Low-cost Granary Vehicles Positioning Using a Distributed LED Network

To address the safety hazards and inefficiency of traditional manual grain depot management, the application of granary vehicles has emerged as a promising solution. However, the absence of GPS signals indoors and the cumulative errors inherent in inertial navigation system (INS) make it difficult for vehicles to achieve the required positioning accuracy for operations. To achieve accurate positioning in the grain depot work area, this paper proposes a distributed auxiliary positioning scheme based on a light emitting diode (LED) network, combined with a attitude angle-oriented variable state dimension (AAVSD)-Kalman filter to achieve low-cost and high-precision positioning. The scheme selects the positioning method according to the vehicle’s attitude angle: LED network positioning is used when the attitude angle is within the certain threshold range. Simulation results show that the proposed scheme effectively solves the problem of INS cumulative error and significantly improves the positioning accuracy of granary vehicles without excessive budget.