一种港口IGV融合定位方法  

A Fusion Positioning Method for Port Intelligent Guided Vehicles

作　　者：王华鲜 黄旭东 常奇 Wang Huaxian;Huang Xudong;Chang Qi(Shanghai Zhenhua Heavy Industries Co.,Ltd.;Shanghai Engineering Research Center of Port Machinery)

机构地区：[1]上海振华重工(集团)股份有限公司,上海市200125 [2]上海港口机械工程技术研究中心

出　　处：《港口装卸》2025年第2期36-38,共3页Port Operation

摘　　要：针对港口IGV水平运输和自动化搬运任务中定位不稳定、精确度低的问题,通过集成北斗卫星导航、激光SLAM、轮速计、惯性测量单元(IMU)和视觉定位技术,设计了一种融合定位方法。以北斗定位数据作为上电初始值,使用激光帧间匹配作为基准定位;利用轮速计和IMU对激光定位进行补偿修正;使用视觉车道线保持技术对定位结果进行评判。经实际测试,该方法可提高IGV的定位精度和稳定性。To address the issues of unstable positioning and low accuracy in horizontal transportation and automated handling tasks of port Intelligent Guided Vehicles(IGVs),a fusion positioning method is designed by integrating Beidou satellite navigation,laser SLAM,wheel speed sensors,inertial measurement units(IMUs),and visual positioning technology.This method uses Beidou positioning data as the initial value upon power-up and employs laser frame-to-frame matching as the baseline positioning.Wheel speed sensors and IMUs are utilized to compensate and correct the laser positioning,while visual lane-keeping technology is used to evaluate the positioning results.Practical tests demonstrate that this method improves the positioning accuracy and stability of IGVs.

关 键 词：智能导引车 水平运输 自动化搬运 SLAM 融合定位 

分 类 号：U653.92[交通运输工程—港口、海岸及近海工程]