Navigation And Positioning System For Autonomous Driving Vehicle

Navigation and Positioning System plays an important role in autonomous driving vehicles.However,the existing methods are either expensive or unqualitifed in accurary.In view of the existing problems,based on the existing structure of the unmanned vehicle Navigation and Positioning System,this paper has carried out a in-depth research.Firstly,the design and implementation of local Navigation and Positioning System are studied.The advantages and disadvantages of various dead-reckonging methods are introduced.The rationality of local positionging based on IMU and odometer is demonstrated.Secondly,the design and implementation of global Navigation and Positioning System are studied.To find a feasible alternative,an integrated navigation approach based on optimal motion trajectory matching is proposed.The analyses of positioning effect,orientation effect and frequency of the algorithm are performed by experiments.Finally,the static error calibration and dynamic parameter identification of the sensors are introduced.The error model of IMU is analyzed.The static error calibration method,zero-speed error calibration method and dynamic parameter identification algorithm are proposed.In addition,the error model of the odometer is analyzed.The offline calibration method and dynamic parameter identification of the odometer scale factor are proposed.The rationality of sensor static error calibration and dynamic parameter identification is verified by experiments.