摘要
分析自主车辆的定位技术及多传感器信息融合的模型。通过对地下自主铲运机后车体和传感器(航向陀螺仪、激光测距仪)的建模,采用多传感器信息融合的卡尔曼滤波算法,将航向陀螺仪和激光测距仪采集的信息融合后,对铲运机的航向角进行确定。综合应用多传感器信息融合技术可以有效提高铲运机的定位精度。
The location technology of autonomous vehicles and the model of multi-sensor information fusion are analyzed.The path angle of scraper is determined by model establishment for underground autonomous scraper back body and the sensors（directional gyroscope,laser range finder）,fuses the information collected by directional gyroscope and laser range finder by using Kalman filtering algorithm of multi-sensor information fusion.Adopting multi-sensor information fusion system can effectively improve the location accuracy of scraper.
出处
《有色金属》
CSCD
北大核心
2009年第4期148-152,共5页
Nonferrous Metals
基金
国家高技术研究发展计划"863"项目(2006AA06Z137)
关键词
采矿工程
铲运机
信息融合
多传感器
定位
卡尔曼滤波
mining engineering
scraper
information fusion
multi-sensor
location
Kalman filtering
