CN106443737A - Track plotting algorithm for unmanned vehicle running based on multi-point GPS - Google Patents

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

The reckoning algorithm in pilotless automobile traveling based on multiple spot GPS

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 α_b；

(4) pilotless automobile longitudinal direction with geographical north to angle α ' (i) drawn by equation below；

α ' (i)=α (i)+α_b；

(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 α_b；

(4) pilotless automobile longitudinal direction with geographical north to angle α ' (i) drawn by equation below；

α ' (i)=α (i)+α_b；

(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 α_b；

(4) pilotless automobile longitudinal direction with geographical north to angle α ' (i) drawn by equation below；

α ' (i)=α (i)+α_b；

(5) determine pilotless automobile in the position (x (n), y (n)) of n-th sampling instant according to below equation：

$x\left(n\right)=x_0+\underset{i=0}{\overset{n-1}{\Σ}}d\left(i\right){\mathrm{sin\α}}^{\′}\left(i\right);$

$y\left(n\right)=y_0+\underset{i=0}{\overset{n-1}{\Σ}}d\left(i\right){\mathrm{cos\α}}^{\′}\left(i\right);$

(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：

$x\left(n\right)=x_0+T\underset{i=0}{\overset{n-1}{\Σ}}v\left(i\right){\mathrm{sin\α}}^{\′}\left(i\right);$

$y\left(n\right)=y_0+T\underset{i=0}{\overset{n-1}{\Σ}}v\left(i\right){\mathrm{cos\α}}^{\′}\left(i\right).$