针对地下无人驾驶采矿设备的自主行驶导航系统，提出了一种基于编码信标识别的定位方法，并在试验验证平台进行了测试。首先根据条形码技术设计一套可识别的编码信标，并与实际环境相结合，设计制作信标实体，分析并设计编码信标识别算法，基于激光雷达的扫描结果，编码信标识别算法可以实现对若干特定位置的判定，进而设计定位算法，推算出无人驾驶采矿设备的当前位置，为无人驾驶采矿设备的自主行驶系统提供必要的定位导航信息。%A positioning method based on coding beacon recognition was proposed, which is used for the autono-mous driving of underground unmanned mining equipment. The system has been tested in the laboratory environment. A set of coding beacons was designed according to bar code technique. Then the real beacons were manufactured. And a recognition algorithm was proposed to identify the particular position based on the laser scanning data. Finally, the current position of the equipment was successfully calculated according to the positioning method.
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