Software Navigation System for the Orientation of a Transport Robot on the Ground

摘要

The article is devoted to the study of the possibilities of simultaneous localization and mapping (SLAM) navigation and map construction, as well as the development of a hybrid navigation system for more accurate map construction. The work is based on existing research in the field of navigation systems. The article analyzes methods of hybridization of navigation systems, and studies developments to improve localization accuracy. In addition, an analytical review of existing slam analogues and existing navigation systems was conducted. As a result, the VINS-g hybrid navigation system was developed and tested in various scenarios. Based on the results of testing on the simulator, conclusions were made that indicate the achievement of more accurate navigation in open terrain with a partial loss of signal from the satellite. The developed system allows precise navigation and mapping in SLAM models for drones in a static environment.