基于GPS与激光雷达的无人驾驶组合导航研究  

作　　者：蒋红梅 黄鹏 廖爱文 

机构地区：[1]桂林信息科技学院,广西桂林541004 [2]桂林优利特医疗电子有限公司,广西桂林541004

出　　处：《科技创新与应用》2023年第16期31-34,共4页Technology Innovation and Application

基　　金：2022年度广西高校科学技术研究项目(2022KY1626)。

摘　　要：为进一步解决无人驾驶小车在行驶过程中的GPS定位信号容易受建筑物和天气等因素影响而导致定位精度不准问题,该文提出基于GPS和激光雷达的无人驾驶组合导航系统。该系统采用卡尔曼滤波与低通滤波融合算法提高GPS定位,以及结合激光雷达的实地建模及精准定位,系统根据设定的目的地结合地图规划出一条安全且可执行的最佳路线,并采用PID算法和卡尔曼滤波算法控制电机来实现无人驾驶小车匀速行驶和里程计的稳定运行。测试结果表明,基于GPS和激光雷达的无人驾驶组合导航系统可提高小车的定位精度和行驶灵敏度,实现精准定位和导航。In order to further solve the problem that the positioning accuracy of the GPS positioning signal of a driverless car is easily affected by buildings,weather and other factors,a driverless integrated navigation system based on GPS and LiDAR is proposed in this paper.The system uses Kalman filter and low-pass filter fusion algorithm to improve GPS positioning,as well as LiDAR field modeling and accurate positioning.The system plans a safe and executable best route according to the set destination combined with the map,and uses PID algorithm and Kalman filter algorithm to control the motor to realize the driverless car driving at a uniform speed and the stable operation of the odometer.The test results show that the driverless integrated navigation system based on GPS and LiDAR can improve the positioning accuracy and driving sensitivity of the car and realize accurate positioning and navigation.

关 键 词：无人驾驶 GPS 激光雷达 定位 导航 

分 类 号：U463.6[机械工程—车辆工程]