METHOD FOR INTEGRATING HETEROGENEOUS NAVIGATION INFORMATION FOR POSITIONING A GROUND VEHICLE Russian patent published in 2022 - IPC G01C21/10 

FIELD: navigation.

SUBSTANCE: invention relates to the field of navigation, and in particular to methods for positioning autonomous ground vehicles (AGV), including mobile robots. The method for integrating heterogeneous navigation information received from on-board sensors of an autonomous ground vehicle (AGV) for the purpose of its positioning differs in that data on the speed of the AGV are obtained from encoders of a relative or absolute type installed on the wheels of the AGV, and a GNSS receiver, data on the angle of rotation of AGV around the vertical axis is obtained from the encoder mounted on the steering rack of AGV, and the inertial navigation system, while in the case of using a relative wheel encoder, indications about the direction of movement of AGV are obtained from the rotation encoder placed on the shaft of the AGV vehicle motor. Next, the received data from the indicated on-board sensors are converted into the corresponding units of measurement of speed and angle of rotation, the speed of AGV is determined as the sum of the speed values ​​obtained from the readings of the wheel encoders and the GNSS receiver, taking into account the weighting factor designed to control the degree of influence of the readings of the indicated on-board sensors on estimation of AGV speed. Then, the calculated angle of rotation of AGV around the vertical axis is determined by the angle of the steering rack, taking into account the speed value of AGV, determined on the basis of the readings of the wheel encoders and the GNSS receiver, the relative turns of AGV around the vertical axis are determined according to the readings of the inertial navigation system and the steering rack encoder as the difference between the previous and current readings of the relevant on-board sensors, the angle of rotation of AGV around the vertical axis is determined as the sum of the values ​​of relative rotations according to the readings of the steering rack encoder and the inertial navigation system, taking into account the weighting factor designed to control the degree of influence of the indications of the indicated on-board sensors on the estimate of the angle of rotation of AGV, the obtained data on the angle of rotation of AGV around the vertical the axes and speeds of AGV are complexed using the kinematic model of AGV, as a result of which the coordinates and course of AGV are determined.

EFFECT: increasing the accuracy of determining the position of an autonomous ground vehicle in space while ensuring the stability of the positioning of AGV in various operating conditions.

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