井工矿复杂恶劣环境下级联滤波定位方法、设备及介质
By fusing IMU and lidar data using a cascaded filtering method, the problem of high-precision positioning of unmanned vehicles in complex underground mining environments was solved. Stable and accurate positioning was achieved in environments with non-Gaussian noise at wheel speeds and feature degradation, making it suitable for unmanned vehicle positioning in complex and harsh underground mining environments.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HEFEI KUANGHANG INTELLIGENT TECHNOLOGY CO LTD
- Filing Date
- 2025-09-02
- Publication Date
- 2026-07-17
AI Technical Summary
Existing high-precision positioning technologies in underground mines are unable to withstand the interference of non-Gaussian measurement noise of wheel speed in the complex and harsh environment of underground mines. Furthermore, the stability and accuracy of the system observation model are insufficient in the environment of feature degradation, which cannot meet the high-precision, long-term reliable positioning requirements of unmanned vehicles.
A cascaded filtering method is adopted, including an anti-slipping first-level filtering module and an anti-feature degradation second-level filtering module. Through kinematic estimation, non-Gaussian noise feature extraction, anti-slipping adaptive Kalman filtering, and anti-feature degradation regularized Kalman filtering, IMU, wheel speed, and lidar data are fused to construct a robust localization model.
It achieves high-precision positioning of unmanned vehicles in underground mines, reduces the impact of non-Gaussian noise, ensures the positioning accuracy and robustness of the system in feature degradation environments, has efficient data fusion capabilities and system redundancy, and is adaptable to the harsh environment of underground mines.
Smart Images
Figure CN120991842B_ABST