NDLI: Research on High Precision Tracking Method of Guided Transport Vehicle Based on Autonomous Combination Positioning

Content Provider	IET Digital Library
Author	Cao, Yuan Zhang, Shuangshuang Yang, Guizhi Wen, Tao
Abstract	Guided transport vehicle (GTV) uses satellite positioning technology, lidar, and high performance video sensors to achieve real-time positioning and tracing, these devices cost a lot. In addition, GTV shifts left and right during operation due to there is no fixed orbits constraint. It is very important to detect the lateral offset in real time to ensure the accurate tracing of the vehicle along the dotted line. Aiming at the above issues, this paper proposes a low-cost high precision tracing method for GTV based on integrated positioning, high resolution estimation of the vehicles positioning information is implemented by Cubature Kalman filters (CKF) with a loosely coupled mode based on GPS/SINS in this method; Considering that GTV has a fixed driving route, a two-stage map matching algorithm based on Hidden Markov model (HMM) is proposed, which further improves the accuracy; The lateral offset distance is detected based on the positioning information, which provides theoretical support for the subsequent control of the precise operation of the vehicle. The algorithm's feasibility has been verified by real vehicle experiments, the results show that the proposed algorithm achieves a centimeter-level positioning accuracy, and when the lateral offset distance is not less than 65cm, the detection accuracy of the lateral offset distance is more than 92%.
Starting Page	779
Ending Page	785
Page Count	7
ISSN	10224653
Volume Number	29
e-ISSN	20755597
Issue Number	Issue 4, Jul (2020)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/cje/29/4
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/cje.2020.06.006
Journal	Chinese Journal of Electronics
Publisher Date	2020-07-01
Access Restriction	Open
Rights Holder	© Chinese Institute of Electronics
Subject Keyword	Accurate Tracing Autonomous Combination Positioning Centimeter-level Positioning Accuracy Computer Vision And Image Processing Technique Cubature Kalman Filter Detection Accuracy Filtering Method in Signal Processing Fixed Driving Route Fixed Orbits Constraint Global Positioning System GTV Guided Transport Vehicle Hidden Markov Model High Precision Tracking Method High Resolution Estimation High-performance Video Sonsor Inertial Navigation System Integrated Positioning Kalman Filter Lateral Offset Distance Low-cost High Precision Tracing Method Markov Processes Optical, Image And Video Signal Processing Position Control Positioning Information Precise Operation Real Time Positioning Satellite Positioning Technology Size 65.0 Cm Spatial Variables Control Vehicle Experiments
Content Type	Text
Resource Type	Article
Subject	Applied Mathematics Electrical and Electronic Engineering

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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