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Multi-sensor fusion carrier positioning method related to power wheel slip correction

A multi-sensor fusion and positioning method technology, applied in the field of positioning algorithms, can solve problems such as difficulty in ensuring accuracy and slowing down of data update speed, and achieve the effects of improving robustness, accurate position estimation, and rapid identification of faults

Active Publication Date: 2021-08-13
南京云智控产业技术研究院有限公司
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Problems solved by technology

This will lead to a decrease in the data update speed. The measured data refresh speed of the positioning system with 4 base stations and 4 tags developed by Decawave's DWM1000 is 10Hz
In addition, the accuracy of UWB positioning is at the decimeter level. When performing high-speed and precise cluster positioning, it is difficult to guarantee the accuracy if it is completely relied on

Method used

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  • Multi-sensor fusion carrier positioning method related to power wheel slip correction
  • Multi-sensor fusion carrier positioning method related to power wheel slip correction
  • Multi-sensor fusion carrier positioning method related to power wheel slip correction

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Embodiment Construction

[0070] The following is a detailed description of a proposed multi-sensor fusion vehicle positioning method involving power wheel slip correction with reference to the accompanying drawings:

[0071] A multi-sensor fusion vehicle positioning method involving power wheel slip correction, the method includes the following steps:

[0072] S1. Feedforward control: Use the feedforward PID algorithm to perform closed-loop control on the speed of each motor, and obtain the speed ω of the three power wheels based on the encoder data 1 , ω 2 , ω 3 , according to the size of the three power wheels, the relative speed ν of the corresponding power wheels can be obtained 1 、ν 2 、ν 3 ;

[0073] S2. Ultra-wideband positioning: Obtain the absolute position coordinates (x UWB ,y UWB );

[0074] S3. Slip correction: Estimate the relative speed correction value ν of each power wheel according to the motor load state X_corr , (X=1,2,3), based on the model solution, the vehicle's horizont...

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Abstract

The invention discloses a multi-sensor fusion carrier positioning method related to power wheel slip correction. The method comprises the steps of S1, carrying out feedforward control, specifically, carrying out closed-loop control on the rotating speed of each motor through a feedforward PID algorithm, obtaining the rotating speeds of three power wheels based on the data of an encoder, and obtaining the relative moving speed of the corresponding power wheels according to the sizes of the three power wheels; S2, conducting ultra wide band positioning, specifically, obtaining absolute position coordinates of an omnidirectional wheel carrier based on a UWB positioning system; S3, performing slip correction, specifically, estimating a relative movement speed correction value of each power wheel according to a motor load state, calculating to obtain a position based on a model, and calculating xcar, ycar and [theta]car based on a state equation; and S4, performing data fusion, specifically, fusing the two kinds of position data by using Kalman filtering to obtain fusion results xKF, yKF and [theta]KF. According to the invention, the precision of positioning data fusion can be effectively improved.

Description

technical field [0001] The invention belongs to the field of positioning algorithms, and in particular relates to a multi-sensor fusion vehicle positioning method involving power wheel slip correction. Background technique [0002] The positioning technology of mobile vehicles is the key technology in the formation control of unmanned vehicles, unmanned aerial vehicles and complex systems. Applications such as trajectory tracking, path planning, and formation control of mobile vehicles need to rely on accurate location information of the vehicle. [0003] Based on the motor encoder and gyroscope data, the current speed and direction of the omnidirectional wheel vehicle can be estimated through the tire speed and vehicle acceleration, and the displacement of the vehicle can be obtained through integration, and the short-term positioning accuracy can reach millimeter level. However, due to the limitation of resolution and the existence of measurement noise, the displacement d...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01M13/00G01P3/54G01S11/02
CPCG01M13/00G01P3/54G01S11/02
Inventor 刘剑许一航薛磊郑昊
Owner 南京云智控产业技术研究院有限公司
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