The invention discloses a navigation method for an unmanned working vehicle. The navigation method comprises the following steps: acquiring position and time service data through differential signals by using a GPS/BD2 dual-mode module; acquiring an acceleration signal and an angular velocity signal in an object inertial coordinate system by using an INS inertial module; calculating positioning information after the GPS/BD2 dual-mode module and the IMU inertial module are fused; measuring data including triaxial angular velocity and acceleration of a measured object in real time; calculating IMU attitude and differential positioning information; the high-precision differential signals and triaxial angular velocity and acceleration data are fused, and navigation positioning information is calculated; according to the technical scheme, the problems that positioning information is easily influenced by external interference conditions and the positioning precision is low are solved, the problem that in the prior art, a navigation system is limited by shielding of buildings, bridges and tunnels and cannot perform positioning is solved, and the positioning precision and the positioning quality are improved. In addition, the invention also provides a navigation system for the unmanned working vehicle and the unmanned working vehicle, which also have the above beneficial effects.

    本申请公开的无人驾驶作业车用的导航方法,包括步骤:使用GPS/BD2双模模组通过差分信号获取位置和授时数据;使用INS惯性模组获取物体惯性坐标系中的加速度信号和角速度信号;计算GPS/BD2双模模组和IMU惯性模组融合后的定位信息;实时测量被测物体包括三轴角速度、加速度在内的数据;解算IMU姿态和差分定位信息;融合高精度差分信号与三轴角速度、加速度数据,计算出导航定位信息;本发明涉及的技术方案,解决了定位信息易受外界干扰条件的影响且定位精度低的问题,克服了现有技术中的导航系统受限于建筑物、桥梁、隧道遮挡时无法定位的问题,提高定位精度和定位质量。此外,本发明还提供一种无人驾驶作业车用的导航系统和无人驾驶作业车,同样具有上述有益效果。


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    Titel :

    Navigation method and system for unmanned working vehicle and unmanned working vehicle


    Weitere Titelangaben:

    一种无人驾驶作业车用导航方法、系统和无人驾驶作业车


    Beteiligte:
    LIU AN (Autor:in) / LIU YU (Autor:in)

    Erscheinungsdatum :

    2023-08-29


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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