| 应用于地面无人车辆的窗口约束马尔可夫定位 |
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| 引用本文： | 胡玉文,姜岩,龚建伟,熊光明. 应用于地面无人车辆的窗口约束马尔可夫定位[J]. 北京理工大学学报, 2014, 34(4): 353-357 |
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| 作者姓名： | 胡玉文 姜岩 龚建伟 熊光明 |
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| 作者单位： | 北京理工大学机械与车辆学院,北京 100081;北京理工大学机械与车辆学院,北京 100081;北京理工大学机械与车辆学院,北京 100081;北京理工大学机械与车辆学院,北京 100081 |
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| 基金项目： | 国家自然科学基金资助项目（51275041，61304194）；国家教育部高等学校博士学科点专项科研基金资助课题（20121101120015） |
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| 摘 要： | 为解决地面无人车辆在GPS易受干扰区域的定位问题，提出一种窗口约束马尔可夫定位方法，通过在窗口范围内进行马尔可夫定位减少更新的状态空间范围. 窗口的位置在初始时刻参考地图中建立的路标估计，并随车辆运动信息在地图中移动. 该方法能够减少定位过程中的计算量，除初始时刻外不依赖于GPS进行短期外推定位，且实验证明具有较好的实时性和准确性.
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| 关 键 词： | 马尔可夫定位 GPS路标 地面无人车辆 |
| 收稿时间： | 2013-03-12 |
Window Constrained Markov Localization for Unmanned Ground Vehicle |
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| HU Yu-wen,JIANG Yan,GONG Jian-wei and XIONG Guang-ming. Window Constrained Markov Localization for Unmanned Ground Vehicle[J]. Journal of Beijing Institute of Technology(Natural Science Edition), 2014, 34(4): 353-357 |
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| Authors: | HU Yu-wen JIANG Yan GONG Jian-wei XIONG Guang-ming |
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| Affiliation: | School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China |
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| Abstract: | To solve the localization problem of unmanned ground vehicle when the signals of GPS are susceptible to be disturbed,a window constrained Markov localization method was proposed. The scope of state space was constrained when Markov localization was taken within the window. The windows position can be determined initially refer to landmarks built in the map, and moved with vehicles movement. This method can reduce the amount of calculation and does not rely on satellite positioning system besides initial time. The positioning accuracy and real-time performance are testified on a full-sized unmanned ground vehicle. |
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| Keywords: | Markov localization GPS landmark unmanned ground vehicle |
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