基于GIS和环境感知的无人车定位方法研究

提出了一种基于地图匹配的宏观定位和基于环境感知的微观定位相结合的综合定位方法。通过车轮编码器、电子罗盘等推算出车辆的近似行驶轨迹,并匹配到GIS地图上,以获取车辆所在位置;采用相机、激光雷达等测量传感器感知行驶环境中的标志性物体对车辆进行精确定位。现场试验结果表明,该方法实现了车辆在局部地图中的全局精确定位,并在实践中取得了很好的效果。

Positioning in Unmanned Vehicle Based on GIS and Environmental Perception

A method of positioning in unmanned vehicle based on GIS and environmental perception was proposed.The approximate track of the vehicle was first calculated through the wheel encoder and electronic compass,and then matched to the GIS map so as to get the vehicle location;vehicle’s accurate positioning was obtained by comparing to the iconic objects in travelling that were perceived by measurement sensors such as the camera and laser radar.The test results show that this method can realize the global positioning of the vehicles in local map,and works well in practical environment.