宋朝忠，钟应鹏

[摘    要]因为产业智能及无人化将无人驾驶技术视为产业升级的关键手段，所以大量装备制造产业公司开始接触并逐渐开设项目进行无人驾驶设备研发。农机、货运、清扫等行业都是自动驾驶方案业务的目标客户。此项目开发完成后，装备制造产业公司可基于无人系统与多家不同领域的装备制造商签订合作协议，实现群体智能化改装方案销售;随着无人专用车系统的成熟和推广，其将承接更多的无人驾驶改装方案的开发任务。文章以此为基础进行探讨，以期为其他学者提供参考。

[关键词]群体智能;无人专用车;系统;导航技术

[中图分类号]TO271 [文献标志码]A [文章编号]2095–6487（2021）12–000–03

Research on Navigation Technology of Swarm

Intelligent Unmanned Special Vehicle System

Song Chao-zhong，Zhong Ying-peng

[Abstract]Industrial intelligence and unmanned technology regard unmanned driving technology as a key means of industrial upgrading. A large number of equipment manufacturing industry companies have begun to contact and gradually set up projects for the research and development of unmanned equipment. Industries such as agricultural machinery， freight transport， and cleaning are all target customers for the autonomous driving solution business. After the development of this project is completed， it can sign cooperation agreements with many equipment manufacturers in different fields based on the unmanned system to realize the sales of group intelligent modification solutions; as the unmanned special vehicle system matures and promotes， it will undertake more unmanned vehicles. The task of developing a human-driving modification program. The article will conduct in-depth discussion on this basis in order to provide reference.

[Keywords]swarm intelligence; unmanned special vehicle; system; navigation technology

1 导航定位系统分析与设计

要想一个无人专用车在道路上可以安全行驶，设定好导航定位系统是非常重要的。导航定位系统从车辆行驶开始直到车辆到达标准地点，这期间所有的行程位置都务必是可知的，并且可以被用户准确无误地查询到。因此，设定智能无人专用车的导航定位系统，对其进行系统分析与设计是极其重要的。而这就需要应用到无线定位技术准确地核实车辆行驶过的地点，并且在特殊情况下可以实时跟进与追踪。然而，目前无线定位系统还没有绝对完善，其主要包括视觉行驶定位系统以及超宽带定位系统（ultrawideband，UWB）等。

1.1 常用定位系统在无人驾驶导航定位中的分析

1.1.1 卫星定位

无人驾驶领域的定位导航方法有GPS定位、卫星导航、惯性导航、激光雷达定位导航以及视觉定位导航等。……