磁导航智能车定位计算方法研究

A novel computing method for localization of electromagnetic navigation intelligent vehicle

讨论了以电磁信号为航标的智能车位置检测的原理与方法,对前端垂直双传感器布局的控制信号提取方法进行了建模分析,以智能车前行方向与导航线夹角为控制变量,分析了常用的传感器信号处理方式,提出了一种线性度较好的控制信号处理算法,并与常用方法进行了仿真对比分析.实验表明,论文方法较好地实现了磁导航智能车运动方向与速度的闭环控制.

Focusing on the localization issue of electromagnetic navigation intelligent vehicle , a novel control signal processing algorithm with well linearity is proposed .Regarding on this subject , the position detection prin-ciple and method of intelligent vehicle which take the electromagnetic signal as the navigation mark has been dis-cussed at first .And then , the modeling analysis to the control signal extraction method for the front vertical double sensor layout has been on .Taking the include angle , deduced by smart car forward direction and naviga-tion line , as control variable , and the normal sensor signal procession method is analyzed finally .To verify the localization performance , the common localization method is also employed in the experiment .The experiment indicates that the proposed method can realize closed -loop control both motor motion and speed of the electro-magnetic navigation smart vehicle .