Research On Autonomous Navigation Of Airport Enclosure Patrol

Airport enclosure is a security barrier isolating the flight control area and the outside,which is responsible for the security of the flight control area. But the current anti-invasionsystems still have a number of drawbacks, such as false alarms and night patrollers’ slack,which may lead to security risks. To solve present problems existing in anti-invasion systems,cost reducing, and improving working efficiency, the mobile surveillance system is studied.Taking intelligent vehicle as research platform and under the special environment of airportenclosure, a kind of autonomous navigation method for all-time and is developed.In order to evaluate the data reliability of each sensor, the confidence model oflocalization sensors is designed. By analyzing the error source of every global localizationsensors, the corresponding error models are respectively developed. Furthermore, theconfidence models of different sensors are designed. These models are regarded as theevaluation standard of localization of all sensors.As fixed localization method is not well suitable to various systems, a heterogeneousself-organizing localization method merging with dominating competition mechanism isproposed. This proposed method can timely re-organizing the localization methods accordingto the sensors’confidence and reliability changes.As the environment of airport enclosure is unique and specially required, to keep awayfrom dangerous elements which can do harm to the intelligence vehicle near airport enclosure,a local dimensional precision positioning method is studied. Using the information providedby laser rangefinder and infrared image processing, the vehicle has higher precision inright-and-left direction than front-and-rear one, which can ensure the safety of autonomousnavigation vehicle.The results of experiments show that the intelligence vehicle moves reliably and safely,which proves this all-time autonomous navigation method is effective, reliable and practical.