High-reliably integrated positioning method for vehicles in tunnel environment

A tunnel environment, combined positioning technology, used in positioning, record carriers used by machines, measuring devices, etc., can solve the problems of sensor error measurement, position information containing noise, and positioning and navigation not yet applied.

Inactive Publication Date: 2013-02-13
SOUTHEAST UNIV
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  • Abstract
  • Description
  • Claims
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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 gre

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  • High-reliably integrated positioning method for vehicles in tunnel environment
  • High-reliably integrated positioning method for vehicles in tunnel environment
  • High-reliably integrated positioning method for vehicles in tunnel environment

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Embodiment Construction

[0088] With the improvement of people's living standards, more and more vehicles have entered ordinary families. At the same time, traffic congestion has increased, traffic accidents have occurred frequently, and traffic problems such as traffic environment deterioration have also followed. With the generation of these problems, Intelligent Transportation System (ITS) came into being. Vehicle navigation and positioning plays an important role in intelligent transportation systems. How to accurately, real-time and reliably determine the vehicle's position has become a research hotspot. Several vehicle navigation and positioning systems commonly used at present include map matching (MM), dead reckoning (DR), inertial navigation system (INS), satellite navigation (GNSS) and so on.

[0089] Map matching (MM) is a technology that corrects positioning errors of positioning methods such as satellite positioning or dead reckoning positioning through a pure software method. Its applic...

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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...

Claims

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Application Information

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IPC IPC(8): G01S5/02G06K19/067G06K7/00
Inventor 李旭黄金凤宋翔
Owner SOUTHEAST UNIV
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