KR20140042346A - Self-alignment driving system - Google Patents

Abstract

Disclosed is a self-alignment driving system for performing precise self-alignment for correcting the position of navigation equipment. To that end, the present invention includes: a GDPS receiver which calculates the position, speed, angle, and posture of DGINS by combining the angle, speed, posture measured by a three-axis gyro sensor, a three-axis acceleration sensor, an angular sensor, and a temperature sensor and DGPS compensation data; an INS sensor which searches for two arbitrary first position points recorded in the movement path of an unmanned moving device not in a radio shadow area using a camera and, if two arbitrary second position points recorded in the boundary of the shadow area are found, aligns the first and second position points in order initially; and a navigation computer which dynamically compensates the position data of the navigation equipment using the values calculated by the GCPS receiver and the values from the self-alignment of the INS sensor. By doing so, the present invention enables an unmanned moving device to operate autonomously in a region (where GPS reception ratio is not greater than 50%) including many radio shadow areas of GPS reception (radio shadow areas including obstacles) and can enhance GPS compensation effects by using inexpensive DGPS reference stations in GPS-available regions. [Reference numerals] (111) Landmark tracer; (112) Navigation equipment; (120) DGINS integrated navigation equipment; (121,DD,EE,) Image processing unit; (122) Proximity sensor unit; (123) [Navigation computer] Algorithm for initial arrangement of line tracing for image landmarks in a periodic dynamic environment; (124) Angle sensor; (125) DGPS receiver; (130) Moving DGPS station; (AA) Building obstacle; (BB) GPS shadow area; (CC) Building (obstacle); (FF) Main processing; (GG) Main processor; (HH) Three-axis gyro; (II) Three-axis speed sensor; (JJ) Temperature sensor

Description

Initial Alignment Driving System {SELF-ALIGNMENT DRIVING SYSTEM}

The present invention relates to an initial alignment driving system, and more particularly, to an initial alignment driving system for precise initial alignment in order to correct the position of the navigation apparatus.

In general, the ground navigation system is inertial navigation and satellite navigation system, but the position / posture / azimuth / speed is calculated, but the expensive sensor and high-accuracy GPS are used to obtain the accurate position posture.

Here, a method of arranging by storing the position, posture, and state in the control unit data at a predetermined time for the initial alignment, or at the last time of stopping the GPS moving means or driving is generally used.

Meanwhile, in the outdoor navigation market, IMU / INS (Inertial Navigation System) / GPS / DGPS (Differential Global Positioning System) -based IT technology is an inertial / satellite fusion navigation system that is used in aviation, marine, defense, and ground robots. As a technology that requires navigation, unmanned systems, and human safety, demand is rapidly expanding.

Among them, the reliable DGPS system is limited in technology convergence due to the range of use and high price.

In particular, outdoor navigation is frequently caused by nearby obstacles. The low-cost IN S sensor efficiency increases rapidly in a short time, and GPS and DGPS can be applied because the positional accuracy is greatly reduced due to the shadow of obstacles such as ion floor change and buildings. Securing realistic precision had a difficult problem.

In order to overcome this problem, the DGPS / INS / Magnetic compass integrated navigation algorithm development and the DGPS / INS / Magnetic compass integrated navigation algorithm development have been introduced in various ways, but expensive (DGPS <1m, INS 1 degree / hr) sensors have been introduced. Inexpensive receiver development and INS (5 ° -10 ° / hr) inexpensive sensors could not be used for precision navigation due to physical limitations.

1. Korean Patent Registration No. 10-0915121, Filed Date: December 18, 2008, Title of the invention: Unmanned moving object and its derivation method using satellite navigation correction system. 2. Korean Patent Registration No. 10-0389704, Filed Date: June 19, 2000, Title of invention: A mobile communication terminal capable of continuous positioning with a GPS and INS and its positioning method. 3. Korean patent registration: 10-1080831, filed date: September 02, 2009, the title of the invention: Method of providing azimuth information in the ground navigation system. 4. Korean Patent Registration No. 10-1183866, Filed Date: April 20, 2011, Title of the Invention: Real-time position / posture determination device and method incorporating WPS / INS / image AT.

The present invention has been made to solve the above-mentioned problems, the initial to increase the precision of the navigation by applying a periodic initial alignment technique based on dynamic linear angular alignment for high-precision ground navigation through a low-cost INS sensor The purpose is to provide an alignment travel system.

In addition, the present invention is based on a GPS receiver capable of <1m DGPS and a mobile DGPS reference station, and when the INS is dependent on GPS shading, the navigation of dynamic precision correction and the periodic initial alignment technique when the GPS / INS reliability is low (image landmark) It is another object to provide an initial alignment driving system that applies line tracing correction to the initial alignment and error correction of INS, which is a problem in outdoor navigation.

In addition, the present invention solves that the low-cost INS sensor has a basic error component of physical characteristics, so that the error about the position posture velocity information increases rapidly after a certain time, so that it is difficult to apply the precision driving in the obstacle-dense area of the outdoor environment. Another object is to provide an initial alignment driving system.

In order to accomplish the objects of the present invention as described above and to carry out the characteristic functions of the present invention described below, features of the present invention are as follows.

According to an aspect of the present invention, a mobile DGPS reference station for geodetic reference point using the correction information broadcast from the DGPS mobile reference station, calculates an error for the GPS received through the reference point to generate the DGPS correction information; A GDPS receiver that combines the angle, velocity, and attitude values measured by the 3-axis gyro sensor, the 3-axis acceleration sensor, the angle sensor, and the temperature sensor with the DGPS correction information to calculate the position, speed, angle, and posture values of the DGINS; When the camera finds any two first location points photographed in the moving path of the unmanned mobile device, not the shadow area, and finds any two second location points photographed based on the boundary of the shadow area, An INS sensor that initially aligns in sequence at the first location point and the second location point; And a navigation computer for dynamically correcting the position information of the navigation apparatus by using the value calculated by the GDPS receiver and the initial alignment value of the INS sensor.

Here, the mobile DGPS reference station according to an aspect of the present invention, manages the movement path schedule for the unmanned mobile device, the camera can find the first location point and the second location point according to the path schedule. have.

As described above, according to the present invention, a region having a large number of local areas (shaded areas including obstacles) of local GPS reception by combining low-cost INS (5-10 degrees / Hr) and DGINS (50% GPS reception rate) Autonomous driving of the unmanned mobile device is possible, and the GPS-available region has an advantage of improving the GPS correction effect by using a low-cost DGPS reference station.

In addition, according to the present invention, the periodic initial alignment technique is added to the utilization efficiency of the DGPS in a dynamic environment and the low-cost GINS efficiency, so that the precision (100cm ~ 50cm) error correction is performed in the short range, thereby improving the driving reliability of the unmanned mobile device. There is.

1 is a diagram illustrating an initial alignment driving system 100 according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, so that those skilled in the art can easily carry out the present invention. In the drawings, like reference numerals refer to the same or similar functions throughout the several views.

1 is a diagram illustrating an initial alignment driving system 100 according to an embodiment of the present invention.

As shown in FIG. 1, an initial alignment driving system 100 according to an exemplary embodiment of the present invention may include an integrated navigation apparatus 110 and a camera 101 including a landing marking tracker 111 and a navigation apparatus 112. DGINS integrated navigation including an image processing unit 121, a proximity sensor unit 122, a navigation computer 123, a sensor unit 124 for measuring various errors, a DGPS receiver 125, etc. Device 120 and mobile DGPS reference station 130.

First, the integrated navigation apparatus 110 according to the present invention is operated based on the position posture speed information, but if the initial alignment and periodic alignment of the sensor are not performed when the unmanned mobile device (not shown) is activated, sensor errors are accumulated and accurate. Since the task is difficult to perform, the sensor performs initialization.

To this end, the landing marking tracker 111 provided in the integrated navigation apparatus 110 includes an INS sensor. The INS sensor tracks any two first location points, for example, P1 and P2 location points, photographed in the moving path of the unmanned mobile device, not the shadow area by using the camera 101, and starts from the boundary of the shadow area. When tracking any two second location points, for example, P3 and P4, which are photographed as follows, initial alignment is sequentially performed at the first location point and the second location point. Both the first position point and the second position point are dynamic coordinates.

In general, GPS efficiency varies by time period, so calculating the change rate of the driving error of the IMU sensor with different accuracy in position accuracy and DGPS correction of G1 yields a <1m reliability for the reception probability and correction value in the GPS / DGPS Local area. When the error of INS sensor is converged based on 5 degrees / hr with assuming 50%, the position point of dynamic geodetic P1 and P2 where GPS reception is good in the probability range of sensor out of the error range is synchronized and When the initialization of the sensor is performed periodically, it is possible to secure a trust structure of the unmanned vehicle in the local area.

The dynamic landmark linear technique for improving the initial alignment of DGINS has been applied to each of the confidence constructs, thereby proving the technical limitations of local outdoor driverless driving and enabling the use of low-cost INS sensors. The navigation device 112 provided in the integrated navigation device 110 is generally a well-known ground navigation device. This is described in Korean Patent Registration No. 1080831.

Next, the proximity sensor unit 122 provided in the DGINS integrated navigation apparatus 120 according to the present invention is a sensor for recognizing and treating an obstacle on a driving path. The DGINS integrated navigation device 120 manages the position / speed / posture / angle information history and driving information of the navigation device 112, and the navigation device at the initial alignment position tracked by the landmark line tracing image navigation device for initial alignment. Analyze and provide information on the error of (112) and initial alignment of the position information of the navigation device (112).

On the other hand, the navigation computer 123 provided in the DGINS integrated navigation apparatus 120 according to the present invention uses the value calculated by the DGPS receiver 125 to be described later and the value obtained by initial alignment of the INS sensor. Dynamically correct the position information of

At this time, the dynamic correction of the position information is prepared for the true north angle alignment through the movement information of the position point of P2 at the position point of P1, for example. A correction parameter for correcting the current error error component is calculated by comparing with the signal of the navigation device 112. Through this, the acceleration sensor correction for the moving speed of the unmanned moving object, the true north alignment at the position points of P1, P2, posture alignment position alignment in synchronization with the P2 position point, the initial alignment.

In this manner, a substantially periodic initial alignment technique (image landmark line tracing correction) is performed in the navigation computer 123.

On the other hand, the DGPS receiver 125 provided in the DGINS integrated navigation device 120 outputs the value of the DGPS correction for GPS reception through the DGPS correction information received from the RF Unit. In this case, the DGPS correction information is received from the mobile DGPS reference station 130 to be described later, outputs a value by the DGPS correction, and is then transmitted to and used by the navigation computer 123 as described above.

In addition, the DGPS receiver 125 according to the present invention combines the angle, velocity, and attitude values measured by the three-axis gyro sensor, the three-axis acceleration sensor, the angle sensor and the temperature sensor 124 with the DGPS correction information. Calculate position, velocity, angle, and posture values. This is commonly known and the results are delivered to the navigation computer 123 provided in the DGINS integrated navigation apparatus 120.

Finally, the mobile DGPS reference station 130 according to the present invention has a built-in DGPS Beacon receiver to receive the correction information broadcast from the government reference station (not shown) within a predetermined time, for example, 3 hours to geodesic its own geodetic point. The DGPS correction information is generated by calculating the satellite error, ion layer, troposphere, multipath, and GPS reception error of the GPS information received through the geodetic reference point. The generated DGPS correction information is broadcast by RF communication, and the broadcasted DGPS correction information is received by the RF unit to generate corrected position information within <1m in the DGPS receiver 125 described above.

In addition, the mobile DGPS reference station 130 according to the present invention includes a control function to register the driving route schedule of the unmanned mobile device, multi-control so that safety monitoring and emergency stop command, collision avoidance, multiple vehicles can be managed It plays a role.

On the other hand, two geodesic points such as the location point of the landmark P1, the location point of P2 or the location point of P3, and the location point of P4 for the initial alignment are drawn at intervals of 3 to 5 m, and an arbitrary Pn is drawn. When the location point is found, the mobile DGPS reference station 130 according to the present invention transmits information about Pn known in advance to the navigation computer 123, so that the navigation device 112 in the navigation computer 123 as described above. Initial alignment of).

At this time, when the vertical synchronization with the camera 101 is matched, the navigation computer 112 performs the initial alignment task of the navigation device 112 to start the dynamic error correction of the INS sensor, so that precise navigation driving of the unmanned mobile device is performed. Will be done.

As a result, all the current sensors have a cumulative error due to long-term driving due to the difficult linear alignment of P1 and P2, and this line is line-traced at a constant speed to navigate through known alignments of P1 and P2. If the true north alignment of the device 112 is initialized, it was possible to solve the sensor error that had been difficult with the initial alignment.

On the other hand, the driving path is a moving path of an unmanned mobile device such as an outdoor unmanned vehicle or a robot and does not actually exist as a virtual driving line, but a driving plan for the moving path is determined by a control device provided in the moving DGPS reference station 130. It is set and the unmanned mobile device moves.

Here, when the unmanned mobile device moves to the GPS shadow area, the exact position can be known only when the satellite is uniformly secured in the open area. However, if there are buildings, trees, and obstacles in the surroundings, the received satellite changes frequently, and when the angle of view becomes invisible, the location information changes rapidly, resulting in a very large error. If this error information is fused to the INS, accurate location information cannot be calculated, so precise driving of the GPS shadow area is practically difficult.

However, the initial alignment driving system 100 according to the present invention described above performs the initial alignment in the shadow area is also the GPS shadow area and move to the position where the reliability is guaranteed and then the initial position at the same position as P3, P4 If the alignment is made, all the problems of the unmanned error by the INS sensor can be solved, thereby providing the advantage of being safe and reliable.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the exemplary embodiments or constructions. You can understand that you can do it. The embodiments described above are therefore to be considered in all respects as illustrative and not restrictive.

The present invention can be applied to an unmanned mobile device such as an unmanned robot, an unmanned robot, a boundary robot, and a disabled vehicle that travels along a predetermined driving path including a shaded area and a non-shaded area.

100: initial alignment driving system 101: camera
110: integrated navigation device 111: landing marking tracker
112: navigation system 120: DGINS integrated navigation system
121: image processing unit 122: proximity sensor unit
123: navigation computer 124; The sensor unit
125: DGPS receiver 130: mobile DGPS reference station

Claims (2)

A mobile DGPS reference station for geodetic reference points using correction information broadcast from a DGPS mobile reference station and generating DGPS correction information by calculating an error for the GPS received through the reference point;
A GDPS receiver that combines the angle, velocity, and attitude values measured by the 3-axis gyro sensor, the 3-axis acceleration sensor, the angle sensor, and the temperature sensor with the DGPS correction information to calculate the position, speed, angle, and posture values of the DGINS;
When the camera finds any two first location points photographed in the moving path of the unmanned mobile device, not the shadow area, and finds any two second location points photographed based on the boundary of the shadow area, An INS sensor that initially aligns in sequence at the first location point and the second location point; And
A navigation computer for dynamically correcting the position information of the navigation apparatus using a value calculated by the GDPS receiver and a value obtained by initial alignment of an INS sensor;
Initial alignment driving system comprising a. The method according to claim 1,
The mobile DGPS reference station,
And a moving path schedule for the unmanned mobile device, wherein the camera finds the first location point and the second location point according to the path schedule.

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