Structure of the Information-Measuring Complex for Determining the Mutual Position of the Master and Slave Vehicles and Its Calibration
E. A. Zakharova · Intellekt Sist Proizv · 2022
The information-measuring complex for determining the mutual position of master and slave vehicles is necessary for the functioning of a robotic vehicle as a part of an autonomous convoy. The complex is based on a spatial array of ultrasonic receivers receiving periodically emitted signals by an active ultrasonic beacon with a built-in receiver of the global navigation satellite positioning system. The structure of information-measuring complex is designed to provide free connection of additional modules of ultrasonic wave receivers, included in the spatial array placed on the slave vehicle, without significant changes in the work of the complex as a whole. The number of required modules depends on the design features of the robotic vehicle, as well as on the required viewing angle of the complex. An active beacon, which is a portable device, is attached to its master, which can be another robotic vehicle, being a member of an autonomous convoy, or a human operator. The coordinates of each ultrasonic receiver in the local coordinate system of the slave robotic vehicle are needed to calculate the position and trajectory of the master by the Kalman filter with smoothing according to the Rauch-Thung-Strubel algorithm. To automatize the coordinate measurement process, a procedure for calibrating the spatial array of ultrasonic receivers has been developed. A distinctive feature of the calibration procedure is obtaining the coordinates of the ultrasonic receiver modules in the local coordinate system of the slave vehicle in automatic mode using a reference rangefinder mounted on the slave vehicle. In the course of experimental studies, it was found that the calibration of the information-measuring complex allowed to reduce the systematic component of the error in assessing the position of the master up to three times.