基于高精度卫星差分定位的组合导航研究

Research on Integrated Navigation Based on High Precision Satellite Differential Positioning

为了满足AGV作业环境复杂多变的导航需要,对差分GNSS和激光SLAM组合导航进行了研究。在室外采用差分GNSS导航系统。GNSS系统与INS系统组合经高斯投影方法将大地坐标系转化为平面坐标系,通过双天线测量方式计算获得位姿信息。在室内使用激光SLAM算法获得激光平面坐标系下的位姿信息。然后将两坐标系分别平移旋转进行重合处理获得导航位姿信息,最后根据不同来源的导航信息状态随时进行切换处理,保证室内外导航信息可靠性。

In order to meet the complex and changeable navigation needs of the AGV working environment,the integrated navigation of differential GNSS and laser SLAM is studied.The differential GNSS navigation system is used in outdoors.The combination of GNSS system and INS system transforms the geodetic coordinate system into a plane coordinate system through gauss projection method,and the pose information is obtained by means of two-antenna measurement.In the room,the position information in the plane coordinate system is obtained by using the laser SLAM algorithm.Then,the two coordinate systems are translated and rotated respectively,and they are coincided process to get the navigation position information.Finally,they switch and process at any time according to the navigation information status of different sources to ensure the reliability of indoor and outdoor navigation information.