Russian Federation
Russian Federation
The paper discusses the issues of ensuring the navigational reliability of unmanned vehicles designed for winter maintenance of territories. It is shown that traditional approaches based on the combined use of global navigation satellite systems in real-time kinematic mode, lidar SLAM, and wheel odometry demonstrate insufficient stability in snow-covered conditions, temperature fluctuations, and hydrometeorological conditions. The paper proposes a methodology for selecting and integrating sensor subsystems that takes into account the physical mechanisms of precipitation and fog effects on various physical principles of detection. The rules for dynamically redistributing the weights of data sources in the extended Kalman filter have been formulated.
Navigation of mobile robots, snow cover, ultra-wideband systems, 77 GHz radar, post-processing of measurements, temperature stabilization, adaptive filtering
1. Groves P.D. Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems. — 2nd ed. — Boston: Artech House, 2013. — 776 p.
2. Solov'ev, V. A. Vliyanie podstilayuschey poverhnosti na tochnost' pozicionirovaniya po signalam GNSS / V. A. Solov'ev, I. V. Zima // Uspehi sovremennoy radioelektroniki. — 2022. — № 4. — S. 44–51.
3. Wang H., Zhang X., Li Y. Integration of UWB and IMU for Robust Localization in GPS-Denied Environments // IEEE Transactions on Instrumentation and Measurement. — 2024. — Vol. 73. — P. 1–12.
4. Kim S.H., Lee J.H. Ground Penetrating Radar Using 77 GHz FMCW Technology for Snow Layer Detection // IEEE Geoscience and Remote Sensing Letters. — 2023. — Vol. 20. — Art. no. 3500805.
5. Glushkov, A. N. Primenenie vysokostabil'nyh opornyh generatorov v navigacionnom oborudovanii mobil'nyh robotov / A. N. Glushkov, O. A. Morozov, S. V. Fedorov // Datchiki i sistemy. — 2024. — № 2. — S. 18–25.
6. Takasu T., Yasuda A. Development of a Low-Cost RTK-GPS Receiver Using an Open Source Software Package RTKLIB // Proceedings of the International Symposium on GPS/GNSS. — Jeju, 2009. — P. 4–6.
