Using Landmarks for the Vehicle Location Measurement

摘要

This paper mainly deals with the position of the ground vehicle as well asfinding its heading direction by using landmarks. First, from the geometric theorems, a set of reasoning is given in detail for the formulations that were introduced. Some limited conditions are attached to these formulations for calculating without mistakes in some cases. Some formulations are simplified, and some equations were developed for the special cases. Moreover, on the basis of above, a new method for calculating the position of the vehicle is proposed. In this method, instead of three marks, one angle and only two marks can meet the calculations. The advantage of this method is to use one hardware that measures one angle to reduce 1/3 amount of the landmark. The analyses and experiences show that the new method has advantages in the position calculating accuracy requirement as well as the processing speed. In this paper, an algorithm of recognizing the circle-landmarks is also proposed. Then some errors are analyzed, which give some suggestions to fix camera and landmarks.