High-reliably integrated positioning method for vehicles in tunnel environment

Abstract

The invention discloses a high-reliably integrated positioning method for vehicles in a tunnel environment. The method includes that firstly, by means of a radio frequency identification positioning algorithm, the vehicles are subjected to primary positioning to acquire noise contained position information; in order to further improve positioning accuracy of primary positioning, an expansion Kalman filtering module for vehicle positioning is established for front-wheel steering four-wheel vehicles in combination of the tunnel environment, information output by a steering wheel angle sensor and a longitudinal acceleration sensor is used as the external input quantity of a system state equation, the noise contained vehicle position information which is obtained by primary positioning, a vehicle forward direction speed and a vehicle yaw speed are used as the observation quantity of the system, the vehicle forward direction speed and the vehicle yaw speed are measured and calculated by a wheel speed sensor, an observation equation of the expansion Kalman filtering module is established, and finally, precise position information of the vehicles in the tunnel environment can be accurately, real-timely and reliably calculated by means of an expansion Kalman filtering recursive algorithm, so that the vehicles are accurately, real-timely and reliably positioned in the tunnel environment.

Description

technical field [0001] The invention relates to a high-reliability combined positioning method for vehicles facing a tunnel environment. Its purpose is to use a radio frequency identification positioning algorithm to perform preliminary vehicle positioning when the global positioning system GPS cannot accurately position the vehicle due to signal occlusion in the tunnel environment , to obtain preliminary position information containing noise, and use the extended Kalman filter algorithm to filter and recurse the acquired preliminary position information to realize accurate estimation of vehicle position information, solve the problem of accurate and highly reliable positioning of vehicles, and have high reliability , high accuracy, good real-time performance, and low cost, and belongs to the field of vehicle navigation and positioning. Background technique [0002] With the rapid development of the transportation industry, the traffic problems that appear with it are becomi...

AI Technical Summary

Problems solved by technology

Especially with the maturity of active RFID technology, the application of RFID in indoor positioning is relatively mature, and the research of various positioning algorithms and positioning technologies has also made great progress, but it has not been applied to positioning and navigation in outdoor tunnel environments. At the same time, due to sensor errors and measurement errors, the acquired position information often contains noise

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