A precise positioning method for side cleaning of unmanned cleaning vehicles

Abstract

The embodiment of the present invention relates to a precise positioning method for side cleaning of unmanned cleaning vehicles, including: receiving IMU data, wheel speedometer pulse data, laser positioning or GPS positioning data; The vehicle status is monitored. When the vehicle status meets the preset static conditions, the initial horizontal attitude angle of the vehicle and the initial zero bias value of the three-axis gyroscope are calculated according to the acceleration data output by the IMU to complete the initialization; after the initialization is completed, the IMU output is used The angular velocity updates the attitude quaternion, the acceleration data updates the speed and position, and establishes a corresponding filtering model to complete the prediction. When the wheel speedometer or laser positioning or GPS positioning data is received, it is filtered to obtain the error correction amount for the current quaternion, position and position. The speed is corrected to obtain the current accurate attitude information of the vehicle, and the dead reckoning is performed with the wheel speedometer to obtain the current position and attitude of the vehicle in the navigation coordinate system.

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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