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

Guided transport vehicle（GTV） uses satellite positioning technology, lidar, and highperformance 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 65 cm, the detection accuracy of the lateral offset distance is more than 92%.