66 / 2023-08-30 22:39:05

Multi-Sensor Fusion-Assisted AGV Localization System in GNSS Denied Environments

High-precision positioning system,SLAM,GNSS,AGV

Special Sessions > SS07- Artificial intelligence in sensing system

In order to address the issue of unmanned transport vehicle localization under the scenario of global satellite positioning system failure and meet the high stability and precision localization demands of factory unmanned vehicles, this paper conducts a comprehensive study from the overall design of the localization system to the specific implementation of the fusion localization algorithm involving global satellite positioning system, inertial navigation, and laser radar. Through the utilization of error state Kalman filtering, this study integrates the state estimates from the satellite inertial subsystem and laser radar inertial subsystem, achieving a seamless transition between different system fusion outcomes at the localization level of unmanned transport vehicles. Notably, in situations where satellite positioning is unavailable for up to 20 seconds, the proposed localization system maintains an accuracy within 5 cm, thereby fulfilling the localization requisites of unmanned transport vehicles within operational scenarios. This work holds significant significance for domains such as intelligent manufacturing and autonomous driving.