GPS (Global Positioning System)-pseudo-range-differential-based cooperative positioning method for vehicles

Abstract

The invention aims to provide a GPS (Global Positioning System)-pseudo-range-differential-based cooperative positioning method for vehicles. A standard GPS receiver with low cost is used for precisely estimating relative positions of any automobiles. The dominant motive by adopting pseudo-range differential is that the observed quantity of the GPG receiver close to an automobile is ordinarily affected by common errors (for example, same troposphere delay and ionized layer delay), and the errors can be counteracted through a differential process, so that an obtained relative vector is more precise than that of absolute positioning. As the automobile is not directly connected usually, a GPS measured value needs to be exchanged through V2V (Vehicle to Vehicle) wireless communication equipment. According to the method provided by the invention, by combining a constant turning angular velocity and velocity (CTRV) vehicle motion model and adopting an unscented Kalman filter to fuse the GPS measured value and a kinematical sensor measured value, stable estimation to the system state of a target vehicle is provided. The special sensor errors, such as excursion, can be estimated anytime and reduced through unscented Kalman filtering.

Description

technical field [0001] The invention belongs to the technical field of the Internet of Vehicles, and in particular relates to a vehicle cooperative positioning method based on GPS pseudorange difference in the Internet of Vehicles. Background technique [0002] With the birth and development of the Internet of Things, a similar new concept has emerged in the automotive industry in recent years - Internet of Vehicles (IOV, Internet of Vehicles). The Internet of Vehicles is the automotive industry's vision of a future "connected car," much like the Internet connected individual desktop computers to each other in the 1980s. The practical application of the Internet of Vehicles will change the way people live and work in the future. [0003] The Internet of Vehicles refers to the dynamic mobile communication system that realizes the interaction between vehicles and vehicles, vehicles and roads, vehicles and people, vehicles and sensing devices, and realizes network communicatio...

AI Technical Summary

Problems solved by technology

However, since the inertial device has a fixed drift rate, this will cause a positioning error of the moving object, and this error will continue to accumulate over time, so it is not suitable for long-term independent positioning

The GPS / INS integrated positioning and navigation system can solve the problem of "blind area" positioning, but it cannot improve the absolute accuracy of positioning to the lane level, and cannot meet the reliability requirements of many vehicle safety applications

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