北斗/GNSS与视觉SLAM融合的民航机场室外车辆定位技术OA

In the process of outdoor vehicle positioning at civil aviation airports,single visual positioning is difficult to eliminate the accumulated errors in coordinate transformation,resulting in significant errors in the obtained vehicle positioning results.To alleviate this problem,we pro-posed a civil aviation airport outdoor vehicle positioning technology integrating BeiDou/GNSS and visual SLAM.After using visual sensors to obtain airport environment images,we used coordinate system transformation to reduce cumulative errors through triangulation,and established an SLAM map of civil aviation airport environment.By installing BeiDou/GNSS receiver equipment on the vehicle and using observation equa-tions to analyze the received signals,we preliminarily calculated the differential positioning results of vehicle under the solved integer ambiguity parameters.We calculated this result in the constructed SLAM map to obtain the vehicle positioning result in the outdoor environment of civil avi-ation airport.The experimental results show that the vehicle positioning results obtained by this technology have an RMSE value of 0.97 cm and a PDOP value of 0.22,with small positioning errors.This technology has good practical application prospects in outdoor vehicle management work at civil aviation airports.