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An unmanned vehicle navigation method and system in the case of lack of GPS information

A technology of missing information and navigation methods, which is applied in the field of navigation and positioning, can solve problems such as inaccurate navigation and positioning, and achieve the effect of improving navigation and positioning accuracy and reducing interference

Active Publication Date: 2021-08-03
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, GPS satellite signals are greatly affected by the environment. In complex buildings (such as urban environments), canyons, forests and other places, accurate navigation and positioning will not be possible due to signal attenuation or loss.

Method used

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  • An unmanned vehicle navigation method and system in the case of lack of GPS information
  • An unmanned vehicle navigation method and system in the case of lack of GPS information
  • An unmanned vehicle navigation method and system in the case of lack of GPS information

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Experimental program
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Effect test

Embodiment 1

[0059] This embodiment provides an unmanned vehicle navigation method in the absence of GPS information.

[0060] figure 1 It is a method flow chart of the unmanned vehicle navigation method in the case of lack of GPS information in Embodiment 1 of the present invention.

[0061] see figure 1 , the unmanned vehicle navigation method includes:

[0062] Step 101: Obtain the positioning information of the unmanned vehicle's own positioning system, the broadcast information of the drone, and the received visible star information.

[0063] After the system starts to work, all UGVs and UAVs start to run. UGVs use their own navigation equipment other than GPS for autonomous navigation, UAVs use all their own navigation equipment for navigation, and all UAVs broadcast their current location coordinates to the outside world. UGV receives all the broadcast information of UAVs that can be received and performs relative distance measurement. At the same time, it uses its own GPS device...

Embodiment 2

[0123] Embodiment 2 provides an unmanned vehicle navigation system in the absence of GPS information.

[0124] figure 2 It is a system structure diagram of the unmanned vehicle navigation system in the case of lack of GPS information in Embodiment 2 of the present invention.

[0125] The unmanned vehicle navigation system includes:

[0126] The information acquisition module 201 is used to acquire the positioning information of the unmanned vehicle's own positioning system, the broadcast information of the drone and the received visible star information;

[0127] A geometric precision factor calculation module 202, configured to calculate a geometric precision factor according to the broadcast information and the visible star information;

[0128] The Kalman filter model construction module 203 is used to construct the Kalman filter model, and determine the covariance matrix of the Kalman filter model measurement noise according to the size of the geometric precision factor...

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Abstract

The invention discloses an unmanned vehicle navigation method and system in the case of lack of GPS information. Both the method and the system are applied to an unmanned vehicle navigation and positioning device. The navigation and positioning device includes an unmanned vehicle and at least one unmanned aerial vehicle with autonomous navigation capability; the unmanned vehicle and the unmanned aerial vehicle are wirelessly connected; the unmanned vehicle navigation method includes: obtaining the positioning information of the unmanned vehicle's own positioning system , the broadcast information of the UAV and the received visible star information; calculate the geometric precision factor according to the broadcast information and visible star information; construct the Kalman filter model, and determine the coherence of the measurement noise of the Kalman filter model according to the size of the geometric precision factor Variance matrix; input positioning information, broadcast information, and visible star information into the constructed Kalman filter model to obtain updated unmanned vehicle positioning information. The method and system of the invention can realize the navigation and positioning of the unmanned vehicle in the absence of GPS information.

Description

technical field [0001] The invention relates to the field of navigation and positioning, in particular to an unmanned vehicle navigation method and system in the absence of GPS information. Background technique [0002] With the development of robot technology, people can be liberated from tedious labor to a certain extent. The current robot has achieved good application prospects in many fields. Since its birth in the early 1960s, robots have been reducing people's labor. Intensity, improving social production efficiency and changing the mode of production and life have played a huge role. After years of rapid cumulative development, robots have been applied in various fields of industrial automation and become key mechatronic equipment. At the same time, with the rapid development of society and the continuous rapid improvement of people's living standards, some robots in non-manufacturing fields have also been developed, such as agricultural application robots, service r...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S19/48G01C21/20
CPCG01C21/20G01S19/48
Inventor 任章梁源李清东
Owner BEIHANG UNIV