Research On Positioning And Navigation Technology Of Beidou Intelligent Vehicle Based On ROS Platform

With the continuous development of global satellite navigation and positioning systems,satellite navigation and positioning technology has been widely used in transportation and other fields.At present,the global network of BeiDou Navigation Satellite System(BDS)independently developed by China is about to be completed,and the navigation,positioning and timing services provided by the Beidou Satellite Navigation System will play a more important role in unmanned systems,intelligent vehicle and other applications.This paper studies the Beidou intelligent vehicle navigation and positioning technology based on the Robot Operating System(ROS)platform.Based on the research on the differential positioning technology of Beidou intelligent vehicle,constructed the positioning and navigation system of Beidou intelligent vehicle using the ROS platform.The specific research work of this paper is as follows:Firstly,this paper elaborated the positioning principle of Beidou satellite navigation system in detail.On this basis,studied the Beidou differential positioning technology,the Beidou satellite navigation/inertial navigation system(INS)combined navigation positioning technology and Kalman filtering algorithm,and the Simultaneous Localization And Mapping(SLAM)technology.Secondly,on the basis of elaborating the ROS platform,studied the ROS system and built the ROS development environment.This paper designed the hardware system of the Beidou intelligent vehicle in detail and the software system of the Beidou intelligent vehicle based on the ROS platform,and then the studied Beidou positioning,INS and lidar data processing methods.Finally,Matlab was used to simulate and verify the BDS/INS integrated navigation and positioning algorithm,comparing the performance of combined positioning and single system positioning;processing and error analysis of the data obtained by lidar scanning;using the actual data of Beidou satellite navigation and positioning to verify and analyze Beidou differential positioning of intelligent vehicle;and using the Extended Kalman Filter(EKF)based synchronous positioning and map construction technology algorithm to establish a real scene map of the laboratory environment.The research results in this paper have a certain reference significance for the research on related technologies of Beidou intelligent vehicles..