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positioning method for agricultural autonomous vehicles with a simple laser sensor: part 1 position initialization method for autonomous traveling by using least squares method

机译：简单激光传感器的农用自动驾驶汽车定位方法：第1部分：最小二乘法自动驾驶位置初始化方法

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摘要

A new positioning method for agricultural robots with a simple laser sensor was developed. At the initializing stage of autonomous traveling, the position and the direction of an autonomous vehicle at a standstill should be fixed as the x and ycoordinates and the angle with respect to x coordinate on a field map. This paper deals with a positioning method for initializing, in which a simple laser sensor was used to measure direction angles of light reflectors set around a field. The positionand the direction of the vehicle was calculated by the least squares method, which enabled us to estimate measurement accuracy, and give the covariance matrix of the obtained position and direction. Field experiments were carried out to verify themeasurement method. The accuracy obtained by the method was within 4 cm in a 40 m40 m field. Application of the dilution of precision factor are also discussed.
机译：开发了一种具有简单激光传感器的农业机器人定位新方法。在自动行驶的初始化阶段，应将静止状态下自动驾驶车辆的位置和方向固定为田野地图上的x和y坐标以及相对于x坐标的角度。本文涉及一种用于初始化的定位方法，其中使用简单的激光传感器来测量围绕场设置的光反射器的方向角。通过最小二乘法计算车辆的位置和方向，这使我们能够估计测量精度，并给出获得的位置和方向的协方差矩阵。进行了现场试验以验证该测量方法。通过该方法获得的精度在40 m40 m的视野中为4 cm以内。还讨论了稀释精度因子的应用。

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