Underground unmanned vehicle positioning method based on multi-sensor active fusion

• Main Authors: ZHANG MINGLEI, WANG JIE, WU HAIJIE, HOU GUOPENG, XU ZHONGKUN
• Format: Patent
• Language: Chinese; English
• Published: 21.03.2023
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; GYROSCOPIC INSTRUMENTS; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; SURVEYING; TESTING

The invention discloses an underground unmanned vehicle positioning method based on multi-sensor active fusion, and the method comprises the steps: carrying out the parameter calibration of each sensor according to the initial parameters and position relation of each sensor of an unmanned vehicle, obtaining the external parameters of each sensor, and enabling the external parameters to be unified in the same vehicle body coordinate system; wherein the sensor comprises a wheel speed odometer, an inertial navigation device, a camera and a laser radar; all sensors and illuminometers are turned on, the unmanned vehicle travels for one week underground according to a planned path, and prior information is obtained and comprises inertial navigation prior data, a prior map generated by laser radar point cloud and underground illumination conditions; determining a positioning main sensor; and carrying out weighted fusion on the positioning information of the main sensor and the inertial navigation to obtain the final