The invention discloses an unmanned vehicle navigation positioning method and
system based on
particle swarm optimization, and relates to the technical field of intelligent traffic, and the method comprises the following steps: S001, building an
inertia weight regulation table, and recording and recognizing the
critical range of
inertia weight change through the historical moving trajectory of an unmanned vehicle and environment change to form a basic parameter set; and S002, constructing a speed change buffer chain under the guidance of the
inertia weight regulation and
control table, performing hierarchical and segmented
processing on the particle swarm real-time speed adjustment amount, and constraining the speed change amplitude and
rhythm to obtain a limited speed adjustment sequence for suppressing group synchronous oscillation. According to the invention, by introducing an inertia weight regulation table, a speed change buffer chain, a
time sequence regulation cable and a position balance belt,
dynamic balance regulation and closed-
loop control of particle swarm navigation positioning are realized. According to the method, speed synchronous oscillation is effectively inhibited, the
pose output is smoothed, and continuous connection of steering and
power control is kept, so that the navigation and positioning stability and control precision of the unmanned vehicle are improved.