Research On Autonomous Bus System In Closed Environment Based On Magnetic Markers Map

Magnetic navigation technology is widely used in a variety of applications in industrial automation because of its stable,reliable characteristics.Magnetic navigation based unmanned vehicles are not affected by weather,light,and temperature,and can be adapted to a wide variety of complex environments.The navigation method based on the magnetic markers map has the characteristics of high precision global positioning,especially suitable for outdoor with larger speed requirements.However,there are still many problems in the practical application,especially the outdoor application.In this paper,the unmanned bus system based on magnetic markers map is implemented and the magnetic ruler design,lateral error detection,vehicle location and vehicle control are studied.First,according to the magnetic field model,this paper studied the relationship between the mounting height of magnetic sensor,the distance of magnetic sensor,the size of magnetic markers and the detection accuracy.It provides reference for different situation and different requirements of magnetic ruler design.Various lateral error detection algorithms are verified to achieve high precision,good reliability,good real-time magnetic ruler sensor.Secondly,this paper studied the localization problem based on magnetic markers map navigation.This paper introduces the vehicle position model,vehicle motion model,odometer model and magnetic ruler measurement model.Using EKF data fusion algorithm fusing odometer,INS data and magnetic sensor data can make the vehicle get high positioning accuracy.positioning accuracy can reach centimeter level once the magnetic markers map navigation positioning successfully.this paper proposes a short coding check method,combining with the GPS and inertial sensor compass data,can effectively check the vehicle magnetic markers matching and solve the vehicle initial positioning problem.Finally,according the results of high precision positioning of the vehicle and the map’s data,the dynamic forward-looking method based on vehicle’s speed effective to simplify the formulation and control process.At the same time,this paper also designed the HMI and the communication between the vehicle and cloud server.