| GNSS+INS组合定位在矿山无人驾驶卡车的应用 |
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| 引用本文： | 张波,刘强,徐国梁,蔡仁澜,程风.GNSS+INS组合定位在矿山无人驾驶卡车的应用[J].测绘通报,2022,0(7):143-147. |
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| 作者姓名： | 张波 刘强 徐国梁 蔡仁澜 程风 |
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| 作者单位： | 1. 华能伊敏煤电有限责任公司伊敏露天矿, 内蒙古 呼伦贝尔 021134;2. 北京百度网讯科技有限公司, 北京 100089 |
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| 基金项目： | 伊敏露天矿矿用卡车无人化关键技术研究与示范应用项目(HNKJ20-H27) |
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| 摘 要： | 面向矿山无人驾驶卡车场景,针对GNSS定位不连续且容易被干扰、INS存在累计误差的缺点,本文提出了一种基于GNSS+INS组合的导航算法,该算法融合了两种算法的优点,提高了定位的精度和可靠性。分别将RTK算法和组合导航算法结果与开源软件RTKLIB和NovAtel板载输出结果对比。试验结果表明,本文算法在精度上与NovAtel板载输出结果基本持平,明显优于RTKLIB软件。本文算法平面和高程误差均值及STD均优于5 cm,姿态误差均值和STD优于1°,可以满足矿用无人驾驶卡车的定位精度需求。
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| 关 键 词： | 矿山卡车 无人驾驶 GNSS RTK INS 组合导航 |
| 收稿时间： | 2021-09-03 |
Application of GNSS+INS integrated navigation in mine auto-driving trucks |
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| ZHANG Bo,LIU Qiang,XU Guoliang,CAI Renlan,CHENG Feng.Application of GNSS+INS integrated navigation in mine auto-driving trucks[J].Bulletin of Surveying and Mapping,2022,0(7):143-147. |
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| Authors: | ZHANG Bo LIU Qiang XU Guoliang CAI Renlan CHENG Feng |
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| Institution: | 1. Yimin Open Mine, China Huaneng Group Yimin Coal and Power Co., Ltd., Hulunbeier 021134, China;2. Baidu Netcom Technology Co., Ltd., Beijing 100089, China |
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| Abstract: | For the problem of insufficient anti-jamming capability of GNSS and INS cumulative error in autonomous driving scene of mine truck, this paper proposes a combined navigation algorithm based on GNSS and INS. This algorithm combines the advantages of the two algorithms to improve positioning precision and reliability. This article compares the RTK algorithm and the integrated navigation algorithm with the NovAtel onboard output and the open source software RTKLIB results. The results show that the accuracy of the algorithm in this paper is close to that of NovAtel's onboard output, and is better than the open source software RTKLIB. The average plane and elevation error and STD in this paper are better than 5 cm, and the average attitude error and STD are better than 1°, which can meet the positioning accuracy requirements of autonomous mining trucks. |
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| Keywords: | mine truck autonomous driving GNSS RTK INS integrated navigation |
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