Accurate positioning method for edgewise cleaning by unmanned cleaning vehicle

Abstract

An embodiment of the invention relates to an accurate positioning method for edgewise cleaning by an unmanned cleaning vehicle. The method comprises steps of: receiving IMU data, pulse data of a wheelspeed sensor, and laser positioning or GPS positioning data; monitoring a vehicle state according to the IMU data and the pulse data of the wheel speed sensor, and if the vehicle state meets a presetstatic condition, calculating an initial horizontal attitude angle of the vehicle and a power-on initial zero offset value of a three-axis gyroscope according to acceleration data output by an IMU, so as to complete initialization; then, updating attitude quaternion by using angle speed output by the IMU and updating speed and position by using acceleration data output by the IMU, establishing acorresponding filter model and completing prediction, when data of the wheel speed sensor, laser positioning or GPS positioning is received, filtering to obtain error correction amount and correctingcurrent quaternion, position and speed, so as to obtain accurate attitude information of the vehicle at the moment, performing dead reckoning by using the wheel speed sensor, so as to obtain a position and an attitude of the vehicle in a navigation coordinate system at present.

Description

technical field [0001] The invention relates to the field of automatic driving, in particular to an accurate positioning method for side cleaning of unmanned cleaning vehicles. Background technique [0002] In recent years, with the continuous development and popularization of unmanned driving technology, small low-speed unmanned sweepers used in specific environments have become the first commercial products of unmanned driving. For parks, campuses, large shopping malls, industrial parks and other scenarios It has become a trend to replace manual cleaning with intelligent unmanned sweeping vehicles. "Burning" cleaning is one of the important technical means for unmanned sweeping vehicles to achieve high-efficiency cleaning goals in a specific environment. [0003] The small low-speed unmanned sweeper is equipped with high-precision differential GNSS (Global Navigation Satellite System, GNSS) board, laser radar, IMU (Inertial Measurement Unit, IMU) and wheel speedometer and ...

AI Technical Summary

Problems solved by technology

Although the detection scheme based on the laser sensor can adapt to scenes such as dark roads and opposite strong light, it is also susceptible to extreme weather conditions such as rain and snow, which will cause its detection effect to often fail to meet practical requirements.

In addition, whether visual or laser sensors are used for roadside detection, a large amount of computing resources are required and the map accuracy is very high.

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