发明名称 |
SYSTEM FOR AUTONOMOUS VEHICLE NAVIGATION WITH CARRIER PHASE DGPS AND LASER-SCANNER AUGMENTATION |
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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申请公布号 |
US2007244640(A1) |
申请公布日期 |
2007.10.18 |
申请号 |
US20070742972 |
申请日期 |
2007.05.01 |
申请人 |
MITSUBISHI ELECTRIC CORPORATION |
发明人 |
HIROKAWA RUI |
分类号 |
G01C21/10;G01S19/48;G01S19/05;G01S19/11;G01S19/21;G01S19/29;G01S19/46 |
主分类号 |
G01C21/10 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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