Estimation of articulated angle in six-wheeled dump trucks using multiple GNSS receivers for autonomous driving

Due to the declining birthrate and aging population, shortage of labor in construction industry has become a serious problem, increasing attention been paid automation equipment. We focus on automatic operation articulated six-wheel dump trucks at sites. For trucks, it is important estimate position angle with high accuracy. In this study, we propose method for estimating state truck by using four global navigation satellite systems (GNSSs) installed an graph optimization that utilizes redundancy multiple GNSSs. By adding real-time kinematic (RTK)-GNSS constraints geometric between antennas, proposed can robustly articulation even environments where GNSS satellites are partially blocked. As result evaluating accuracy through field tests, was confirmed could be estimated 0.1∘ open-sky environment 0.7∘ mountainous area simulating elevation 45∘