METHOD OF INTEGRATING NAVIGATIONAL DATA TO DETERMINE THE POSITION OF A VEHICLE

• Main Authors: SHIPITKO, Oleg Sergeevich, KABAKOV, Anatolii Evgenevich, KIBALOV, Vladislav Igorevich
• Format: Patent
• Language: English; French; German
• Published: 27.03.2024
• 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 relates to the field of navigation, namely to methods of positioning autonomous ground vehicles (AGV), including mobile robots.A method of integrating navigational data to determine the position of a vehicle includes the following stages: data about the speed of the vehicle is obtained from the encoders installed on the wheels of the vehicle, and now the receiver, the data about the angle of rotation of the vehicle around the vertical axis is obtained from the encoder mounted on the steering rack of the vehicle, and inertial navigation systems, convert the data received from these on-board sensors in appropriate units of speed and angle of rotation, determine the speed of the vehicle as the sum of the velocity values obtained according to the testimony of wheel encoders and now the receiver with a weighting coefficient, designed to regulate the degree of influence the testimony of these onboard sensors to estimate the speed of the vehicle, then determine the estimated angle of rotation of the vehicle around the vertical axis by the angle of the steering rack based on the value of the vehicle speed, defined based on the testimony of wheel encoders and now the receiver, determine the relative rotations of the vehicle around the vertical axis according to the testimony of inertial navigation system and encoder steering rack as the difference between the previous and current readings corresponding onboard sensors determine the angle of rotation of the vehicle around the vertical axis as the sum of the values of relative rotations on the testimony of the encoder steering rack and inertial navigation systems, considering the weighting factor used to control the degree of influence the testimony of these onboard sensors to estimate the rotation angle of the vehicle, the data about the angle of rotation of the vehicle around the vertical axis and the speed of the vehicle are combined using a kinematic model of the vehicle, causing define the position and course of a vehicle.