CN117570973B - Fusion positioning system and method for multi-scene unmanned vehicle - Google Patents
Fusion positioning system and method for multi-scene unmanned vehicle Download PDFInfo
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- CN117570973B CN117570973B CN202311553074.3A CN202311553074A CN117570973B CN 117570973 B CN117570973 B CN 117570973B CN 202311553074 A CN202311553074 A CN 202311553074A CN 117570973 B CN117570973 B CN 117570973B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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Abstract
The invention discloses a fusion positioning system and a method for a multi-scene unmanned vehicle, wherein the method comprises the following steps: acquiring laser radar point cloud data and inertial navigation positioning data of a vehicle; performing space-time synchronous calibration on the laser radar point cloud data according to the time service time of the inertial navigation positioning data, and then inputting the laser radar point cloud data into an extended Kalman filter together for fusion positioning; setting a range area by taking the fusion positioning information as a center, monitoring geomagnetic signals in the range area, judging whether the geomagnetic signals change, and correcting the fusion positioning information closest to the position information according to the position information of the geomagnetic signals if the geomagnetic signals change; and matching and positioning the fusion positioning information with map data stored in advance to obtain the position of the unmanned vehicle. According to the invention, on the basis of inertial navigation fusion positioning of the laser radar and the IMU, the positioning result is corrected irregularly by using geomagnetic signals, so that the positioning accuracy is obviously improved, and the positioning error is not accumulated with time.
Description
Technical Field
The invention relates to the technical field of unmanned vehicles, in particular to a fusion positioning system and method for a multi-scene unmanned vehicle.
Background
In recent years, unmanned vehicles have been vigorously developed due to the development of computer technology, satellite positioning navigation technology, artificial intelligence technology, and the like. A key problem in unmanned vehicles is how the vehicle is accurately positioned. Global Navigation Satellite Systems (GNSS) are commonly used for vehicle positioning, and in the case of a large enough number of satellites in open areas, these systems can utilize continuous running (satellite positioning service) reference stations (CORS) established by multi-base station network RTK technology to achieve centimeter-level accuracy. In particular, the Beidou navigation satellite system (BDS) has been rapidly developed in recent years, and has shown great potential in positioning and timing.
The accuracy of the current vehicle positioning is greatly dependent on the satellite receiving number and signal intensity of the global navigation satellite system, so that the development of the unmanned automobile is limited. Particularly, some service type unmanned vehicles generally run back and forth in a fixed area and bear corresponding work, and the unmanned vehicles have low distribution density, but have high precision requirements, and are easy to cause positioning offset accumulation and the like due to repeated running in a certain area for a long time.
Disclosure of Invention
The invention aims to provide a fusion positioning system and a fusion positioning method for a multi-scene unmanned vehicle.
The invention realizes the above purpose through the following technical scheme:
a fusion positioning method for a multi-scene unmanned vehicle comprises the following steps:
s1, acquiring laser radar point cloud data and inertial navigation positioning data of an unmanned vehicle;
S2, performing space-time synchronization calibration on the laser radar point cloud data according to the time service time of the IMU inertial navigation positioning data;
s3, inputting the IMU inertial navigation positioning data and the laser radar point cloud data which are correlated through space-time synchronization calibration into an extended Kalman filter together for fusion positioning, and obtaining fusion positioning information of the unmanned vehicle;
S4, setting a range area by taking the fusion positioning information as a center, monitoring geomagnetic signals in the range area, judging whether the geomagnetic signals change, if not, entering a step S5, correcting the fusion positioning information closest to the position information according to the position information of the geomagnetic signals, and then carrying out the step S5;
And S5, matching and positioning the fusion positioning information with map data stored in advance to obtain the position of the unmanned vehicle.
The invention also provides a fusion positioning system for the multi-scene unmanned vehicle, which comprises the following components:
The data acquisition module is used for acquiring laser radar point cloud data and inertial navigation positioning data of the unmanned vehicle;
the synchronization module is used for carrying out space-time synchronization calibration on the laser radar point cloud data according to the time service time of the IMU inertial navigation positioning data;
The fusion module inputs the IMU inertial navigation positioning data and the laser radar point cloud data which are correlated through space-time synchronization calibration into an extended Kalman filter together for fusion positioning, and fusion positioning information of the unmanned vehicle is obtained;
The geomagnetic correction module is used for setting a range area by taking the fused positioning information as a center, monitoring geomagnetic signals in the range area, judging whether the geomagnetic signals change or not, and correcting the fused positioning information closest to the position information according to the position information of the geomagnetic signals changing if the geomagnetic signals change;
And the matching and positioning module is used for matching and positioning the fusion positioning information with the pre-stored map data so as to obtain the position of the unmanned vehicle.
A further improvement is that the geomagnetic correction module includes:
at least one geomagnetic sensor disposed on a travel path of the unmanned vehicle;
and the server is used for setting a range area by taking the fusion positioning information as a center, monitoring geomagnetic signals output by all geomagnetic sensors in the range area, judging whether the geomagnetic signals change, and correcting the fusion positioning information closest to the position information according to the position information of the geomagnetic sensor with the geomagnetic signals changed if the geomagnetic signals change.
The geomagnetic sensor is further improved in that the geomagnetic sensor comprises a sensor body, a storage battery for supplying power to the sensor body and a charging mechanism for charging the storage battery.
The charging mechanism comprises a groove positioned on a driving channel of an unmanned vehicle and a bearing plate arranged in the groove, wherein the bearing plate is formed by hinging two plate bodies, one far ends of the two plate bodies are in rolling contact with the bottom of the groove through rollers, one close ends of the two plate bodies are inclined upwards, the bottom surfaces of the two plate bodies are supported through elastic pieces, so that a triangular space is formed below the two plate bodies, an air bag body is arranged in the triangular space, the air bag body is connected with an air pipe communicated with the outside, an impeller generator is arranged on the air pipe, and the impeller generator is electrically connected with a storage battery;
when the unmanned vehicle drives to the groove, the bearing plate is pressed down by the gravity of the unmanned vehicle, the air bag body is extruded and the internal gas is discharged by the gas pipe, when the unmanned vehicle drives away from the groove, the bearing plate is lifted up by the elastic force of the elastic piece, the air bag body is supplemented with the gas by the gas pipe, and in the process of discharging the gas and supplementing the gas by the gas pipe, the impeller generator converts the flowing kinetic energy of the gas into electric energy and transmits the electric energy to the storage battery.
The further improvement is that the opposite side edges of the groove are hinged with connecting plates, and the free ends of the two connecting plates are in rolling contact with the surfaces of the two plates of the bearing plate through rollers respectively.
The spring piece comprises a limiting rod hinged with the bottom surface of the bearing plate body and a spring sleeved outside the limiting rod, and a vertical hole for accommodating the spring and allowing the limiting rod to be inserted is formed in the bottom of the groove.
The further improvement lies in, the below excavation of recess has an installation cavity, the battery is located in the installation cavity, the gas-supply pipe communicates with the external world again after with the installation cavity intercommunication, in gas-supply pipe exhaust gas and the air supply in-process, realizes the change to the inside gaseous of installation cavity to the hot air in the discharge installation cavity.
The invention has the beneficial effects that:
(1) The invention uses geomagnetic signals to correct positioning results irregularly on the basis of laser radar and IMU inertial navigation fusion positioning, so that the positioning accuracy is obviously improved, and the geomagnetic positioning does not need a base station and information source equipment, has low cost, no radiation, is not influenced by a navigation satellite system and the like, does not accumulate positioning errors with time, and is very suitable for positioning operation of service type unmanned vehicles in a fixed form area.
(2) The geomagnetic sensor used for acquiring geomagnetic signals is provided with the charging mechanism, the charging mechanism can generate electricity when an unmanned vehicle passes through, the battery of the geomagnetic sensor is supplemented with electric energy, the service and maintenance period of the geomagnetic sensor is prolonged, the battery can be cooled, and meanwhile running and geomagnetic monitoring work of the vehicle are not affected.
Drawings
FIG. 1 is a flow chart of a fusion positioning method of the present invention;
FIG. 2 is a schematic diagram of a fusion positioning system according to the present invention;
FIG. 3 is a schematic view of the structure of a geomagnetic sensor when the geomagnetic sensor is lifted up from a bearing plate of a charging mechanism of the geomagnetic sensor;
fig. 4 is a schematic structural view of the geomagnetic sensor when a charging mechanism bearing plate of the geomagnetic sensor is pressed down;
in the figure: 1. a sensor body; 2. a storage battery; 3. a groove; 4. a bearing plate; 5. an elastic member; 6. an air bag body; 7. a gas pipe; 8. an impeller generator; 9. a splice plate; 10. a vertical hole; 11. a mounting cavity.
Detailed Description
The present application will be described in further detail with reference to the accompanying drawings, wherein it is to be understood that the following detailed description is for the purpose of further illustrating the application only and is not to be construed as limiting the scope of the application, as various insubstantial modifications and adaptations of the application to those skilled in the art can be made in light of the foregoing disclosure.
As shown in fig. 1, a fusion positioning method for a multi-scene unmanned vehicle includes the steps of:
S1, acquiring laser radar point cloud data and inertial navigation positioning data of an unmanned vehicle; the laser radar point cloud data can be acquired through millimeter wave radars arranged at the front, the top and/or the rear of the vehicle, the IMU inertial navigation positioning data can be acquired through an IMU inertial navigation measuring unit arranged in the vehicle body, and the IMU inertial navigation measuring unit can comprise three single-degree-of-freedom accelerometers and three single-degree-of-freedom gyroscopes and is used for acquiring data including the posture, the speed and the position of the vehicle.
S2, performing space-time synchronous calibration on the laser radar point cloud data according to time service time of the IMU inertial navigation positioning data, so that the IMU inertial navigation positioning data and the laser radar point cloud data can be in one-to-one association with time as an axis.
And S3, inputting the IMU inertial navigation positioning data and the laser radar point cloud data which are correlated through space-time synchronization calibration into an extended Kalman filter together for fusion positioning, and obtaining fusion positioning information of the unmanned vehicle.
S4, setting a range area, such as a circular range area with the radius of 20m, by taking the fused positioning information as the center, monitoring geomagnetic signals in the range area, judging whether the geomagnetic signals change, if not, entering a step S5, correcting the fused positioning information closest to the position information according to the position information of the geomagnetic signals change if yes (namely, replacing the fused positioning information closest to the position information by utilizing the position information of the geomagnetic signals change), and then executing a step S5;
The correction process is performed because the position information of the geomagnetic signal change is necessarily an accurate position when the unmanned vehicle passes through, and the fused positioning information is not necessarily overlapped with the accurate position due to long-term error accumulation and a certain deviation can occur, so that the fused positioning information can be corrected by using the position information of the geomagnetic signal change. Since there is a small distribution of vehicles, there is generally only one unmanned vehicle in the above-described range, and thus, no miscorrection phenomenon occurs.
And S5, matching and positioning the fusion positioning information with map data stored in advance to obtain the position of the unmanned vehicle. The map data may be acquired and stored in advance by the collection vehicle.
As shown in fig. 2, the present invention further provides a fusion positioning system for a multi-scene unmanned vehicle, including:
The data acquisition module is used for acquiring laser radar point cloud data and inertial navigation positioning data of the unmanned vehicle;
the synchronization module is used for carrying out space-time synchronization calibration on the laser radar point cloud data according to the time service time of the IMU inertial navigation positioning data;
The fusion module inputs the IMU inertial navigation positioning data and the laser radar point cloud data which are correlated through space-time synchronization calibration into an extended Kalman filter together for fusion positioning, and fusion positioning information of the unmanned vehicle is obtained;
The geomagnetic correction module is used for setting a range area by taking the fused positioning information as a center, monitoring geomagnetic signals in the range area, judging whether the geomagnetic signals change or not, and correcting the fused positioning information closest to the position information according to the position information of the geomagnetic signals changing if the geomagnetic signals change;
And the matching and positioning module is used for matching and positioning the fusion positioning information with the pre-stored map data so as to obtain the position of the unmanned vehicle.
Preferably, the geomagnetic correction module in the system includes:
at least one geomagnetic sensor disposed on a travel path of the unmanned vehicle;
and the server is used for setting a range area by taking the fusion positioning information as a center, monitoring geomagnetic signals output by all geomagnetic sensors in the range area, judging whether the geomagnetic signals change, and correcting the fusion positioning information closest to the position information according to the position information of the geomagnetic sensor with the geomagnetic signals changed if the geomagnetic signals change.
Referring again to fig. 3 and 4, the geomagnetic sensor in the system includes a sensor body 1, a battery 2 for supplying power to the sensor body 1, and a charging mechanism for charging the battery 2.
The charging mechanism comprises a groove 3 positioned on a driving channel of an unmanned vehicle and a bearing plate 4 arranged in the groove 3, wherein the bearing plate 4 is formed by hinging two plate bodies, one far ends of the two plate bodies are in rolling contact with the bottom of the groove 3 through rollers, one close ends of the two plate bodies are inclined upwards, the bottom surfaces of the two plate bodies are supported through elastic pieces 5, so that a triangular space is formed below the two plate bodies, an air bag body 6 is arranged in the triangular space, the air bag body 6 is connected with an air pipe 7 communicated with the outside, an impeller generator 8 is arranged on the air pipe 7, and the impeller generator 8 is electrically connected with a storage battery 2;
When the unmanned vehicle drives to the groove 3, the bearing plate 4 is pressed downwards through the gravity of the unmanned vehicle, the two plate bodies are gradually stretched and flattened, the resistance can be reduced through the arrangement of the rollers at the two ends, the air bag body 6 is extruded and internal air is discharged by the air pipe 7, when the unmanned vehicle drives away from the groove 3, the bearing plate 4 is lifted upwards through the elastic force of the elastic piece 5, the air bag body 6 is supplemented with air by the air pipe 7, the volume of the air bag body 6 is gradually restored, and in the process of exhausting air and supplementing air by the air pipe 7, the impeller generator 8 converts the flowing kinetic energy of the air into electric energy and conveys the electric energy to the storage battery 2. Therefore, when the unmanned vehicle passes, electricity can be generated, the storage battery 2 of the geomagnetic sensor is supplemented with electric energy, and the service and maintenance period of the geomagnetic sensor is prolonged.
Preferably, in the system, the opposite side edges of the groove 3 are hinged with connecting plates 9, and the free ends of the two connecting plates 9 are respectively in rolling contact with the surfaces of the two plates of the bearing plate 4 through rollers. The purpose of the connector plate 9 is to avoid a significant height difference when the vehicle enters the recess 3 and exits the recess 3, which would affect the travel of the vehicle.
Preferably, in the system, the elastic member 5 includes a stop lever hinged to the bottom surface of the plate body of the bearing plate 4, and a spring sleeved outside the stop lever, the bottom of the groove 3 is provided with a vertical hole 10 for accommodating the spring and allowing the stop lever to be inserted, the vertical hole 10 can be composed of a narrow diameter portion below and a wide diameter portion above, when the bearing plate 4 is pressed down, the spring contracts until being pressed into the wide neck portion of the vertical hole 10, the stop lever is inserted into the narrow diameter portion of the vertical hole 10, and when the spring is lifted up against the bearing plate 4 under the action of the elastic force of the spring, the spring and the stop lever gradually recover the original shape. The setting of gag lever post provides flexible stability for the spring, avoids crooked.
Preferably, in the system, an installation cavity 11 is excavated below the groove 3, the storage battery 2 is arranged in the installation cavity 11, the gas pipe 7 is communicated with the outside after being communicated with the installation cavity 11, and the replacement of the gas in the installation cavity 11 is realized in the process of exhausting the gas and supplementing the gas from the gas pipe 7 so as to exhaust the hot air in the installation cavity 11, and the heat generated during the working of the storage battery 2 is prevented from continuously accumulating.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.
Claims (4)
1. A fusion positioning system for a multi-scene unmanned vehicle, comprising:
The data acquisition module is used for acquiring laser radar point cloud data and inertial navigation positioning data of the unmanned vehicle;
the synchronization module is used for carrying out space-time synchronization calibration on the laser radar point cloud data according to the time service time of the IMU inertial navigation positioning data;
The fusion module inputs the IMU inertial navigation positioning data and the laser radar point cloud data which are correlated through space-time synchronization calibration into an extended Kalman filter together for fusion positioning, and fusion positioning information of the unmanned vehicle is obtained;
The geomagnetic correction module is used for setting a range area by taking the fused positioning information as a center, monitoring geomagnetic signals in the range area, judging whether the geomagnetic signals change or not, and correcting the fused positioning information closest to the position information according to the position information of the geomagnetic signals changing if the geomagnetic signals change;
The matching positioning module is used for matching and positioning the fusion positioning information with map data stored in advance to obtain the position of the unmanned vehicle;
wherein, the geomagnetic correction module includes:
at least one geomagnetic sensor disposed on a travel path of the unmanned vehicle;
The server is used for setting a range area by taking the fusion positioning information as a center, monitoring geomagnetic signals output by all geomagnetic sensors in the range area, judging whether the geomagnetic signals change, and correcting the fusion positioning information closest to the position information according to the position information of the geomagnetic sensor with the geomagnetic signals changed if the geomagnetic signals change;
the geomagnetic sensor comprises a sensor body, a storage battery for supplying power to the sensor body and a charging mechanism for charging the storage battery;
The charging mechanism comprises a groove positioned on a driving channel of the unmanned vehicle and a bearing plate arranged in the groove, wherein the bearing plate is formed by hinging two plate bodies, one far ends of the two plate bodies are in rolling contact with the bottom of the groove through rollers, one close ends of the two plate bodies are inclined upwards, the bottom surfaces of the two plate bodies are supported through elastic pieces, so that a triangular space is formed below the two plate bodies, an air bag body is arranged in the triangular space, the air bag body is connected with an air pipe communicated with the outside, an impeller generator is arranged on the air pipe, and the impeller generator is electrically connected with a storage battery;
when the unmanned vehicle drives to the groove, the bearing plate is pressed down by the gravity of the unmanned vehicle, the air bag body is extruded and the internal gas is discharged by the gas pipe, when the unmanned vehicle drives away from the groove, the bearing plate is lifted up by the elastic force of the elastic piece, the air bag body is supplemented with the gas by the gas pipe, and in the process of discharging the gas and supplementing the gas by the gas pipe, the impeller generator converts the flowing kinetic energy of the gas into electric energy and transmits the electric energy to the storage battery.
2. The fusion positioning system for a multi-scene unmanned vehicle according to claim 1, wherein the opposite side edges of the groove are hinged with connecting plates, and the free ends of the two connecting plates are respectively in rolling contact with the surfaces of the two plates of the bearing plate through rollers.
3. The fusion positioning system for the multi-scene unmanned vehicle according to claim 1, wherein the elastic piece comprises a limiting rod hinged with the bottom surface of the bearing plate body and a spring sleeved outside the limiting rod, and a vertical hole for accommodating the spring and allowing the limiting rod to be inserted is formed in the bottom of the groove.
4. The fusion positioning system for the multi-scene unmanned vehicle according to claim 1, wherein an installation cavity is excavated below the groove, the storage battery is arranged in the installation cavity, the gas pipe is communicated with the installation cavity and then is communicated with the outside, and in the process of exhausting gas and supplementing gas from the gas pipe, replacement of gas in the installation cavity is realized so as to exhaust hot air in the installation cavity.
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