基于无人驾驶赛车多传感器融合定位算法研究  

Research on multi-sensor fusion positioning algorithm based on driverless racing car

作　　者：李逸龙 李刚[1] 张要强 邓伟文 徐龙 LI Yi-long;LI Gang;ZHANG Yao-qiang;DENG Wei-wen;XU Long(Faculty of Automotive and Traffic Engineering,Liaoning University of Technology,Jinzhou 121000,China;Faculty of Transportation Science and Engineering,Beijing University of Aeronautics and Astronautics,Beijing 100191,China)

机构地区：[1]辽宁工业大学汽车与交通工程学院,辽宁锦州121001 [2]北京航空航天大学交通科学与工程学院,北京100191

出　　处：《云南民族大学学报(自然科学版)》2025年第2期206-216,共11页Journal of Yunnan Minzu University:Natural Sciences Edition

基　　金：辽宁省自然基金资助计划项目(2022-MS-376);辽宁省教育厅重点攻关项目(JYTZD2023081).

摘　　要：针对全球定位系统因传感器零偏和白噪声误差而影响无人驾驶赛车定位精度的问题,设计了一种融合激光雷达、惯性测量单元与全球导航卫星系统(GPS)数据的滑动窗口优化定位算法.通过对比3种常用的点云配准算法,选用正态分布变换算法来设计激光里程计与回环检测;先后设计了激光里程计因子、惯性测量单元预积分因子、GPS及回环检测因子加入到因子图,来增强定位的准确性;利用滑动窗口优化的方式实时输出高精度定位结果.多次实车实验结果表明,相比传统定位方案,本文的融合定位算法误差可降至0.077 m,提高了赛车的感知预判能力和路径规划效率.In order to solve the problem that the positioning accuracy of the GPS is affected by the bias and white noise error of the sensor,a sliding window optimization positioning algorithm fusing LiDAR,inertial measurement unit and Global Navigation Satellite System(GPS)data was designed and developed.By comparing three commonly used point cloud registration algorithms,the normal distribution transformation algorithm was selected to design the laser odometry and loopback detection.The laser odometer factor,the pre-integration factor of the inertial measurement unit,the GPS and the loopback detection factor were successively designed and added to the factor diagram to enhance the accuracy of positioning.The sliding window optimization method is used to output highprecision positioning results in real time.The results of multiple real-vehicle experiments show that compared with the traditional positioning scheme,the error of the fusion positioning algorithm in this paper can be reduced to 0.077 m,which improves the perception prediction ability and path planning efficiency of the racing car.

关 键 词：无人驾驶方程式赛车 惯性测量单元 全球导航卫星系统 融合定位算法 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术] U469.696[自动化与计算机技术—计算机科学与技术]