Coordinate correction system and method for unmanned equipment
A technology of unmanned equipment and coordinates, applied in satellite radio beacon positioning systems, radio wave measurement systems, instruments, etc., can solve problems such as difficulty in adapting, and achieve reduced environmental impact, high equipment safety, and reliable information Effect
Active Publication Date: 2019-09-17
TIANJIN UNIV
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Problems solved by technology
In non-road environments such as engineering vehicles (without obvious road boundaries or signs), or when bad weather affects visual information collection, traditional methods are difficult to adapt
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[0048] The present invention will be further described in detail below through the specific examples, the following examples are only descriptive, not restrictive, and cannot limit the protection scope of the present invention with this.
[0049] The embodiment of the present invention is described by taking a rolling machine as an example, but the present invention is not only applicable to the rolling machine, but also applicable to other articulated vehicles.
[0050] A coordinate correction system for unmanned equipment, such as figure 1 , 2 As shown, an articulated vehicle is included, and the articulated vehicle includes a front frame 512 hingedly connected to each other, a rear frame 513 and a cab 511 mounted on the front frame or the rear frame. Front wheel unit 514 is installed on the front vehicle frame, and the front wheel unit of the rolling machine that the present invention adopts is a cylindrical vibrating wheel, and rear wheel unit 515 is installed on the rear...
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The invention discloses a coordinate correction system for unmanned equipment. The coordinate correction system includes a hinged vehicle, and the hinged vehicle includes a front vehicle frame, a rear vehicle frame and a cab, and further includes a front-placed GPS antenna, a front-placed attitude sensor, a rear-placed GPS antenna, a rear-placed attitude sensor and a hinge angle sensor. The invention further discloses a coordinate correction method of the unmanned equipment. The coordinate correction method includes the following steps that a hinged vehicle coordinate point system is established; course angle correction of the hinged vehicle is conducted; coordinate correction of a front wheel unit of the hinged vehicle is conducted; and coordinate correction of a rear wheel unit of the hinged vehicle is conducted. According to the coordinate correction system and method for the unmanned equipment, based on information of double-antenna GPS and the attitude sensors, the measurement coordinates of the unmanned equipment are corrected, the coordinates of the center of the bottom of the front wheel unit and the center of a connecting line of a ground connection point of the rear wheel unit of the hinged vehicle are calculated, and the impact of terrain fluctuation on positioning of the unmanned equipment is reduced.
Description
technical field [0001] The invention relates to the technical field of unmanned driving, in particular to a coordinate correction system and correction method for unmanned driving equipment. Background technique [0002] In the actual application process of unmanned driving equipment, the application of GPS positioning equipment is indispensable. Since the positioning antenna is mostly installed on the top of the vehicle body, the inclination of the vehicle body caused by the unevenness of the ground will seriously affect the positioning accuracy of the vehicle. Most of the prior art solutions use dual GPS antennas to calculate the average value after positioning, or adopt a method of fusion of visual information, high-precision maps and GPS positioning. Most of the existing methods are suitable for the standard road environment, and various sensors can be effectively positioned when they work effectively. In non-road environments such as construction vehicles (without obv...
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IPC IPC(8): B62D53/02G01S19/40
CPCB62D53/02G01S19/40
Inventor 谢辉徐全志宋康
Owner TIANJIN UNIV