基于GPS/IMU数据融合的无人车高精度控制方法研究

High Precision Control Method of Unmanned Vehicle Based on GPS and IMU Data Fusion

针对无人车在高速行驶过程中转向动作延迟的问题,提出了一种基于GPS/IMU数据融合的无人车方向提前调整的方法,以提高无人车自主导航的精确性和稳定性。首先,利用GPS获取无人车的位置和方向角信息,建立二维平面运动模型,使无人车在到达预定目标点之前做出方向调整决策,再利用IMU测量车身偏航角并配合PID控制器实现转向控制。验证实验表明:该方法使无人车的行驶轨迹更加贴合预设轨迹,同时规避了因转角突增而翻车的风险;另外,通过提前控制并抵消微控制器程序执行所需时间,确保无人车在实际到达目标点时,可精准快速地做出转向动作,提升了无人车的控制精度和稳定性。

To deal with the delay of steering action of unmanned vehicle during high-speed driving,a method of adjusting direction in advance is proposed based on GPS/IMU data fusion to improve the accuracy and stability of autonomous navigation of unmanned vehicles.Firstly,GPS is used to obtain the position and direction angle of the unmanned vehicle,and a two-dimensional planar motion model is established so that the unmanned vehicle can make the decision for the direction adjustment before arriving at the preset target point.Then IMU is used to measure the yaw angle of the vehicle to achieve the steering control with PID controller.The experimental results show that the method makes the driving trajectory of the unmanned vehicle more consistent,and helps to avoid the risk of rollover due to the sudden increase in the corner.By controlling in advance to offset the time needed by the micro-controller from the beginning of the program to the completion of the steering action of the unmanned vehicle,the unmanned vehicle is ensured to make the steering action accurately and quickly when it actually reaches the target point,which greatly improves the precision and stability of control of the unmanned vehicle.