Orientation and positioning method for unmanned vehicles based on information fusion of wheel odometer and gyroscope
A technology for directional positioning and unmanned vehicles, which is applied in two-dimensional position/channel control, vehicle position/route/height control, instruments, etc., can solve problems such as internal sensor interference, improve calculation accuracy, and avoid serious orientation Positioning deviation, solving the effect of imprecise directional positioning estimation
Active Publication Date: 2022-06-17
JILIN UNIV
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[0007] During the driving process, many external environmental factors such as road conditions, temperature, and humidity will interfere with the internal sensor. The traditional pose estimation method lacks real-time dynamic estimation and compensation for sensor deviation and noise.
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[0152] The present invention aims to solve the problems existing in the traditional vehicle orientation positioning method: 1. The discrete-time motion model established by the Euler method in the computer control of the traditional wheeled odometer is only an approximate model, and can be used for a long time in the unmanned vehicle. It is easy to accumulate measurement errors during the driving process; 2. There is a slip phenomenon during the driving process of the unmanned vehicle, which will cause a sudden change in the measured value of the odometer, and the pose estimation is a dynamic process, so that the threshold value setting in the traditional method cannot be used for the sudden change phenomenon. 3. The gyroscope has high noise, low accuracy, complex calibration, and there are many uncertain factors in the pose estimation, and there is no real-time dynamic noise statistical estimation method; 4. During the driving process of the unmanned vehicle, due to road condit...
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The invention relates to an unmanned vehicle directional positioning method based on information fusion of a wheel odometer and a gyroscope, which belongs to the technical field of vehicle control. The purpose of the present invention is to design an unmanned vehicle directional positioning method for wheel odometer and gyroscope information fusion according to the different noise characteristics of wheel odometer and gyroscope. The present invention is divided into: sensor installation mode; kinematic model establishment; sensor error and noise analysis; improved Kalman filter method for information fusion of wheel odometer and gyroscope in the case of sensor variance online estimation and odometer abnormal value detection . The present invention analyzes sensor noise and designs an online real-time estimation method for sensor noise characteristics, which can adaptively estimate the noise characteristics of odometers and gyroscopes in different environments, and improves the accuracy and applicable scenarios of wheel odometers and gyroscopes.
Description
technical field [0001] The invention belongs to the technical field of vehicle control. Background technique [0002] With the continuous development of automation technology, the automatic driving technology of automobiles has become a hot field of current research. Orientation positioning technology, which provides basic vehicle motion state information for the operation of other modules, is the key to autonomous driving technology, and its accuracy directly determines the quality of autonomous driving technology. [0003] The sensor information fusion is performed on the signals collected by the wheel odometer and gyroscope carried on the unmanned vehicle, and the directional positioning of the vehicle is carried out. This strategy belongs to the category of relative directional positioning technology. In the current research, such as external sensory sensors such as visual positioning, lidar, ultrasonic radar, machine vision, UWB positioning system, GNSS positioning sys...
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IPC IPC(8): G01C21/16G01C21/34G05D1/02
CPCG01C21/165G01C21/3415G05D1/027
Inventor 马彦白明郭则宣李成
Owner JILIN UNIV