High-redundancy indoor coal yard navigation method and system

A navigation method and technology of a navigation system, which are applied in directions such as navigation, mapping and navigation, and navigation calculation tools, can solve problems such as insufficient stability, large changes in geographic information, and reduced accuracy of SLAM methods.

Active Publication Date: 2021-01-15
福建华电可门发电有限公司 +1
View PDF9 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to large changes in geographic information such as the volume and location of coal piles during coal field operations, t

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • High-redundancy indoor coal yard navigation method and system
  • High-redundancy indoor coal yard navigation method and system
  • High-redundancy indoor coal yard navigation method and system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0077] This embodiment provides a highly redundant indoor coal yard navigation method, such as figure 1 shown, including steps:

[0078] S11. Respectively obtain the navigation data of the UWB subsystem, the INS subsystem, and the SLAM subsystem arranged in the coal yard;

[0079] S12. Determine whether the navigation data of the SLAM subsystem obtained is qualified, if so, select the navigation data of the SLAM subsystem and the navigation data of the UWB subsystem as the data to be fused; if not, select the navigation data of the INS subsystem and the UWB subsystem The navigation data of the system is used as the data to be fused;

[0080] S13. Establish a Kalman filter model based on the data to be fused, output an estimated value of the error amount of the SLAM subsystem or the INS subsystem according to the established Kalman filter model, and obtain the positioning data of the coal yard.

[0081] It should be noted that the execution subject of this embodiment is a nav...

Embodiment 2

[0143] This embodiment provides a highly redundant indoor coal yard navigation system, such as Figure 4 shown, including:

[0144] The acquisition module 11 is used to acquire the navigation data of the UWB subsystem, the INS subsystem, and the SLAM subsystem respectively arranged in the coal yard;

[0145] The first judging module 12 is used to judge whether the navigation data of the SLAM subsystem obtained is qualified;

[0146] The output module 13 is used to establish a Kalman filter model according to the data to be fused, and output the estimated value of the error amount of the SLAM subsystem or the INS subsystem according to the established Kalman filter model to obtain the positioning data of the coal yard.

[0147] Further, the navigation data of the UWB subsystem acquired in the acquisition module 11 is the position x of the current moment of the drone U ; The navigation data obtained from the INS subsystem is the current acceleration a of the UAV I ; The navig...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a high-redundancy indoor coal yard navigation method and system, and relates to the high-redundancy indoor coal yard navigation method which comprises the following steps: S11,respectively acquiring navigation data of a UWB subsystem, an INS subsystem and an SLAM subsystem which are arranged in a coal yard; S12, judging whether the obtained navigation data of the SLAM subsystem is qualified or not, and if yes, selecting the navigation data of the SLAM subsystem and the navigation data of the UWB subsystem as to-be-fused data; if not, selecting the navigation data of the INS subsystem and the navigation data of the UWB subsystem as to-be-fused data; and S13, establishing a Kalman filtering model according to the to-be-fused data, and outputting an estimated value ofthe error amount of the SLAM subsystem or the INS subsystem according to the established Kalman filtering model to obtain positioning data of the coal yard. According to the invention, safe and accurate navigation data are provided for unmanned aerial vehicle flight in an indoor coal yard environment (with weak GNSS signals or without GNSS signals).

Description

technical field [0001] The invention relates to the technical field of navigation, in particular to a highly redundant indoor coal yard navigation method and system. Background technique [0002] In the management work of coal yards in thermal power stations, the environment in the coal yards of thermal power stations is harsh, and the existing coal measurement methods are complicated to operate and take a long time to operate. In recent years, with the rapid development of machine vision, sensor science, artificial intelligence and other fields, the application of intelligent drones has gradually expanded from military and consumer fields to industrial production. The use of unmanned aerial vehicles to carry out coal mining in coal yards can overcome the shortcomings of traditional coal yard measurement methods such as long measurement periods, low precision, and high operating costs. [0003] The internal structure of the semi-enclosed coal yard is complicated, and there ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G01C21/00G01C21/16G01C21/20G01S19/48G01S19/49H04W4/021H04W4/024H04W4/33
CPCG01C21/005G01C21/165G01C21/206G01S19/48G01S19/49H04W4/024H04W4/33H04W4/021
Inventor 周立群沈润杰刘晨旭修正平赵紫燕何宗源
Owner 福建华电可门发电有限公司
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap