基于惯性导航与视觉的AGV小车定位系统的实现  

Implementation of AGV Vehicle Positioning System Based on Inertial Navigation and Visual Positioning

作　　者：文珍 唐江 邹洪富 叶键鹏 WEN Zhen;TANG Jiang;ZOU Hong-fu;YE Jian-peng(School of Automotive Engineering,Hunan Industry Polytechnic College,Changsha 410208,China;Truking Technology Limited,Ningxiang 410625,China)

机构地区：[1]湖南工业职业技术学院汽车工程学院,湖南长沙410208 [2]楚天科技股份有限公司,湖南宁乡410625

出　　处：《机械工程与自动化》2024年第6期174-176,共3页Mechanical Engineering & Automation

基　　金：2022年湖南省教育厅科学研究项目“基于惯性导航与地标技术的AGV小车高精度定位系统的研究与实现”(22C0842)。

摘　　要：针对AGV小车导航精度不足、地标系统施工复杂、导航系统成本高和场景适应性不强等问题,提出了一种基于惯性导航与视觉定位相结合的高精度定位系统解决方案。介绍了该系统的组成和工作原理,并详细描述了该方案整个定位过程的控制方法。采用该定位方案可将定位精度提升至毫米级,必将助力生产线智能化建设。Aiming at the problems such as insufficient navigation accuracy,complex landmark system construction,high cost of navigation system and weak adaptability of scene,a high-precision solution based on inertial navigation and visual positioning was proposed.The application prospect of the system is introduced,the system composition and working principle of the scheme are introduced,and the control method of the whole positioning process of the scheme is described in detail.Using this positioning scheme can improve the positioning accuracy to millimeter level,which will undoubtedly contribute to the intelligent construction of production lines.

关 键 词：AGV小车 惯性导航 视觉 定位系统 精度 

分 类 号：TP273.3[自动化与计算机技术—检测技术与自动化装置]