Research On Positioning Method Of A Solar Vehicle

Intelligent car is a common form of intelligent robot and a vehicle with highly autonomous navigation function,which has been widely used in many fields,such as logistics,terrain exploration and disaster rescue.For different application scenarios,the intelligent car is often required to give some specific functions,therefore the intelligent car has been the academic and the industry research hotspot.In this paper,the intelligent van with a light-chasing device is taken as the research object and the combination of the Kalman filter and other multi-sensor information fusion technology,integrated trajectory constraint algorithm,GPS/DR combination positioning method,and the ROS platform is applied to study the scientific problems,including the independent tracking of the sun azimuth and mobile charging function intelligent car.The main research contents and work are as follows.(1)In order to overcome the shortcomings of long GPS signal transceiving interval and the large accumulated errors of inertial navigation instruments,GPS/DR combined trajectory tracking method and trajectory constraint algorithm are used to constrain GPS carrier trajectories in different signal areas.This effectively solves the GPS scene application defects,inertial navigation accumulating error and other issues in this study.(2)To ensure a stable light tracing in this device,the fixed-cycle mobile chasing method,multi-sensor data(lattice data fed back by the basic positioning,stored data,MPU compensation angle data),and the C++ control program are applied to calculate chasing optical device movement angle.The SCM control board is used to achieve the purpose of direct control of the motor movement angle,which effectively solves the problem of mobile tracking.(3)For the sake of linking the smart van with the light chasing device,the ROS platform is used to receive and store smart car multi-sensor information in real time,and multi-sensor information fusion technology such as Kalman filter is used to process the sensor information,and the fusion information is continuously fed back,thus chasing the light system,solving the problem of mobile charging of smart cars equipped with light chasing devices.(4)The MATLAB tool is employed to draw the motion trace of the GPS signal area and the motion trace of the signal occlusion area under actual conditions and analyze the deviation maps of different signal areas,and then come to the conclusion that the movement deviation of each stage of the trolley is small and the positioning accuracy is high and the combined positioning method is suitable for positioning the smart car.Using the ROS platform and Kalman filtering algorithm to draw the whole trajectory contrast map and position deviation diagram of the carrier,it is proved that the filtering algorithm is feasible and effective to solve the problem of trajectory divergence,and the accuracy of the positioning data is improved.Using the positioning system to feedback and store data,then the process of solar orientation change and battery board motion are simulated to draw the trajectory diagram of each angle parameter change,which verifies that the subsequent light calculation theory is reasonable and correct.The constraint algorithm used in this thesis can reduce the computational complexity and the cumulative error caused by the inertial navigation instrument,which can further solve the GPS scene application limitation problem in combination with the GPS/DR positioning method.In this paper,the mobile chasing method is used to solve the problem of continuous energy supply of system.The stability of tracking system and positioning efficiency are improved by using the fixed cycle chasing method.The filtering algorithm is conducted to reduce the position deviation and improve the positioning accuracy.The above research results can provide corresponding solutions and theoretical basis for smart car mobile charging and autonomous life.