Research On Automatic Navigation Technology Of Unmanned Target Vehicle

Automatic navigation technology is an important prerequisite for the realization of range intelligence,and it can effectively improve the accuracy and efficiency of target vehicles in the training process.Aiming at the problem of automatic navigation of unmanned target vehicles,this study takes the automatic navigation algorithm of unmanned target vehicles as the research object,adopts Bei Dou-RTK system and inertial navigation sensor fusion system,designs the unmanned target vehicle path tracking control algorithm,develops the unmanned target vehicle automatic navigation system test platform,develops the C#-based upper computer software,and finally verifies the performance of the navigation platform through tests.The main research work is as follows:(1)Develop the hardware platform of the unmanned target vehicle automatic navigation system based on RTK-BDS.The hardware system consists of Ackermann wire-controlled vehicle chassis,Bei Dou high-precision differential positioning module,image sensor and surface array solid-state LIDAR,IPC,wireless bridge,etc.The IPC is used as a control and decision terminal to process sensor data and communicate with the chassis on-board VCU through CAN bus.Finally,how to control the chassis rear wheel motor speed as well as the front wheel rotation angle through the control command frame is presented.(2)The path planning problem of the unmanned target vehicle is studied.Firstly,the working characteristics of the global path planning algorithm and the local path planning algorithm of the unmanned target vehicle are analyzed,and the method of dividing the global environment map of the target range into a raster map is studied.Secondly,the working principle and process of current mainstream algorithms Dijkstra path planning algorithm and A* path planning algorithm are analyzed.Finally,MATLAB code was written and simulation analysis of the two algorithms was carried out.(3)The automatic navigation control algorithm of the target vehicle was developed.The kinematic model of the target vehicle and the error model were established,and the pure tracking algorithm,which is less computationally intensive and easy to implement and understand,was selected as the path tracking algorithm.A two-loop PID control algorithm was selected,with the inner loop controlling the motor speed and the outer loop controlling the actual running speed.Finally,the algorithm is simulated by MATLAB to verify the feasibility of the algorithm.(4)Develop the upper computer software of unmanned target vehicle automatic navigation system.Based on VS2019 software,C# language is used to write the upper computer software.The main functions include parameter setting,unmanned target vehicle path setting,coordinate conversion,automatic navigation control algorithm,interface display and other functions.The interface display mainly includes the map display interface,parameter setting interface,status display interface,starting point and end point setting interface.(5)The unmanned target vehicle automatic navigation system was tested in real vehicles.The positioning accuracy of Bei Dou high-precision differential positioning system under different scenarios was studied according to the use scenarios of the target range,and the applicability of the target vehicle under different interference scenarios was verified.Finally,the real-vehicle test was carried out in Jingwei Square of Weiyang Campus of Xi’an University of Technology,and the results showed that the path tracking control algorithm could be successfully applied to the path tracking of unmanned target vehicles and meet the tracking accuracy of unmanned target vehicles.