CN106443737A - Track plotting algorithm for unmanned vehicle running based on multi-point GPS - Google Patents
Track plotting algorithm for unmanned vehicle running based on multi-point GPS Download PDFInfo
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- CN106443737A CN106443737A CN201610872840.6A CN201610872840A CN106443737A CN 106443737 A CN106443737 A CN 106443737A CN 201610872840 A CN201610872840 A CN 201610872840A CN 106443737 A CN106443737 A CN 106443737A
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- vehicle
- pilotless automobile
- gps navigation
- gps
- location
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
The invention provides a track plotting method for unmanned vehicle running based on multi-point GPS. The method comprises the steps that 2 an environmental map is established through a laser scanning radar to acquire geographical location information around a vehicle; 2 two GPS navigation systems are respectively arranged on left and right sides of the vehicle, and two GPS navigation systems locate the vehicle; 3 two GPS navigation systems are used to acquire a left target location and the azimuth information of the vehicle and a right target location and the azimuth information of the vehicle; and 4 the track plotting algorithm is used to process information acquired by two location systems to calculate the location information and running track of the vehicle. According to the invention, two GPS navigation systems are used for location; the failure phenomenon of the GPS navigation systems in a dynamic environment is reduced; the track plotting algorithm is improved; the location speed is accelerated; and the location accuracy is improved.
Description
Technical field
The present invention relates to reckoning algorithm, the especially a kind of nothing based on multiple spot GPS in pilotless automobile traveling
The reckoning algorithm that people is driven a car in traveling.
Background technology
Automatic driving vehicle is also referred to as robotic vehicle in the world, belongs to one kind of outdoor mobile robot, is one
Integrate environment sensing, planning and the integrated intelligent system of the multiple function such as decision-making, control, cover machinery, control, sensing
The multi-subject knowledge such as device technology, signal processing, pattern recognition, artificial intelligence and computer technology.In recent years, various countries increase right
The research of pilotless automobile, the development of pilotless automobile also becomes the important mark for weighing an industrialization of the country development degree
Will.Pilotless automobile mainly has following aspects as a complicated intelligence system, the content being related to:Architecture,
Environment sensing, location navigation, path planning, motor control and integrated design.
In navigation positioning system, GPS satellite navigation location technology is most commonly used that, but GPS navigation system is in dynamic
Environment and block region and be likely to occur receiver and be difficult to capture and gps signal is tracked, cause GPS disabler, cause nobody to drive
Sail traval trace and breakpoint occur, track is discontinuous, and when breakpoint duration is longer, pilotless automobile will occur
Monitoring is blank, there is serious potential safety hazard.
Content of the invention
The technical problem to be solved in the present invention is:A kind of boat during pilotless automobile based on multiple spot GPS is travelled is provided
Mark projectional technique, reduces the failure that GPS navigation system occurs under dynamic environment.
The technical solution adopted for the present invention to solve the technical problems is:A kind of pilotless automobile based on multiple spot GPS
Reckoning method in traveling, with following steps:
Step 1:First environmental map is set up by scanning laser radar, obtain the geographical location information of vehicle periphery;
Step 2:Two GPS navigation system are separately mounted to the left and right side of vehicle, and two GPS navigation system enter to vehicle
Row positioning;
Step 3:Left side objective and vehicle body azimuth information are obtained respectively by two GPS navigation system and obtain
Take the right objective and vehicle body azimuth information;
Step 4:The information for respectively two alignment systems being got using reckoning algorithm is processed, and calculates car
Positional information and driving trace.
Specifically, the reckoning algorithm steps are as follows:
(1) algorithm adopts absolute coordinate system, and it is magnetic north to transverse axis (X) sensing east to point to the north with axis of ordinates (Y)
Side;
(2) obtain sampling time interval i (i=0,1,2, fore-and-aft distance n) be;
(3) obtain pilotless automobile longitudinal direction with magnetic north to angle α (i), magnetic north to geographical north between angle be
αb;
(4) pilotless automobile longitudinal direction with geographical north to angle α ' (i) drawn by equation below;
α ' (i)=α (i)+αb;
(5) determine pilotless automobile in the position (x (n), y (n)) of n-th sampling instant according to below equation:
(6) set sampling period T to fix, and i-th (i=0,1,2, n) individual sampling instant pilotless automobile
Longitudinal velocity be v (i), the driving trace of dolly drawn by below equation:
The invention has the beneficial effects as follows:The present invention is reduced GPS navigation system and is existed using two GPS navigation system positioning
The failure for occurring under dynamic environment;The improvement of reckoning algorithm, accelerates the speed of positioning, while also improving positioning
Accuracy.
Description of the drawings
The present invention is further described below in conjunction with the accompanying drawings.
Fig. 1 is the control flow chart of the present invention;
Fig. 2 is the reckoning algorithm flow chart of the present invention;
Fig. 3 is the reckoning coordinate setting figure of the present invention;
Specific embodiment
Presently in connection with accompanying drawing, the present invention is further illustrated.These accompanying drawings are the schematic diagram of simplification only with signal side
The basic structure of the formula explanation present invention, therefore which only shows the composition relevant with the present invention.
As shown in figure 1, a kind of reckoning method in pilotless automobile traveling based on multiple spot GPS, with as follows
Step:
Step 1:First environmental map is set up by scanning laser radar, obtain the geographical location information of vehicle periphery;
Step 2:Two GPS navigation system are separately mounted to the left and right side of vehicle, and two GPS navigation system enter to vehicle
Row positioning;
Step 3:Left side objective and vehicle body azimuth information are obtained respectively by two GPS navigation system and obtain
Take the right objective and vehicle body azimuth information;
Step 4:The information for respectively two alignment systems being got using reckoning algorithm is processed, and calculates car
Positional information and driving trace.
Specifically, as Fig. 2, shown in soil 3, the reckoning algorithm steps are as follows:
(1) algorithm adopts absolute coordinate system, and it is magnetic north to transverse axis (X) sensing east to point to the north with axis of ordinates (Y)
Side;
(2) obtain sampling time interval i (i=0,1,2, fore-and-aft distance n) be;
(3) obtain pilotless automobile longitudinal direction with magnetic north to angle α (i), magnetic north to geographical north between angle be
αb;
(4) pilotless automobile longitudinal direction with geographical north to angle α ' (i) drawn by equation below;
α ' (i)=α (i)+αb;
(5) determine pilotless automobile in the position (x (n), y (n)) of n-th sampling instant according to below equation:
(6) set sampling period T to fix, and i-th (i=0,1,2, n) individual sampling instant pilotless automobile
Longitudinal velocity be v (i), the driving trace of dolly drawn by below equation:
The present invention provides solution to the navigation unstability of pilotless automobile.Reckoning algorithm is improved, plus
The fast positioning of GPS navigation system, meanwhile, the accuracy of positioning is improve, and GPS navigation system is reduced in dynamic environment and screening
Gear region is likely to occur receiver and is difficult to capture and tracks gps signal, causes the possibility of GPS disabler, it is ensured that nobody drives
Sail the stable operation of automobile.
Two contained GPS navigation system of vehicle body, obtain left and right objective and vehicle body azimuth information respectively;
Reckoning algorithm is improved, the algorithm accelerates the speed of location positioning with respect to original reckoning algorithm,
While also improving the accuracy of positioning;
The present invention reduces, using two GPS navigation system positioning, the failure that GPS navigation system occurs under dynamic environment
Phenomenon;The improvement of reckoning algorithm, accelerates the speed of positioning, while also improving the accuracy of positioning.
With the above-mentioned desirable embodiment according to the present invention as enlightenment, by above-mentioned description, relevant staff is complete
In the range of without departing from this invention technological thought, various change and modification can be carried out entirely.The technology of this invention
Property scope is not limited to the content in description, it is necessary to determine its technical scope according to right.
Claims (2)
1. a kind of reckoning method during pilotless automobile based on multiple spot GPS is travelled, it is characterised in that:There is following walking
Suddenly:
Step 1:First environmental map is set up by scanning laser radar, obtain the geographical location information of vehicle periphery;
Step 2:Two GPS navigation system are separately mounted to the left and right side of vehicle, and two GPS navigation system carry out fixed to vehicle
Position;
Step 3:Left side objective and vehicle body azimuth information are obtained respectively by two GPS navigation system and obtain right
Side objective and vehicle body azimuth information;
Step 4:The information for respectively two alignment systems being got using reckoning algorithm is processed, and calculates vehicle
Positional information and driving trace.
2. the reckoning method during the pilotless automobile based on multiple spot GPS according to claim 1 is travelled, its feature
It is:The reckoning algorithm steps are as follows:
(1) algorithm adopts absolute coordinate system, and it is magnetic north to transverse axis (X) sensing east to point to the north with axis of ordinates (Y);
(2) obtain sampling time interval i (i=0,1,2, fore-and-aft distance n) be;
(3) obtain pilotless automobile longitudinal direction with magnetic north to angle α (i), magnetic north to geographical north between angle be αb;
(4) pilotless automobile longitudinal direction with geographical north to angle α ' (i) drawn by equation below;
α ' (i)=α (i)+αb;
(5) determine pilotless automobile in the position (x (n), y (n)) of n-th sampling instant according to below equation:
(6) set sampling period T to fix, and i-th (i=0,1,2, n) individual sampling instant pilotless automobile is vertical
It is v (i) to speed, the driving trace of dolly is drawn by below equation:
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CN201610872840.6A CN106443737A (en) | 2016-09-30 | 2016-09-30 | Track plotting algorithm for unmanned vehicle running based on multi-point GPS |
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107389064A (en) * | 2017-07-27 | 2017-11-24 | 长安大学 | A kind of unmanned vehicle based on inertial navigation becomes channel control method |
CN107907894A (en) * | 2017-11-09 | 2018-04-13 | 上汽通用五菱汽车股份有限公司 | Pilotless automobile localization method, device, storage medium and pilotless automobile |
CN109285248A (en) * | 2018-08-30 | 2019-01-29 | 蚌埠中科工业设备有限公司 | A kind of safe unlocking method of sampling box |
CN110109161A (en) * | 2018-02-01 | 2019-08-09 | 高德信息技术有限公司 | A kind of fingerprint characteristic acquisition method and device |
CN114440864A (en) * | 2020-10-30 | 2022-05-06 | 华为技术有限公司 | Method and device for positioning automobile |
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CN102165880A (en) * | 2011-01-19 | 2011-08-31 | 南京农业大学 | Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method |
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张晅 等: "车载GPS与双DR组合定位***的设计与实现", 《微计算机信息》 * |
徐晓东: "GPS/GIS/GSM/DR智能车辆***研究", 《中国优秀硕士学位论文全文数据库(电子期刊)》 * |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107389064A (en) * | 2017-07-27 | 2017-11-24 | 长安大学 | A kind of unmanned vehicle based on inertial navigation becomes channel control method |
CN107907894A (en) * | 2017-11-09 | 2018-04-13 | 上汽通用五菱汽车股份有限公司 | Pilotless automobile localization method, device, storage medium and pilotless automobile |
CN110109161A (en) * | 2018-02-01 | 2019-08-09 | 高德信息技术有限公司 | A kind of fingerprint characteristic acquisition method and device |
CN109285248A (en) * | 2018-08-30 | 2019-01-29 | 蚌埠中科工业设备有限公司 | A kind of safe unlocking method of sampling box |
CN114440864A (en) * | 2020-10-30 | 2022-05-06 | 华为技术有限公司 | Method and device for positioning automobile |
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Application publication date: 20170222 |