EN4562 Autonomous Systems

Transcription

1 Lecue 2 N4562 uonomous Sysems Senso Fusion Pof. ohan Munasinghe Depamen of leconic an Telecommunicaion ngineeing Faculy of ngineeing Univesiy of Moauwa 4 aa, Vision an LiD Use of muliple sensos o eemine posiion, spee, an ienificaion of obsacles in he suouning Use of GPS/INS GPS aie Ineial Navigaion Senso fo self localizaion an aiue esimaion PV: posiion, velociy, aiue cceleomees, Gyoscopes, magneomees, GPS Senso fusion algoihms xene Kalman File

2 LiD Ligh Ienificaion an anging LiD Shines lase ligh a a suface an measues he ime i akes o eun o is souce. Spee of ligh 3,km/s 3cm/ns Disance Spee of Ligh x Time uaion / 2 Fies api pulses of lase ligh a a suface up o 5, pulses/s Micopulse Low powe, eye-safe LiD sysems nee moe poweful compuaional capabiliies. ibone LiD nees ohe aa o ensue accuacy an aa inegiy fo eain eneing because he souce is changing is posiion an oienaion. Dynamic mapping of a 4-way juncion using LiDa Senso uonomous Laning of a Helicope Using LiD Senso. Lase LiD Subsysems 6-nm lases ae moe commonly use fo nonscienific puposes bu, as hey can be focuse an easily absobe by he eye, hus maximum powe is limie o make hem 'eye-safe'. 55nm is no focuse by he eye, hus usable a highe powe levels fo longe ange lowe accuacy. I oes no show une nigh-vision goggles well suie o miliay applicaions. 2. Scanne an Opics: zimuh an elevaion, Dual oscillaing plane mios. Deemines he spee, ange, esoluion, an accuacy of he sysem.

3 LiD Subsysems 3. Navigaion an posiioning sysem When a LiD senso is moune on a mobile plafom such as aiplanes o auomobiles, i is necessay o eemine he absolue posiion an he oienaion of he senso o eain useable aa. GPS Dea-eckoning povies accuae posiion of he senso IMU Ineia Measuemen Uni wih senso fusion povies he pecise oienaion of he senso. These wo evices an echniques povie he meho fo anslaing senso aa ino saic poins fo use in a vaiey of sysems Posiioning GPS INS Dea eckoning Dea-eckoning Dea-eckoning: The pocess of calculaing one's posiion by esimaing he iecion an isance avele ahe han by using lanmaks. DD DD Deuce CKONING is he pocess of calculaing o esimaing somehing GPS signal is elecomagneic, hus, is blocke by mounains, ense foes, high-builings Does no povie coninuous, accuae posiion all he ime INS povies posiion, velociy an aiue coninuously an in all-weahe. u, accuacy eeioaes on ime ea eckoning Inegaion of GPS wih INS can impove pefomance

4 GPS/INS : 3DM GX3 45 Oienaion of he evice elaive o he local Noh, as, Down ND fame a a paicula poin on he ah s suface MMS sensos upae a Hz, wheeas GPS an velociy a 4Hz Senso on a vehicle: oaion w... vehicle fame is [8,, ]eg, an posiion offse is [2,, ]m Sma Sensing Techniques : Kinec Senso Kinec Senso

5 IMU Theoy: ah an oy Fames X : owas NOTH Y : Towas ST Z : ino he Cene of he ah yb iue : yaw z axis θ : pich y axis : oll x axis xe xb zb ze ye Ineial Measuemen Sensos ND convenion {} ah fame {} boy fame, Oe: z axis, yaw, θy axis pich x axis oll Oienaion of {} wih espec o {} is given by o z o θ o y x y z oaion maix Diecion Cosine Maix DCM x

6 Inechange Fame of efeence Inechange ows wih coesponing columns o inechange he wo fames. Ohogonaliy T I oy senso Fame an ah Fame Q Senso eaing acceleaion, angula ae.. Q eaing vehicle moion w... ah efeence fame Q Q

7 g: Oe of oaion plane piches by 9 an hen olls by 9 Plane is flying veically upwas plane olls by 9 an hen piches by 9 Plane is moving hoizonally Compoun oaion muliple fames, elaive an efeence {} C D CD {} {C} Scala an Veco Pouc Scala o Pouc Veco coss Pouc Componens coss pouc opeao Ω z y x z y x x y z

8 Veco Upae quaions Les consie he uni veco,, along x-axis of {}. Is escipion w... {} is x ime, If {} unegoes a sligh oienaion change eece by 3- axis gyo,θ, T Ω. The veco upaes as follows Ω x In Class Tes: Deive Ω oaion Maix Upae wih Gyo eaings Then, y veco upae equaion is Simillaly, z Ω y Ω z

9 [ ] Ω z y x oaion Maix Upae wih Gyo eaings θ θ θ θ