自主車輛導航系統(tǒng)中的多傳感器融合技術(shù)

分析了目前農(nóng)業(yè)領(lǐng)域中幾種常用的自主車輛導航方式, 并說明了多傳感器融合的必要性。著重探討了卡爾曼濾波、模糊邏輯推理以及人工神經(jīng)網(wǎng)絡(luò)3 種融合方法, 分析了未來的發(fā)展方向。
敘詞: 車輛　導航　傳感器
Abstract In th is paper, som e general navigat ion m ethods of au tonomou s veh icle u sed in the agricu ltu re w ere analyzed concisely, and the essen t iality of m u lt i2sen so r fu sion w as derived. Then som e m ethods of m u lt i2sen so r fu sion w ere in t roduced, and the at ten t ion w as paid to the m ethod of
Kalm an f ilter, fuzzy logic inference and art if icial neu ral netwo rk. Kalm an f ilter can p rovide an op t im al stat ist ical resu lt, and is a po ten t ialm ean s in the f ield of m u lt i2sen so r fu sion. Bo th fuzzy logic inference and art if icial neu ral netwo rk can successfu lly estab lish a comp lex non2linear m ap betw een the sen so r data and the data needed. It show ed that all of them cou ld imp rove the p recision and reliab ility of the system by review ing m any navigat ion p ract ices in recen t years. F inally, the p ro spect of m u lt i2sen so r fu sion techno logy in the navigat ion of au tonomou s veh icle w as discu ssed.
Key words　V eh icles, N avigat ion, Sen so rs