5207\u6210 ~12 \u4e2a\u8282\u70b9\uff0c\u8f6c\u5f2f\u8fc7\u7a0b\u88ab\u5145\u5206\u8bb0\u5f55<\/td><\/tr>
minimum_time_interval<\/code><\/td>0.3 s<\/td>\u65f6\u95f4\u4e0b\u9650\uff1a\u6761\u4ef6\u6ee1\u8db3\u4e5f\u8981\u8ddd\u4e0a\u8282\u70b9 \u22650.3s<\/td>\u9632\u539f\u5730\u6296\u52a8\/\u6162\u901f\u722c\u884c\u65f6\u540c\u4f4d\u7f6e\u72c2\u5efa\u8282\u70b9\uff086.3Hz \u4e0b \u22482 \u5e27\u4e00\u8282\u70b9\uff09<\/td><\/tr>
max_laser_range<\/code><\/td>8.0 m<\/td>\u5355\u70b9\u8ddd\u79bb\u4e0a\u9650\uff1a\u8d85 8m \u7684\u56de\u6ce2\u4e22\u5f03<\/td>A1M8 \u8fdc\u7aef\u70b9\u53c8\u7a00\u53c8\u98d8\uff0c\u4e0d\u4e22\u4f1a\u53d8\u6210\u5b64\u7acb\u6563\u70b9\uff08\u8d70\u5eca\u7b2c\u4e00\u628a 12m \u65f6\u7684\u5916\u5708\u788e\u7247\u5373\u6b64\uff09<\/td><\/tr>
resolution<\/code><\/td>0.05 m<\/td>\u5730\u56fe\u5206\u8fa8\u7387\uff1a\u6bcf\u683c 5cm<\/td>\u5ba4\u5185\u6807\u51c6\u503c\uff1b\u5339\u914d\u7528\u539f\u59cb\u626b\u63cf\u70b9\u4e0d\u7528\u6805\u683c\uff0c\u8c03\u7ec6\u53ea\u8d39 CPU<\/td><\/tr>
do_loop_closing<\/code><\/td>true<\/td>\u56de\u73af\u5f00\u5173\uff1a\u91cd\u8bbf\u65e7\u533a\u57df\u65f6\u505a\u5168\u56fe\u4f18\u5316\uff0c\u63b0\u56de\u7d2f\u79ef\u6f02\u79fb<\/td>\u591a\u5708”\u8d8a\u8dd1\u8d8a\u5b9e”\u7684\u673a\u5236\u524d\u63d0\u3002<\/td><\/tr>
map_update_interval<\/code><\/td>5.0 s<\/td>\u53d1 \/map \u7684\u663e\u793a\u5468\u671f<\/td>\u7eaf\u5237\u65b0\u9891\u7387\uff0c\u4e0d\u5f71\u54cd\u5efa\u56fe\u5185\u90e8<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n
# robot\/backend\/config.py\nWHEEL_TRACK_M   = 0.333 # \u7b49\u6548\u8f6e\u8ddd\nTICKS_PER_REV   = 788 # \u6bcf\u5708tick\u6570\n# \u96f7\u8fbe\uff1aduty 85% \u2248 6.3 Hz\uff08\u70b9\/\u5e27 ~198\uff0c\u5ba4\u5185\u591f\u7528\uff09\n<\/code><\/pre>\n\n\n\n
\n\n\n\n
\u4e09\u3001\u4e94\u5f20\u56fe\u7684\u8fc7\u7a0b<\/h2>\n\n\n\n
\u2460 \u8d70\u5eca\u7b2c\u4e00\u628a\uff0820:04\uff09\u2014\u2014 \u8c03\u53c2 v1 \u9996\u8dd1<\/h3>\n\n\n\n
\"\"<\/figure>\n\n\n\n
    \n
  • \u573a\u666f<\/strong>\uff1a240cm \u8d70\u5eca A\u2192B \u5f80\u8fd4 6 \u817f + \u5766\u514b\u6389\u5934 \u00d75<\/li>\n\n\n\n
  • \u53c2\u6570<\/strong>\uff1a\u8c03\u53c2 v1\uff08\u4e0a\u8868\u5168\u90e8\uff09\uff1b\u96f7\u8fbe 85%\uff1b\u672a\u542b\u955c\u50cf\u4fee\u590d<\/li>\n\n\n\n
  • \u8dd1\u6cd5<\/strong>\uff1a\u666e\u901a\u5f80\u8fd4\uff0c\u7aef\u5934\u5e38\u89c4\u6389\u5934<\/li>\n\n\n\n
  • \u6210\u7ee9<\/strong>\uff1a\u788e\u7247 8.9%\uff0c\u6700\u5927\u5757 403px\uff0820m\uff09<\/li>\n\n\n\n
  • \u66b4\u9732\u95ee\u9898<\/strong>\uff1a\u4e24\u7aef V \u578b\u6536\u62e2\u2014\u2014\u8d70\u5eca”\u6cbf\u8f74\u76f2\u533a”\u8bef\u5dee\u6512\u5230\u7aef\u5934\u88ab\u56de\u73af\u96c6\u4e2d\u4fee\u6b63<\/li>\n<\/ul>\n\n\n\n
    \u2461 \u8d70\u5eca\u7b2c\u4e8c\u628a\uff0820:49\uff09\u2014\u2014 \u8dd1\u6cd5\u6539\u8fdb\uff0cV \u6d88\u5931<\/h3>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
      \n
    • \u53c2\u6570<\/strong>\uff1a\u540c \u2460\uff08\u552f\u4e00\u53d8\u91cf\u662f\u8dd1\u6cd5\uff09<\/li>\n\n\n\n
    • \u8dd1\u6cd5\u6539\u8fdb<\/strong>\uff1a\u8d34\u7aef\u5899 30~50cm \u518d\u6389\u5934 + \u6389\u5934\u524d\u505c 1 \u79d2 + \u534a\u901f\u6162\u8f6c<\/strong>\u2014\u2014\u7aef\u5899\u6b63\u8138\u5165\u955c\uff0c\u76f2\u533a\u8bef\u5dee\u5728\u5efa\u56fe\u524d\u88ab\u4fee\u6b63<\/li>\n\n\n\n
    • \u6210\u7ee9<\/strong>\uff1a\u788e\u7247 7.7%\uff0c\u6700\u5927\u5757 748px\uff0837m\uff09\uff0cV \u6d88\u5931\uff0c\u7535\u68af\u7f3a\u53e3\u8fb9\u7ebf\u7b14\u76f4<\/li>\n\n\n\n
    • \u4ecd\u5b58\u5728\u7684\u95ee\u9898<\/strong>\uff1a\u624b\u6027\u6bd4\u503c +1.04 \u2192 \u53d1\u73b0\u6574\u56fe\u955c\u50cf\uff08\u89c1\u95ee\u9898 3\uff09<\/li>\n<\/ul>\n\n\n\n
      \u2462 \u8d70\u5eca\u7b2c\u4e09\u628a\uff0821:11\uff09\u2014\u2014 \u955c\u50cf\u4fee\u590d\u540e\u9996\u8dd1<\/h3>\n\n\n\n
      \"\"<\/figure>\n\n\n\n
        \n
      • \u53c2\u6570<\/strong>\uff1a\u540c \u2460 + lidar.py \u53cd\u5c04\u89d2\u4fee\u590d<\/strong><\/li>\n\n\n\n
      • \u9a8c\u8bc1<\/strong>\uff1a\u624b\u6027\u6bd4\u503c \u22120.99<\/strong> \u2713\uff1b\u7535\u68af\u7f3a\u53e3\uff083.1m\uff09\u843d\u771f\u5317\u5899<\/strong> \u2713\uff08A\u2192B=\u4e1c\u2192\u897f\uff0c\u7535\u68af\u5728\u5317\uff09<\/li>\n\n\n\n
      • \u6210\u7ee9<\/strong>\uff1a\u788e\u7247 4.8%\uff0c\u6700\u5927\u5757 765px\uff0838m\uff09\u2014\u2014\u4fee\u590d\u672a\u4f24\u8d28\u91cf<\/li>\n<\/ul>\n\n\n\n
        \u2463 \u5927\u5385\uff0821:28\uff09\u2014\u2014 \u573a\u666f\u6cdb\u5316<\/h3>\n\n\n\n
        \"\"<\/figure>\n\n\n\n
          \n
        • \u573a\u666f<\/strong>\uff1a\u7ea6 10\u00d78m \u5927\u5385<\/li>\n\n\n\n
        • \u53c2\u6570<\/strong>\uff1a\u540c \u2462\uff0c\u4e00\u5b57\u672a\u6539\uff08max_laser_range 8.0<\/code> \u5bf9 10\u00d78 \u623f\u95f4\u6070\u597d\uff1a\u4efb\u610f\u70b9\u5230\u5899 \u22646.4m\uff0c\u5168\u5728\u89c6\u7a97\u5185\uff09<\/li>\n\n\n\n
        • \u8dd1\u6cd5<\/strong>\uff1a\u6cbf\u5899\u6839\u7ed5\u5708 \u00d73<\/strong>\uff08\u79bb\u5899 0.5~1.5m\uff0c\u62d0\u89d2\u51cf\u901f\uff0c\u4e0d\u505a\u5766\u514b\u6389\u5934\uff09<\/li>\n\n\n\n
        • \u6210\u7ee9<\/strong>\uff1a\u788e\u7247 7.3%\uff0c\u6700\u5927\u5757 787px\uff1b\u8f68\u8ff9\u95ed\u5408\u5dee 0.7%\uff08101m\uff09\uff1b\u5730\u56fe\u5916\u6269\u90e8\u5206\u4e3a 8m \u89c6\u7a97\u900f\u8fc7\u95e8\u53e3\u770b\u5230\u7684\u771f\u5b9e\u5916\u90bb\u7ed3\u6784<\/li>\n<\/ul>\n\n\n\n
          \u2464 \u623f\u95f4\uff0821:54\uff09\u2014\u2014 \u5f53\u665a\u6700\u4f73 \u2b50<\/h3>\n\n\n\n
          \"\"<\/figure>\n\n\n\n
          \u6ce8\uff1a\u684c\u5b50B\u7684\u4e2d\u95f4\u662f\u9542\u7a7a\u7684\uff0c\u53ea\u6709\u51e0\u6839\u684c\u5b50\u817f\u3002<\/p>\n\n\n\n
            \n
          • \u573a\u666f<\/strong>\uff1a\u7ea6 9\u00d79m \u623f\u95f4<\/li>\n\n\n\n
          • \u53c2\u6570<\/strong>\uff1a\u540c \u2462\u2463<\/li>\n\n\n\n
          • \u6210\u7ee9<\/strong>\uff1a\u788e\u7247 2.0%\uff0c\u6700\u5927\u5757 2140px\uff08107m\uff0c\u5168\u5c4b\u4e00\u4f53\uff09<\/strong>\uff0c\u8fde\u901a\u5757\u4ec5 42\uff0c\u8f68\u8ff9\u95ed\u5408\u5dee 0.5%\uff0872m\uff09<\/li>\n\n\n\n
          • \u89c6\u89c9<\/strong>\uff1a\u5916\u5899\u5b8c\u6574\u95ed\u5408\u3001\u5bb6\u5177\u8f6e\u5ed3\u53ef\u8fa8\u3001\u76f4\u89d2\u9510\u5229\u3001\u65e0\u91cd\u5f71\u65e0\u7578\u53d8\uff089.5\/10\uff0c\u4ec5\u4e00\u5904\u8986\u76d6\u5c0f\u7f3a\u53e3\uff09<\/li>\n<\/ul>\n\n\n\n
            \u788e\u7247\u7387\u66f2\u7ebf\uff1a48.2%\uff08\u4fee\u590d\u524d\uff09\u2192 8.9% \u2192 7.7% \u2192 4.8% \u2192 7.3% \u2192 2.0%<\/strong><\/p>\n","protected":false},"excerpt":{"rendered":"
            \u65e5\u671f\uff1a2026-10-09 \u665a \u6210\u679c\uff1a\u788e\u7247\u7387 48% \u2192 2.0%\uff0c\u4ea7\u51fa\u2026<\/p>\n","protected":false},"author":1,"featured_media":515,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[14,8,3],"tags":[],"class_list":["post-508","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-slam","category-8","category-3"],"_links":{"self":[{"href":"https:\/\/geocommunity.vip\/index.php\/wp-json\/wp\/v2\/posts\/508","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/geocommunity.vip\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/geocommunity.vip\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/geocommunity.vip\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/geocommunity.vip\/index.php\/wp-json\/wp\/v2\/comments?post=508"}],"version-history":[{"count":1,"href":"https:\/\/geocommunity.vip\/index.php\/wp-json\/wp\/v2\/posts\/508\/revisions"}],"predecessor-version":[{"id":514,"href":"https:\/\/geocommunity.vip\/index.php\/wp-json\/wp\/v2\/posts\/508\/revisions\/514"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/geocommunity.vip\/index.php\/wp-json\/wp\/v2\/media\/515"}],"wp:attachment":[{"href":"https:\/\/geocommunity.vip\/index.php\/wp-json\/wp\/v2\/media?parent=508"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/geocommunity.vip\/index.php\/wp-json\/wp\/v2\/categories?post=508"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/geocommunity.vip\/index.php\/wp-json\/wp\/v2\/tags?post=508"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}