Research On Navigation And Localization Algorithm Of Low-Speed Unmanned Vehicle

Since the 21 st century,low-speed unmanned vehicle has gradually come into people’s life.For the rapid development of low-speed unmanned vehicle,the positioning algorithm research is a key link and the basis of navigation.As a single navigation system can not meet the needs of low-speed unmanned vehicle navigation,the research on integrated navigation has become an inevitable choice.In this paper,for the low-speed unmanned vehicle in the outdoor environment,satellite navigation sometimes fails.Based on the fault-tolerant theory of federated filter,a multi-source information fusion system is constructed,and the fault detection and isolation algorithm based on residual error is compiled,and the simulation is carried out.Finally,the performance test experiment is completed on the physical platform.The main tasks are as followsFirstly,this paper introduces the coordinate system used in this paper,deduces the transformation relationship between the coordinate systems,analyzes the strapdown inertial navigation system,global positioning system and odometer dead reckoning algorithm,deduces its error model,and briefly describes how to process the data obtained by the corresponding sensors.According to the actual hardware parameters,the corresponding simulation is carried out,and the simulation results are analyzed.Then,the two-stage structure of the federated filter system is established,and the selection of the state quantity of the integrated navigation system is analyzed,and the error quantity is selected as the state quantity.This paper analyzes the possible lever arm error in the navigation system,and adds the lever arm error to the state vector.The equations and measurement equations of SINS / GPS and SINS / DR self filters are established respectively.From the mathematical point of view,it is verified that the selection of information distribution coefficient will not affect the state estimation accuracy of the global filter,The simulation results meet the performance requirements.Secondly,because the integrated navigation system designed in this paper is used in the factory,there is a short-term failure of satellite navigation.This paper designs a fault detection and isolation algorithm based on residual error,and carries out simulation experiments with actual hardware parameters.The experimental results show that the algorithm is effective.Finally,according to the existing low-cost sensor equipment,the physical platform is built to test and calibrate the sensor module.According to the actual situation,the integrated navigation algorithm is debugged on the physical object to simulate the characteristics of the plant environment,and the real vehicle experiment is carried out.The experimental data is compared with the driving data of the vehicle level integrated navigation instrument,The performance of the integrated navigation system built in this paper meets the target requirements.