摘要
为了提高智能导航车辆在复杂环境下的控制精度,提出一种基于GNSS/INS视觉融合处理算法,设计以英飞凌TC364单片机为控制核心单元的智能导航小车。通过对采集到的GNSS、IMU以及灰度图像数据进行预先分析,并对数据进行卡尔曼滤波融合,灰度图像处理边界提取,拟合出符合要求的车辆运行轨迹后,采用纯跟踪算法对车辆进行实时跟踪控制,验证算法可行后移植到智能车。通过实验数据以及实际运行结果分析对比,证明该方案满足车辆的自动巡航要求。
In order to improve the control accuracy of intelligent navigation vehicles in complex environments,an intelligent navigation trolley based on GNSS/INS visual fusion processing algorithm is proposed to design an intelligent navigation trolley with Infineon's TC364 microcontroller as the control core unit.Through the pre-analysis of the collected GNSS,IMU and grayscale image data,and the Kalman filter fusion of the data on the computer,the grayscale image processing boundary extraction,and the fitting of the vehicle running trajectory that meets the requirements,the pure tracking algorithm is used to carry out realtime tracking control of the vehicle,and the algorithm is transplanted to the intelligent vehicle after verifying that the algorithm is feasible.Through the analysis and comparison of experimental data and actual operation results,it is proved that the scheme meets the requirements of automatic cruise of vehicles.
出处
《工业控制计算机》
2024年第1期36-39,共4页
Industrial Control Computer
基金
江苏省自然科学基金(BK20201002)项目资助。
关键词
数据融合
智能车
图像处理
纯跟踪算法
组合导航
data fusion
intelligent vehicle
image processing
pure pursuit
integrated navigation
