Accurate positioning method for unmanned engineering operation equipment in complex environment

A technology for unmanned driving and operating equipment, applied in satellite radio beacon positioning systems, radio wave measurement systems, instruments, etc., can solve problems such as inaccurate positioning of engineering operating equipment, achieve increased positioning reliability, simple structure, and low price cheap effect

Pending Publication Date: 2022-06-21
TIANJIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art, to provide a method for precise positioning of unmanned engineering operating equipment in complex environments, by installing low-cost GPS positioning sensors and attitude sensors at appropriate positions of engineering operating equipment, Construct an algorithm model based on the sensor and kinematic relationship, design a coupling algorithm, output accurate positioning information, and solve the problem of inaccurate positioning of engineering operation equipment

Method used

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  • Accurate positioning method for unmanned engineering operation equipment in complex environment
  • Accurate positioning method for unmanned engineering operation equipment in complex environment
  • Accurate positioning method for unmanned engineering operation equipment in complex environment

Examples

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Embodiment 1

[0075] A precise positioning method for unmanned engineering operation equipment used in complex environments. When GPS positioning is deviated, the specific steps are as follows:

[0076] Step one, as figure 1 According to the GPS positioning information received by the controller and the parameter table of the GPS receiver, the relationship between the position measurement value and the true value based on the GPS signal is constructed; considering the Ideally, the vehicle body speed of the unmanned engineering operation equipment is 0 in the two directions perpendicular to the forward direction, so a set of speed constraint relationships are defined, and a motion constraint equation based on the speed constraint is constructed.

[0077] Step 101, the vehicle controller obtains the original output information of the GPS, and converts it into a standard float or double data type according to the communication protocol;

[0078] Step 102: Use several arrays to record the acqu...

Embodiment 2

[0135] A precise positioning method and device for unmanned engineering operation equipment used in complex environments. When GPS fails in a short time (3s time), the specific steps are as follows:

[0136] Step one, as figure 1 According to the GPS positioning information received by the controller and the parameter table of the GPS receiver, the relationship between the position measurement value and the true value based on the GPS signal is constructed; considering the Ideally, the vehicle body speed of the unmanned engineering operation equipment is 0 in the two directions perpendicular to the forward direction, so a set of speed constraint relationships are defined, and a motion constraint equation based on the speed constraint is constructed.

[0137] Step 101, the vehicle controller obtains the original output information of the GPS, and converts it into a standard float or double data type according to the communication protocol;

[0138] Step 102: Use several arrays...

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Abstract

The invention discloses an accurate positioning method for unmanned engineering operation equipment in a complex environment, which mainly aims at two environments: a deviation value of a GPS (Global Positioning System) positioning position and short-term failure of the GPS, a low-cost heading attitude sensor is mounted at a proper position of the engineering operation equipment, so that the three-axis acceleration and the three-axis angular acceleration of the engineering operation equipment are obtained; by installing a low-cost GPS positioning sensor at a proper position of the engineering operation equipment, position coordinate information and speed information of the engineering operation equipment are obtained. And designing an information coupling algorithm, constructing a kinematics equation through the output information of the heading attitude sensor, performing coupling compensation with the output information of the GPS, and performing accurate positioning of the unmanned engineering equipment in a complex environment.

Description

technical field [0001] The invention belongs to the technical field of unmanned precise positioning, in particular to a precise positioning method for unmanned engineering operation equipment in complex environments. Background technique [0002] As human beings enter the era of artificial intelligence, driverless technology has flourished. The rapid development of modern construction machinery towards automation and precision has become an important focus in the field of unmanned driving. Engineering operation equipment is widely used in construction such as road construction and dam construction, but the harsh working environment, long-term repetitive and boring engineering operation equipment driving operations, etc., reduce the work efficiency of engineering operation equipment drivers, and the quality of rolling construction cannot be guaranteed. In addition, during the working process of the engineering operation equipment, the vibration rolling mode needs to be turne...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/37G01S19/47
CPCG01S19/37G01S19/47
Inventor 谢辉刘煜光宋康
Owner TIANJIN UNIV
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