Navigation method and system for low-frequency refreshing of navigation signals

Abstract

Aiming at a problem that a large amount of data needs to be collected during low-frequency refreshing of a navigation signal in the prior art, the invention provides a navigation method and system forlow-frequency refreshing of the navigation signal. The method comprises the following steps: S1, recording attitude data and navigation data of a robot at each moment; S2, comparing the attitude datarecorded in the step S1 with the navigation data to obtain a deviation data range when a signal exists at a moment t; S3, when the navigation signal is lost, reading the attitude data of the robot, and comparing the data with the navigation data recorded in the step S1 to obtain deviation data without the signal; and S4, comparing the deviation data without the signal obtained in the step S3 withthe deviation data range with the signal in the step S2, and controlling the posture of the robot till that the deviation data without the signal falls within the deviation data range with the signal. In the invention, the fluency of the algorithm is greatly improved, and occurrence of control delay is reduced.

Description

technical field [0001] The invention relates to the field of navigation, in particular to a navigation method and system for low-frequency refreshing of navigation signals. Background technique [0002] With the progress of society, unmanned robots are more and more widely used in society. In environments with large tree canopies such as orchards, the GPS / Beidou signal is partially or completely lost due to tree crown blocking, resulting in the robot not being able to follow the predetermined route. It is also possible to damage the work machine due to the loss of the navigation signal. To this end, a method of machine learning is proposed to compensate for the positioning method during the signal loss of the robot when it is traveling in an orchard with dense tree canopies. [0003] Such as Chinese patent: CN106643775, titled "Navigation method and navigation system based on big data machine learning", its technical solution: in the first step (S1), collect vehicle travel...

AI Technical Summary

Problems solved by technology

[0004] In view of the problem in the prior art that a large amount of data needs to be collected when the navigation signal is refreshed at low frequency, the present invention provides a navigation method and system for low-frequency refresh of the navigation signal, which can effectively solve the above problems

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