A Motion Trajectory Matching Based Data Fusing Scheme for the Navigation of Unmanned Ground Vehicles
Qi Zhu, Zhenping Sun, Shaowei Li, Liang Xiao, Bin Dai · 2017
The position and orientation information is important for the autonomous running of unmanned ground vehicles (UGVs). Different navigating approaches including dead-reckoning, inertial navigation system (INS)and global navigation satellite system (GNSS) possess different strengths and weaknesses. Any single method above cannot satisfy the UGV applications. A motion trajectory matching based data fusing scheme for the navigation of UGVs is proposed in this paper. The problem formulation and error measurements rejection are described in detail. To verify the performance of the proposed method, experiments are carried out in a complex environment with bad positioning conditions.