Four-wheel independent drive based IMU (inertial measurement unit) combined mileage calculation method

Abstract

The invention relates to the technical field of positioning of four-wheel independent drive based unmanned vehicles, in particular to a four-wheel independent drive based IMU (inertial measurement unit) combined mileage calculation method. In order to realize positioning and navigation of the unmanned vehicles under the conditions of limited time and resources, four hub motor encoders are adoptedfor transmitting mileage data and tire turning angle data to an upper computer, IMU gyroscope data are read, then an eulerian angle is calculated, and local positioning information of the unmanned vehicles is obtained after calculation through establishing of a vehicle kinematic model. In traditional mileage calculation, the local positioning information is obtained according to accelerometer dataintegrals obtained by adoption of only one IMU, but over time, low precision is caused due to error accumulation. Therefore, by kinematic modeling of the unmanned vehicles and combination of IMU course angles for positioning and navigation, high-precision positioning information is obtained in short time.

Description

technical field [0001] The present invention relates to the technical field of positioning of four-wheel independent drive unmanned vehicles, and more specifically, to a mileage estimation method based on four-wheel independent drive combined with IMU. Background technique [0002] In modern unmanned vehicles, positioning is an essential technical part. To achieve automatic driving, or automatic navigation, unmanned vehicles need to obtain accurate positioning in order to be able to navigate accurately. Just like when a person walks, he must know his position and direction before he can know where he is going. There are many kinds of existing positioning technologies, including single-point GPS positioning, differential GPS positioning, laser radar positioning, and computer vision positioning. [0003] Each positioning technology has its own advantages and disadvantages. For example, single-point GPS relies on the number of satellites to measure the quality of positioning;...

AI Technical Summary

Problems solved by technology

[0003] Each positioning technology has its own advantages and disadvantages. For example, single-point GPS relies on the number of satellites to measure the quality of positioning; differential GPS requires two stations to maintain decimeter or even centimeter-level positioning. Generally speaking, base stations and mobile The stability of the sending and receiving signals of the station can guarantee the quality, and the transmission of the signals often brings about the increase of the technical cost; LiDAR positioning requires a large amount of calculation to calculate the point cloud matching, and the positioning effect is often not good; the positioning method of computer vision is very difficult. Depends on the quality of the camera, and the limitations of light, etc.

[0004] It is often not enough to rely on one technology alone to obtain a robust positioning effect, and it is necessary to fuse data from multiple sensor devices

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