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SYSTEM FOR AUTONOMOUS VEHICLE NAVIGATION WITH CARRIER PHASE DGPS AND LASER-SCANNER AUGMENTATION
SYSTEM FOR AUTONOMOUS VEHICLE NAVIGATION WITH CARRIER PHASE DGPS AND LASER-SCANNER AUGMENTATION
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机译:载波相位DGPS和激光扫描仪增强的自动车辆导航系统
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摘要
A horizontal navigation system aided by a carrier phase differential Global Positioning System (GPS) receiver and a Laser-Scanner (LS) for an Autonomous Ground Vehicle (AGV). The high accuracy vehicle navigation system is highly demanded for advanced AGVs. Although high positioning accuracy is achievable by a high performance RTK-GPS receiver, the performance should be considerably degraded in a high-blockage environment due to tall buildings and other obstacles. The present navigation system is to provide decimetre-level positioning accuracy in such a severe environment for precise GPS positioning. The horizontal navigation system is composed of a low cost Fiber Optic Gyro (FOG) and a precise odometer. The navigation errors are estimated using a tightly coupled Extended Kalman Filter (EKF). The measurements of the EKF are double differenced code and carrier phase from a dual frequency GPS receiver and relative positions derived from laser scanner measurements.
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