ins/vkm/vdm car navigation system based on federated filtering

A vehicle navigation and federated filtering technology, applied in the field of vehicle navigation, can solve the problems of decreased MM matching accuracy, inability to provide accurate vehicle location information, unreliable GPS signals, etc.

Inactive Publication Date: 2016-10-12
NANCHANG UNIV
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  • Application Information

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Problems solved by technology

[0003] In the urban environment, GPS signals are unreliable due to GPS signal occlusion, multipath effects, human interference, etc., and the complex urban traffic system also reduces the matching accuracy of MM, resulting in vehicle GPS / INS, MM / INS integrated navigation systems only Running in the pure inertial navigation system mode cannot provide accurate position information of the vehicle, and additional auxiliary means are needed to suppress navigation errors

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  • ins/vkm/vdm car navigation system based on federated filtering
  • ins/vkm/vdm car navigation system based on federated filtering
  • ins/vkm/vdm car navigation system based on federated filtering

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Embodiment Construction

[0066] Attached below Figure 1-6 The present invention is described in detail:

[0067] A kind of INS / VKM / VDM car integrated navigation system based on federation filter, it is characterized in that comprising the following steps:

[0068] (1) Establish vehicle kinematics model;

[0069] (2) Establish vehicle dynamics model;

[0070] (3) Establish vehicle inertial navigation / kinematic model / dynamic model integrated navigation system; (4) Establish vehicle integrated navigation system state equation;

[0071] (5) Establish the measurement equation of the vehicle integrated navigation system.

[0072] The vehicle kinematics model method of setting up described in step (1) is as follows:

[0073] The vehicle kinematics model is simplified to a bicycle model with two degrees of freedom, such as figure 1 The front and rear wheels shown are all replaced by a single wheel; G is the center of mass of the vehicle, O is the center of the turning circle, r R ,r G ,r F are the t...

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Abstract

The invention belongs to the technical field of vehicle navigation, particularly relates to an INS / VKM / VDM vehicle-mounted navigation system based on federated filtering, and is applicable to vehicle autonomous navigation. The vehicle-mounted navigation system includes the following steps: (1) establishing a vehicle kinematic model; (2) establishing a vehicle dynamical model; (3) establishing a vehicle-mounted inertial navigation / kinematic model / dynamical model combined navigation system; (4) establishing a vehicle-mounted combined navigation system state equation; and (5) establishing a vehicle-mounted combined navigation system measurement equation. The vehicle-mounted navigation system can effectively restrain the problem that a pure inertial navigation error is accumulated with time, and improves the navigation precision and reliability.

Description

technical field [0001] The invention belongs to the technical field of vehicle navigation, in particular to an INS / VKM / VDM vehicle navigation system based on federated filtering, which is suitable for autonomous navigation of vehicles. Background technique [0002] The development of Intelligent Transportation System (ITS) depends on the development of navigation systems, which need to provide accurate location information of vehicles. The low-cost Inertial Measurement Unit (IMU) based on Micro Electro Mechanical Systems (MEMS) can provide three-dimensional attitude, position and velocity information, which has been widely used in vehicle navigation systems. However, navigation errors accumulate over time and cannot be used alone for a long time. Generally, information fusion technology is used in combination with navigation systems such as Map Match (MM) and Global Positioning System (GPS) to suppress navigation errors and improve accuracy and reliability. sex. [0003] I...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/26
CPCG01C21/28
Inventor 熊剑余龚敏郭杭王吉旭林舟杰周先赞马号庞才杰蔡明明刘涛
Owner NANCHANG UNIV
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