In order to improve the control accuracy of intelligent navigation vehicles in complex environments,an intelli-gent 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 re-sults,it is proved that the scheme meets the requirements of automatic cruise of vehicles.
关键词
数据融合/智能车/图像处理/纯跟踪算法/组合导航
Key words
data fusion/intelligent vehicle/image processing/pure pursuit/integrated navigation
维普
万方数据