The invention provides a mine vehicle intelligent navigation and safe driving method and system based on inertial navigation, and relates to the technical field of intelligent navigation. The method comprises the following steps: collecting motion and environment data of a vehicle through various sensors; fusing sensor data by adopting extended Kalman filtering to generate high-precision position information and a motion state; carrying out anomaly detection through mean shift detection and a Kalman filtering residual analysis algorithm; performing path planning based on the environmental perception information and a predetermined target; a PID controller or model prediction control is adopted to generate a speed and steering control instruction; and data transmission and remote monitoring between the vehicle and the control center are realized through the communication module. Through multi-sensor data fusion and an advanced control algorithm, high-precision navigation and safe driving of the mine vehicle in a complex environment are realized, the reliability and stability of the system are improved, and the safety and efficiency of mine operation are guaranteed.
本发明提供基于惯性导航的矿山车辆智能导航与安全驾驶方法和系统,涉及智能导航技术领域。方法包括:通过多种传感器采集车辆的运动和环境数据;采用扩展卡尔曼滤波对传感器数据进行融合,生成高精度的位置信息和运动状态;通过均值漂移检测和卡尔曼滤波残差分析算法进行异常检测;基于环境感知信息和预定目标进行路径规划;采用PID控制器或模型预测控制生成速度和转向控制指令;通过通信模块实现车辆与控制中心的数据传输和远程监控。本发明通过多传感器数据融合和先进的控制算法,实现矿山车辆在复杂环境中的高精度导航和安全驾驶,提高系统的可靠性和稳定性,保障矿山作业的安全性和效率。
Mine vehicle intelligent navigation and safe driving method and system based on inertial navigation
基于惯性导航的矿山车辆智能导航与安全驾驶方法和系统
2024-11-22
Patent
Electronic Resource
Chinese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES |
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