Application of GNSS+INS integrated navigation in mine auto-driving trucks

doi:10.13474/j.cnki.11-2246.2022.0219

Abstract

Abstract: For the problem of insufficient anti-jamming capability of GNSS and INS cumulative error in autonomous driving scene of mine truck, this paper proposes a combined navigation algorithm based on GNSS and INS. This algorithm combines the advantages of the two algorithms to improve positioning precision and reliability. This article compares the RTK algorithm and the integrated navigation algorithm with the NovAtel onboard output and the open source software RTKLIB results. The results show that the accuracy of the algorithm in this paper is close to that of NovAtel's onboard output, and is better than the open source software RTKLIB. The average plane and elevation error and STD in this paper are better than 5 cm, and the average attitude error and STD are better than 1°, which can meet the positioning accuracy requirements of autonomous mining trucks.

Key words: mine truck, autonomous driving, GNSS, RTK, INS, integrated navigation

CLC Number:

P228.4

ZHANG Bo, LIU Qiang, XU Guoliang, CAI Renlan, CHENG Feng. Application of GNSS+INS integrated navigation in mine auto-driving trucks[J]. Bulletin of Surveying and Mapping, 2022, 0(7): 143-147.

References

[1] 王富民,贺昌斌.露天矿卡车无人驾驶技术的现状与展望[J].露天采矿技术,2021,36(3):45-47.
[2] 丁震,孟峰.矿用无人卡车国内外研究现状及关键技术[J].中国煤炭,2020,46(2):42-49.
[3] YU Z P,HU Y J,HUANG J M.GPS/INS/Odometer/DR integrated navigation system aided with vehicular dynamic characteristics for autonomous vehicle application[J].IFAC PapersOnLine,2018,51(31):936-942.
[4] 袁蹈,吕伟才,袁晓鑫,等.车载组合定位终端定位性能分析[J].全球定位系统,2018,43(6):115-119.
[5] 傅率智,陈伟,吴迪,等.一种基于LSTM-EKF的车载GNSS/INS组合导航系统[J/OL].武汉大学学报(信息科学版):1-11[2021-07-27].https://kns.cnki.net/kcms/detail/detail.aspx?dbcode=CAPJ&dbname=CAPJLAST&filename=WHCH20201224004&uniplatform=NZKPT&v=F8VFDZDxdDWRVDiUyNxROt7fxZSfk5XnMBdQIH5r1s5YZuiu8ubSzrjyp4LkI_ih.
[6] CHI C,ZHAN X,WANG S,et al.Enabling robust and accurate navigation for UAVs using real-time GNSS precise point positioning and IMU integration[J].The Aeronautical Journal,2020,125(1283):87-108.
[7] 李征航.GPS测量与数据处理[M].武汉:武汉大学出版社,2013.
[8] 白征东,辛浩浩,程宇航,等.一种新的车载低成本MEMS陀螺仪快速初始对准算法[J].测绘通报,2020(8):65-70.
[9] 孟春见,李开龙,张梦得.捷联惯性基组合导航滤波算法比较研究[J].电光与控制,2020,27(2):18-21.
[10] 刘鹏飞.里程计辅助的高精度车载GNSS/INS组合导航系统[J].光学精密工程,2020,28(4):979-987.
[11] 姚卓.基于双天线的车载GNSS/INS组合导航技术研究[D].武汉:武汉大学,2017.
[12] YAN W L,ZHANG Q Z,WANG L J,et al.A modified Kalman filter for integrating the different rate data of gyros and accelerometers retrieved from Android smartphones in the GNSS/IMU coupled navigation[J].Sensors,2020,20(18):5208.
[13] 樊静,陈起金,唐海亮,等.MEMS INS/GNSS组合导航系统在车辆和机器人载体上的性能对比分析[J].传感技术学报,2020,33(8):1216-1222.
[14] 徐正鹏.基于MEMS IMU的车载组合导航技术研究[D].武汉:武汉大学,2017.

[1]	ZHOU Zhiwei, CHENG Xiang, ZHOU Wei, HAO Weifeng, XIAO Haibin, CHEN Hongjie, YANG Kui. Application of ground SAR in landslide deformation monitoring [J]. Bulletin of Surveying and Mapping, 2022, 0(7): 60-63.
[2]	GE Pengfei, LIU Hui, CHEN Mi, LI Yu, DING Ruili, LIU Fei. Monitoring land subsidence of Hebei section of Beijing-Xiong'an intercity railway by time-series InSAR [J]. Bulletin of Surveying and Mapping, 2022, 0(7): 64-70.
[3]	SHI Jiancun, YANG Zefa, WU Lixin. Multi-track InSAR 3D deformation monitoring for mining areas by optimizing priori model parameters [J]. Bulletin of Surveying and Mapping, 2022, 0(7): 71-77.
[4]	LIU Yuxian, RUAN Minghao, YAN Zhen. A method for accurate extraction of gated electric towers based on airborne laser point cloud [J]. Bulletin of Surveying and Mapping, 2022, 0(7): 129-133.
[5]	HAN Wenli, ZHANG Jixian, CHEN Haipeng, HUANG Haiying, ZHANG Libo, GE Juan, SHEN Jing, LU Yao. Discussion on quality inspection technology for new fundamental surveying and mapping [J]. Bulletin of Surveying and Mapping, 2022, 0(7): 148-153.
[6]	LAN Jinjing, QU Yiqiong, DU Weibing, GAO Xin, MA Dandan, ZHENG Yanchao. Surface deformation and analysis of subsidence characteristics in typical mining cities by remote sensing [J]. Bulletin of Surveying and Mapping, 2022, 0(6): 98-103.
[7]	ZHU Bangyan, TANG Chao, REN Zhizhong, MA Zhuang, ZHANG Qi, LI Yun. Surface deformation monitoring and driving force analysis in Zhuhai city based on PS-InSAR technology [J]. Bulletin of Surveying and Mapping, 2022, 0(6): 108-113.
[8]	ZHANG Jiayong, ZOU Yinxian, LIU Qianyun, ZHANG Nan, GONG Wei, LI Kanglun. Potential landslides deformation monitoring in Bijie city with InSAR time series [J]. Bulletin of Surveying and Mapping, 2022, 0(6): 121-124.
[9]	ZENG Xuehong, ZHAO Yihua. Monitoring surface subsidence and driving factors in Xining city using SBAS-InSAR [J]. Bulletin of Surveying and Mapping, 2022, 0(6): 137-142.
[10]	ZHAO Kan, SHI Yun, NIU Minjie. Research on the temporal and spatial changes of vegetation coverage in Qinling mountains based on Google Earth Engine platform [J]. Bulletin of Surveying and Mapping, 2022, 0(5): 49-55.
[11]	ZHANG Yupeng, ZHANG Yonghong, LIU Qinghao. Coupling relationship between land subsidence and groundwater in Beijing-Tianjin-Hebei region based on GRACE data [J]. Bulletin of Surveying and Mapping, 2022, 0(5): 89-94,125.
[12]	ZHANG Chao, JIANG Jinguang, WU Jiaji, XIE Dongpeng, YAN Peihui. RTK+IEZ pedestrian position method aided by magnetometer turn-detection HDE for harsh environment [J]. Bulletin of Surveying and Mapping, 2022, 0(5): 101-105,149.
[13]	LI Jiahao, ZHOU Lü, MA Jun, YANG Fei, XIAN Lingxiao. Deformation monitoring and mechanism analysis of urban subway line based on PS-InSAR technology [J]. Bulletin of Surveying and Mapping, 2022, 0(4): 20-25.
[14]	SHI Yun, SHI Longlong, NIU Minjie, ZHAO Kan. Multi-task automatic identification of loess landslide based on one-stage instance segmentation network [J]. Bulletin of Surveying and Mapping, 2022, 0(4): 26-31.
[15]	DING Yonghui, ZHANG Qing, YANG Chengsheng, WANG Meng, DING Hui. Landslide identification in Jinsha River basin based on high-resolution remote sensing:taking Wangdalong village of Batang county as an example [J]. Bulletin of Surveying and Mapping, 2022, 0(4): 51-55.