Research On Key Techniques For Large Transport Vehicle Platform Autonomous Positioning

The large transport vehicle platform is a kind of special equipment widely used on heavy equipment transport. With the development of mechanical engineering technology and the increased demands of construction projects, the research on the large transport vehicle begins to develop towards the direction of intelligent. The autonomous positioning technology is one of the important contents. Because of its own limitations, the common vehicle location methods based on GPS do not apply to the large transport vehicle positioning environment which has high stability and accuracy requirements. Therefore, the autonomous positioning technology research combining the characteristics of the large transport vehicle platform is of great significance for the intelligent development of the large transport vehicle.Based on the analysis of the transport vehicle platform structure and its positioning features, this paper proposes an autonomous positioning method based on feature recognition and information fusion technology. The research contains three sections:(1) Based on the research of the LMS111 laser radar measurement principle and data characteristics, the beacon recognition is realized using clustering-fitting algorithm. The basic idea of the algorithm is the original measurement data clustering according to the 2D scanning range image of laser radar, straight-line fitting, arc detection and combination beacon matching according to certain matching criteria. Finally, the recognition experiment provides the performance of this algorithm. (2) The research builds the vehicle system pose estimation model. According to the analysis of the vehicle positioning system working principle, the system state and observation models are built. And then the research realizes the pose estimation using Extended Kalman Filter based on the pretreatment laser radar data and the steering angle feedback. The indoor simulation experiments verified the stability of this methods and its random noise inhibiting ability.(3) The research completes the positioning system realization and vehicle positioning experiments. Based on the verified position method, the research designs the structure of the autonomous positioning system for the large transport vehicle, and then realizes the hardware and software of the positioning function, human-computer interaction, and system monitoring module on the actual large transport vehicle platform. Finally,on the realized system the research completes the whole vehicle autonomous positioning experiments, a large number of experimental results show the feasibility and reliability of the autonomous positioning technology described in this paper. The paper provides a certain amount of reference for the future in-depth research of autonomous positioning technology in large transport vehicle field.