A vision and inertial combined navigation system and method for automatic travel of an industrial vehicle

Abstract

The present application relates to the technical field of industrial vehicle combined navigation, and discloses a visual and inertial combined navigation system and method for automatic driving of an industrial vehicle, wherein the combined navigation method is as follows: a plurality of positioning points are selected on a target path, a reflective sticker picture with unique identification features is pasted on the roof above the positioning points, and a unique pattern formed by the reflective sticker picture and reflected light is bound with position information to establish a positioning pattern; when the industrial vehicle drives to the positioning point, the industrial vehicle is positioned by a visual navigation system; and when the industrial vehicle drives at a non-positioning point, the industrial vehicle is positioned and navigated by an inertial navigation system. The combined positioning and navigation mode of the present application, which adopts inertial navigation to assist visual navigation, not only makes the distance between the roof stickers "positioning points" adjustable, effectively avoids the roof stickers difficult to paste, reduces the workload by more than 80%, but also greatly extends the application scenarios.

Description

Technical Field

[0001] This invention relates to the field of industrial vehicle integrated navigation technology, specifically to a vision and inertial integrated navigation system and method for the automatic driving of industrial vehicles. Background Technology

[0002] Application publication number CN 117405078 A (applicant: Shenzhen Youguang Image Technology Co., Ltd.) discloses a new visual navigation technology, which is independently developed and is unique in the world. It projects light of a specific wavelength onto the roof through a vehicle-mounted light source. The projected light is reflected by reflective stickers pre-attached to the roof. The vehicle-mounted camera captures the pattern formed by the multiple reflected light spots to determine the vehicle's own position and allows the vehicle to travel along a specific path. The series of continuous patterns recorded by the vehicle-mounted camera are used as path markers.

[0003] Patent announcement number CN 208106912 U (patentee: Shenzhen Youguang Image Technology Co., Ltd.) provides a patented technology for independently developed roof reflective stickers. It involves attaching a concave sponge device to the head of a regular fishing rod, placing the reflective sticker with the adhesive side facing up inside the concave groove, and then lifting it onto the roof using the fishing rod. Since many workshop roofs are over 8 meters high, this typically requires two people to complete.

[0004] Previously, the visual navigation system required reflective stickers to be applied to the roof at every point along the path to form a pattern. However, due to factors such as the height of the roof, the roof material, the pipeline layout, and the limited ground operating space in some factories, completing the application of stickers along the entire path was very labor-intensive and costly. Furthermore, vehicles could not operate outdoors without a roof, which limited the promotion of the product. Summary of the Invention

[0005] The purpose of this invention is to install an inertial navigation system on the vehicle and to attach reflective stickers to the roofs of selected local points (positioning points) along the path. Since the inertial navigation system will deviate after the vehicle has traveled a certain distance, it is necessary to hand over the vehicle control to the visual navigation system for repositioning (correction) when the vehicle reaches the "positioning point" of the visual navigation system. The two systems automatically switch at the "positioning point" to complete the entire path of travel and operation.

[0006] A vision-inertial combined navigation method for automated driving of industrial vehicles, the steps of which are as follows:

[0007] Step 1: Select several positioning points on the target path, paste a reflective sticker image with unique identification features on the roof above each positioning point, and bind the unique pattern formed by the reflected light of the reflective sticker image with the location information to establish a positioning pattern.

[0008] Step 2: The integrated navigation processor sets the integrated navigation mode, specifically: if the industrial vehicle is traveling on a location point on the target path, the visual navigation system will perform positioning and navigation; if the industrial vehicle is traveling on a non-location point on the target path, the inertial navigation system will perform positioning and navigation.

[0009] Step 3: When the industrial vehicle reaches the positioning point on the target path, the visual navigation system performs the following operations:

[0010] The industrial vehicle is positioned and the deviation data of the industrial vehicle relative to the positioning point is calculated.

[0011] The deviation data of the industrial vehicle relative to the positioning point is transmitted back to the integrated navigation processor using the data return protocol defined by the data service center.

[0012] The integrated navigation processor then performs the following operations:

[0013] The deviation data of the industrial vehicle relative to the positioning point is obtained by parsing the data backhaul protocol defined by the data service center;

[0014] The deviation data of the industrial vehicle relative to the positioning point is used as the initial deviation of the inertial navigation system to eliminate the accumulated error generated in the previous inertial navigation stage.

[0015] Based on the deviation data of the industrial vehicle relative to the positioning point, the steering control module is used to adjust the attitude of the industrial vehicle at the positioning point.

[0016] Step 4: When the industrial vehicle departs from a positioning point on the target path, the inertial navigation system positions and navigates the industrial vehicle, realizing the positioning and navigation process of inertial navigation assisted by visual navigation.

[0017] Preferably, in step S3, the visual navigation system projects light of a specific wavelength onto the roof using an onboard light source. The projected light is reflected by a reflective sticker image pre-attached to the roof. The pattern formed by multiple reflected light spots captured by the onboard camera is matched with a pre-established positioning pattern, and the positioning of the industrial vehicle is completed using the positioning pattern.

[0018] Preferably, in step 4, the inertial navigation system performs the following operations:

[0019] The deviation data of the industrial vehicle between two adjacent positioning points was calculated.

[0020] The deviation data of the industrial vehicle between two adjacent positioning points is transmitted back to the integrated navigation processor using the data return protocol defined by the data service center.

[0021] The integrated navigation processor then performs the following operations:

[0022] The deviation data of the industrial vehicle between two adjacent positioning points is obtained by parsing the data backhaul protocol defined by the data service center.

[0023] Based on the deviation data of the industrial vehicle between two adjacent positioning points, the steering control module adjusts and controls the attitude of the industrial vehicle to complete the industrial vehicle's following of the target path.

[0024] Preferably, the integrated navigation processor can also set the integrated navigation mode:

[0025] If the industrial vehicle is traveling on the target path's location point, the visual navigation system will provide positioning and navigation.

[0026] If the industrial vehicle is traveling on a non-target point on the target path, positioning and navigation will be provided by other auxiliary navigation systems; among them, other auxiliary navigation systems are one of laser navigation, GPS navigation, and Beidou satellite navigation.

[0027] If an industrial vehicle is traveling on a non-positioning point on the target path, and the target path is an indoor working environment, a laser navigation system can be used instead of an inertial navigation system for positioning and navigation, realizing the positioning and navigation process of laser navigation-assisted visual navigation.

[0028] If an industrial vehicle is traveling on a non-location point of the target path, and the target path is an outdoor working environment, a GPS navigation system or a Beidou satellite navigation system can be used instead of an inertial navigation system for positioning and navigation, realizing a positioning and navigation process assisted by satellite navigation and visual navigation.

[0029] A vision-inertial integrated navigation system for automated driving of industrial vehicles, which is used to execute a vision-inertial integrated navigation method, includes: a vision navigation system, an inertial navigation system, other auxiliary navigation systems, an integrated navigation processor, a data service center, and a steering control module;

[0030] Preferably, the other auxiliary navigation system is one of laser navigation, GPS navigation, or BeiDou satellite navigation.

[0031] Compared with the prior art, the present invention has the following beneficial technical effects:

[0032] Actual testing has shown that vehicles with an additional inertial navigation system have the following advantages over vehicles with only a visual navigation system:

[0033] First, because the path deviation caused by the inertial navigation system after the vehicle has traveled a certain distance (such as 100 meters) can be identified and corrected by the visual navigation system at the "positioning point", the distance between the "positioning points" of the roof strip can be adjusted, which can effectively avoid roofs where it is difficult to apply the strip, reducing the workload by more than 80%.

[0034] Secondly, the outdoor operation uses an inertial navigation system, and a positioning platform of a visual navigation system is set up at intervals to work interactively, which can greatly extend the application scenarios. Detailed Implementation

[0035] Example 1:

[0036] A vision-inertial integrated navigation system for automated driving of industrial vehicles includes: a vision navigation system, an inertial navigation system, an integrated navigation processor, a data service center, and a steering control module;

[0037] Both the visual navigation system and the inertial navigation system use the data return protocol defined by the data service center to perform navigation data return operations to the integrated navigation processor;

[0038] The integrated navigation processor uses the data return protocol defined by the data service center to parse the received navigation data;

[0039] The integrated navigation processor is used to set the priority of integrated navigation, determine the navigation mode, and adjust and control the industrial vehicle through the steering control module based on the navigation data, so as to complete the industrial vehicle to follow the target path and realize the integrated positioning and navigation process.

[0040] The integrated navigation processor can be set to the following integrated navigation modes: if the industrial vehicle is traveling on the target path's positioning point, the visual navigation system will be used for positioning and navigation; if it is not on the positioning point, inertial navigation, laser navigation, GPS navigation, or Beidou satellite navigation can be used for positioning and navigation.

[0041] Example 2:

[0042] A vision-inertial combined navigation method for automated driving of industrial vehicles, the combined navigation method comprising the following steps:

[0043] Step 1: Determine the target path of the industrial vehicle, establish a reference coordinate system based on the target path, select several positioning points on the target path, paste a reflective sticker image with unique identification features on the roof above each positioning point, and bind the unique pattern formed by the reflected light of the reflective sticker image with the position information to establish a positioning pattern.

[0044] Step 2: When the industrial vehicle travels to a positioning point on the target path, the visual navigation system projects light of a specific wavelength onto the roof through the vehicle's light source. The projected light is reflected by a reflective sticker image that has been pasted on the roof beforehand. The pattern formed by multiple reflected light spots is captured by the vehicle's camera and matched with the pre-established positioning pattern. The positioning pattern is used to determine the position information of the industrial vehicle, and the deviation data of the industrial vehicle relative to the positioning point is calculated simultaneously.

[0045] The visual navigation system uses the data backhaul protocol defined by the data service center to transmit the deviation data of the industrial vehicle relative to the positioning point back to the integrated navigation processor;

[0046] The integrated navigation processor uses the data backhaul protocol defined by the data service center to parse and obtain the deviation data of the industrial vehicle relative to the positioning point;

[0047] The integrated navigation processor uses the deviation data of the industrial vehicle relative to the positioning point as the initial deviation of the inertial navigation system to eliminate the accumulated error generated in the previous inertial navigation stage.

[0048] Simultaneously, the integrated navigation processor adjusts the industrial vehicle's attitude at the positioning point based on the deviation data of the industrial vehicle relative to the positioning point through the steering control module.

[0049] Step 3: When the industrial vehicle drives out of a positioning point on the target path, the inertial navigation system is used for positioning and navigation. At this time, the inertial navigation system calculates the deviation data of the industrial vehicle between two adjacent positioning points and uses the data backhaul protocol defined by the data service center to perform backhaul operation to the integrated navigation processor.

[0050] The integrated navigation processor uses the data backhaul protocol defined by the data service center to parse and obtain the deviation data of the industrial vehicle between two adjacent positioning points;

[0051] The integrated navigation processor, based on the deviation data of the industrial vehicle between two adjacent positioning points, adjusts and controls the attitude of the industrial vehicle through the steering control module to complete the industrial vehicle's following of the target path, realizing the positioning and navigation process of inertial navigation assisted visual navigation.

[0052] Step 4: When an industrial vehicle travels between two adjacent positioning points on the target path, if the target path is an indoor working environment, laser navigation can be used instead of inertial navigation for positioning and navigation, thus realizing the positioning and navigation process of laser navigation-assisted visual navigation.

[0053] When an industrial vehicle travels between two adjacent positioning points on a target path, if the target path is an outdoor working environment, GPS navigation or Beidou satellite navigation can be used instead of inertial navigation for positioning and navigation, realizing a positioning and navigation process assisted by satellite navigation and visual navigation.

[0054] Example 3:

[0055] The data service center defines the main protocol used by the visual navigation system and the inertial navigation system when transmitting data back to the integrated navigation processor:

[0056] Main Protocol 1: Select a large prime number p≥2 kAnd generate a cyclic group G of order p and generator P on an elliptic curve E;

[0057] Main Protocol 2: Defines 5 secure hash functions:

[0058] H1: G×G→{0,1} La ;

[0059] H2: G×{0,1} La ×G→Z p * ;

[0060] H3: {0,1} La ×G→Z p * ;

[0061] H4:G→{0,1} Lb ;

[0062] H5: {0,1} Lb ×G×G×{0,1} La ×G×G→Z p * ;

[0063] Among them, Z p * Let represent the set of integers consisting of 1, 2, ..., p-1;

[0064] La and Lb represent the length of the binary sequence;

[0065] Main Protocol 3: Data service parameters {s1, s2, P1, P2} used when constructing the visual navigation system and the inertial navigation system to perform data backhaul operations to the integrated navigation processor;

[0066] Where s1∈Z p * P1 = s1 × P; s2 ∈ Z p * P2 = s2 × P;

[0067] Main Protocol 4: Set the validity period of the data transmitted back by the visual navigation system and the inertial navigation system to ΔT;

[0068] Based on the defined master protocol, the data service center defines the slave protocol used by any navigation system when transmitting navigation data back to the integrated navigation processor:

[0069] From the protocol: the data return parameters {μ, U, α, K, β, κ} used when constructing the navigation system to perform navigation data return operations to the integrated navigation processor;

[0070] Where, μ∈Z p* ; α∈Z p * ;β∈Z p * ;

[0071] U = μ × P;

[0072] K = α × P;

[0073] κ=α+s1×H2(A1, A2, K);

[0074] The intermediate parameters {A1, A2} used by the navigation system when transmitting navigation data back to the integrated navigation processor;

[0075] A1 = β × P;

[0076] A2 = ID s ⊕H1(s1×A1,s1×P1);

[0077] Among them, ID s For the device identification information of the navigation system;

[0078] ⊕ is the XOR operator;

[0079] Based on the defined master protocol, the data service center defines the slave protocol used by the visual navigation system when performing data backhaul operations to the integrated navigation processor:

[0080] From the protocol: the data backhaul parameters {μ1, U1, α1, K1, β1, κ1} used when constructing the visual navigation system to perform data backhaul operations to the integrated navigation processor;

[0081] Where, μ1∈Z p * ; α1∈Z p * ;β1∈Z p * ;

[0082] U1 = μ1 × P;

[0083] K1 = α1 × P;

[0084] κ1=α1+s1×H2(A 1-1 A 1-2 , K1);

[0085] The intermediate parameter {A} used by the visual navigation system when transmitting data back to the integrated navigation processor 1-1 A 1-2};

[0086] A 1-1 =β1×P;

[0087] A 1-2 =ID s1 ⊕H1(s1×A 1-1 ,s1×P1);

[0088] Among them, ID s1 For equipment identification information of visual navigation systems;

[0089] Based on the defined master protocol, the data service center defines the slave protocol used by the inertial navigation system when transmitting data back to the integrated navigation processor:

[0090] From the protocol: the data return parameters {μ2, U2, α2, K2, β2, κ2} used when constructing the inertial navigation system to perform data return operations to the integrated navigation processor;

[0091] Where, μ2∈Z p * ; α2∈Z p * ;β2∈Z p * ;

[0092] U2 = μ2 × P;

[0093] K2 = α2 × P;

[0094] κ2=α2+s1×H2(A 2-1 A 2-2 (K2);

[0095] The intermediate parameter {A} used by the inertial navigation system when transmitting data back to the integrated navigation processor 2-1 A 2-2};

[0096] A 2-1 =β2×P;

[0097] A 2-2 =ID s2 ⊕H1(s1×A 2-1 ,s1×P1);

[0098] Among them, ID s2 For the device identification information of the inertial navigation system;

[0099] Based on the defined master protocol, the data service center defines the slave protocol used by the integrated navigation processor when performing data parsing operations:

[0100] From the protocol: the data return parameters {λ} used when constructing the integrated navigation processor for data parsing operations. r S r Q r};

[0101] Where, λ r ∈Z p * ;

[0102] S r =λ r +s2×H3(ID r , λ r ×P);

[0103] Q r =λ r ×P+[H3(ID r , λ r ×P)]×P2;

[0104] Among them, ID r This refers to the device identification information for the integrated navigation processor.

[0105] Example 4:

[0106] The method by which the navigation system uses the data return protocol defined by the data service center to return navigation data to the integrated navigation processor is as follows:

[0107] Generate navigation data m∈{0,1} Lb The current timestamp T;

[0108] Select the return coefficient π∈Z for navigation data m. p * ;

[0109] Calculate the auxiliary feedback information F1 = π × P for navigation data m;

[0110] Calculate the encapsulation information of navigation data m: F2 = H4(π × Q) r )⊕m;

[0111] Calculate the auxiliary review information F3 for navigation data m: F3 = π + h × (μ + κ);

[0112] Among them, the intermediate parameter h = H5(F2, F1, A1, A2, K, U) used in the auxiliary audit information generation process;

[0113] The encapsulation information ED = {F1, F2, F3, T} is output and sent back to the integrated navigation processor;

[0114] The subsequent process of the integrated navigation processor parsing the encapsulated information ED is as follows:

[0115] Generate the current timestamp T';

[0116] Extract the timestamp T from the encapsulation information ED;

[0117] Calculate the validity period ΔT' = |T' - T|;

[0118] Verify whether the inequality ΔT'≤ΔT holds true;

[0119] If the above formula is not true, the returned information will fail to be sent.

[0120] Conversely, the following procedure shall be performed:

[0121] Calculate the intermediate parameters h' = H5(F2, F1, A1, A2, K, U) for the auxiliary audit information;

[0122] Calculate the auxiliary audit parameter η1 = F3 × P;

[0123] Calculate the auxiliary audit parameter η2 = F1 + h' × (K + P1 × H2(A1, A2, K) + U);

[0124] If the equation η1=η2 holds, then proceed to the next step to recover the navigation data m=F2⊕H4(S r ×F1);

[0125] Conversely, if the data transmission fails, the system will return a failure message.

[0126] According to the master and slave protocols defined in Embodiment 3, the process by which the visual navigation system transmits deviation data of the industrial vehicle relative to the positioning point back to the integrated navigation processor is as follows:

[0127] Generate deviation data m1∈{0,1} of industrial vehicles relative to positioning points. Lb The current timestamp T1;

[0128] Select the return coefficient π1∈Z for data m1. p * ;

[0129] Auxiliary feedback information F of calculation data m1 1-1 =π1×P;

[0130] The encapsulation information F of the calculated data m1 1-2 =H4(π1×Q) r )⊕m1;

[0131] Calculate the auxiliary audit information F for data m1 1-3 =π1+h1×(μ1+κ1);

[0132] Among them, the intermediate parameter h1 = H5(F) used in the auxiliary audit information generation process 1-2 F 1-1 A 1-1 A 1-2 (K1, U1);

[0133] Output and encapsulate the information ED1 = {F 1-1 F 1-2 F 1-3 T1 is sent back to the integrated navigation processor;

[0134] According to the master protocol and slave protocol defined in Embodiment 3, the process by which the integrated navigation processor parses the encapsulation information ED1 is as follows:

[0135] Generate the current timestamp T'1;

[0136] Extract the timestamp T1 from the deviation data ED1 of the industrial vehicle relative to the positioning point;

[0137] Calculate the validity period ΔT1'=|T'1-T1|;

[0138] Verify whether the inequality ΔT1'≤ΔT holds true;

[0139] If the above formula is not true, the returned information will fail to be sent.

[0140] Conversely, the following procedure shall be performed:

[0141] Calculate the intermediate parameter h'1 = H5(F) for auxiliary audit information 1-2 F 1-1 A 1-1 A 1-2 (K1, U1);

[0142] Calculate the auxiliary audit parameter η 1-1 =F 1-3 ×P;

[0143] Calculate the auxiliary audit parameter η 1-2 =F 1-1 +h'1×(K1+P1×H2(A 1-1 A 1-2 ,K1)+U1);

[0144] If the equation η1=η2 holds, then proceed to the next step to recover the deviation data m1=F of the industrial vehicle relative to the positioning point. 1-2 ⊕H4(S r ×F 1-1 );

[0145] Conversely, if the data transmission fails, the system will return a failure message.

[0146] According to the master and slave protocols defined in Embodiment 3, the process by which the inertial navigation system transmits deviation data of the industrial vehicle between two adjacent positioning points back to the integrated navigation processor is as follows:

[0147] Select the deviation data m2∈{0,1} between two adjacent positioning points of the industrial vehicle. Lb The current timestamp T2;

[0148] Choose the return coefficient π2∈Z for data m2. p * ;

[0149] Auxiliary feedback information F for calculating data m2 2-1 =π2×P;

[0150] The encapsulation information F of the calculated data m2 2-2 =H4(π2×Q) r )⊕m2;

[0151] Calculate auxiliary audit information F for data m2 2-3 =π2+h2×(μ2+κ2);

[0152] Among them, the intermediate parameter h2 = H5(F) for auxiliary audit information 2-2 F 2-1 A 2-1 A 2-2 (K2, U2);

[0153] Output and encapsulate the information ED2 = {F 2-1 F 2-2 F 2-3 T2 is returned to the integrated navigation processor;

[0154] According to the master protocol and slave protocol defined in Embodiment 3, the process by which the integrated navigation processor parses the encapsulation information ED2 is as follows:

[0155] Generate the current timestamp T'2;

[0156] Extract the timestamp T2 from the encapsulated data ED2;

[0157] Calculate the validity period ΔT2'=|T'2-T2|;

[0158] Verify whether the inequality ΔT2'≤ΔT holds true;

[0159] If the above formula is not true, the returned information will fail to be sent.

[0160] Conversely, the following procedure shall be performed:

[0161] Calculate the intermediate parameter h'2 = H5(F) for auxiliary audit information 2-2 F 2-1 A 2-1 A 2-2 (K2, U2);

[0162] Calculate the auxiliary audit parameter η 2-1 =F 1-3 ×P;

[0163] Calculate the auxiliary audit parameter η 2-2 =F 2-1 +h'2×(K2+P1×H2(A 2-1 A 2-2 ,K2)+U2);

[0164] If the equation η 2-1 =η 2-2 If the condition is met, proceed to the next step to recover the deviation data m2 = F of the industrial vehicle between two adjacent positioning points. 2-2 ⊕H4(S r ×F 2-1 );

[0165] Conversely, if the data transmission fails, the system will return a failure message.

Claims

1. A vision-inertial combined navigation method for automated driving of industrial vehicles, characterized in that, The steps of the integrated navigation method are as follows: Step 1: Select several positioning points on the target path, paste a reflective sticker image with unique identification features on the roof above each positioning point, and bind the unique pattern formed by the reflected light of the reflective sticker image with the location information to establish a positioning pattern. Step 2: The integrated navigation processor sets the integrated navigation mode, specifically: if the industrial vehicle is traveling on a location point on the target path, the visual navigation system will perform positioning and navigation; if the industrial vehicle is traveling on a non-location point on the target path, the inertial navigation system will perform positioning and navigation. Step 3: When the industrial vehicle reaches the positioning point on the target path, the visual navigation system performs the following operations: The industrial vehicle is positioned and the deviation data of the industrial vehicle relative to the positioning point is calculated. The deviation data of the industrial vehicle relative to the positioning point is transmitted back to the integrated navigation processor using the data return protocol defined by the data service center. The integrated navigation processor then performs the following operations: The deviation data of the industrial vehicle relative to the positioning point is obtained by parsing the data backhaul protocol defined by the data service center; The deviation data of the industrial vehicle relative to the positioning point is used as the initial deviation of the inertial navigation system to eliminate the accumulated error generated in the previous inertial navigation stage. Based on the deviation data of the industrial vehicle relative to the positioning point, the steering control module is used to adjust the attitude of the industrial vehicle at the positioning point. Step 4: When the industrial vehicle departs from a positioning point on the target path, the inertial navigation system positions and navigates the industrial vehicle, realizing the positioning and navigation process of inertial navigation assisted by visual navigation.

2. The vision-inertial combined navigation method for automated driving of industrial vehicles according to claim 1, characterized in that, In step S3, the visual navigation system projects light of a specific wavelength onto the roof using the vehicle-mounted light source. The projected light is reflected by a reflective sticker image pre-attached to the roof. The pattern formed by multiple reflected light spots is captured by the vehicle-mounted camera and matched with a pre-established positioning pattern. The positioning of the industrial vehicle is then completed using the positioning pattern.

3. The vision-inertial combined navigation method for automated driving of industrial vehicles according to claim 1, characterized in that, In step 4, the inertial navigation system performs the following operations: The deviation data of the industrial vehicle between two adjacent positioning points was calculated. The deviation data of the industrial vehicle between two adjacent positioning points is transmitted back to the integrated navigation processor using the data return protocol defined by the data service center. The integrated navigation processor then performs the following operations: The deviation data of the industrial vehicle between two adjacent positioning points is obtained by parsing the data backhaul protocol defined by the data service center. Based on the deviation data of the industrial vehicle between two adjacent positioning points, the steering control module adjusts and controls the attitude of the industrial vehicle to complete the industrial vehicle's following of the target path.

4. The vision-inertial combined navigation method for automated driving of industrial vehicles according to claim 1, characterized in that, The integrated navigation processor can also set the integrated navigation mode: If the industrial vehicle is traveling on the target path's location point, the visual navigation system will provide positioning and navigation. If the industrial vehicle is traveling on a non-target point on the target path, positioning and navigation will be provided by other auxiliary navigation systems; among them, other auxiliary navigation systems are one of laser navigation, GPS navigation, and Beidou satellite navigation. If an industrial vehicle is traveling on a non-positioning point on the target path, and the target path is an indoor working environment, a laser navigation system can be used instead of an inertial navigation system for positioning and navigation, realizing the positioning and navigation process of laser navigation-assisted visual navigation. If an industrial vehicle is traveling on a non-location point of the target path, and the target path is an outdoor working environment, a GPS navigation system or a Beidou satellite navigation system can be used instead of an inertial navigation system for positioning and navigation, realizing a positioning and navigation process assisted by satellite navigation and visual navigation.

5. A vision-inertial combined navigation method for automated driving of industrial vehicles according to any one of claims 1-4, characterized in that, The method by which the navigation system uses the data return protocol defined by the data service center to return navigation data to the integrated navigation processor is as follows: The navigation system performs the following operations: Generate navigation data m∈{0,1} Lb The current timestamp T; Select the return coefficient π∈Z for navigation data m. p * ; Calculate the auxiliary feedback information F1 = π × P for navigation data m; Calculate the encapsulation information of navigation data m: F2 = H4(π × Q) r )⊕m; Calculate the auxiliary review information F3 for navigation data m: F3 = π + h × (μ + κ); Among them, the intermediate parameter h = H5(F2, F1, A1, A2, K, U) used in the auxiliary audit information generation process; The encapsulation information ED = {F1, F2, F3, T} is output and sent back to the integrated navigation processor; The integrated navigation processor parses the encapsulation information (ED) and performs the following operations: Generate the current timestamp T'; Extract the timestamp T from the encapsulation information ED; Calculate the validity period ΔT' = |T' - T|; Verify whether the inequality ΔT'≤ΔT holds true; If the above formula is not true, the returned information will fail to be sent. Conversely, the following procedure shall be performed: Calculate the intermediate parameters h' = H5(F2, F1, A1, A2, K, U) for the auxiliary audit information; Calculate the auxiliary audit parameter η1 = F3 × P; Calculate the auxiliary audit parameter η2 = F1 + h' × (K + P1 × H2(A1, A2, K) + U); If the equation η1=η2 holds, then proceed to the next step to recover the navigation data m=F2⊕H4(S r ×F1); Conversely, if the data transmission fails, the system will return a failure message.

6. A vision-inertial integrated navigation system for automated driving of industrial vehicles, used to execute the integrated navigation method according to any one of claims 1-4, characterized in that, include: Visual navigation system, inertial navigation system, other auxiliary navigation systems, integrated navigation processor, data service center and steering control module.

7. A vision-inertial combined navigation system for automated driving of industrial vehicles according to claim 6, characterized in that, Other auxiliary navigation systems include laser navigation, GPS navigation, and BeiDou satellite navigation.

8. A vision-inertial combined navigation system for automated driving of industrial vehicles according to claim 6, characterized in that, The integrated navigation processor is used to set the priority of integrated navigation, determine the navigation mode, and adjust and control the industrial vehicle through the steering control module based on the navigation data, so as to complete the industrial vehicle to follow the target path and realize the integrated positioning and navigation process.