Dead reckoning and GPS (global positioning system) combined positioning method
A global positioning system and combined positioning technology, applied in the field of combined positioning of dead reckoning and global positioning system, can solve the problems of high price of inertial sensors, complex data processing methods, error accumulation, etc., and achieve simple, efficient and reliable processing methods and initialization. Aim for fast, low-cost effects
Active Publication Date: 2015-02-18
JIAXING MICROELECTRONICS & SYST ENG CENT CHINESE ACADEMY OF SCI
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Problems solved by technology
Since the first two solutions require the use of inertial sensors, the current inertial sensors that can be used for vehicle navigation are expensive and the corresponding data processing methods are complicated, so they are not suitable for vehicle DR navigation and positioning
In addition, since the DR navigation system is based on position speculation, its errors will accumulate over time
Method used
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[0049] figure 1 Shows the flow chart of the combined positioning method of dead reckoning and global positioning system of the present invention, in this embodiment, it is applied to such as image 3 system shown. This system comprises microprocessor, GPS receiver and two odometers (left wheel odometer and right wheel odometer), wherein there are DR system and described Kalman filter in microprocessor, GPS receiver is connected to microprocessor by serial port. The processor, the left wheel odometer and the right wheel odometer are respectively connected to the microprocessor, the communication between the left wheel odometer and the microprocessor is triggered by an external interrupt 1, and the communication between the right wheel odometer and the microprocessor is triggered by an external interrupt 2 . Wherein the left wheel is the left rear wheel of the vehicle, the right wheel is the right rear wheel of the vehicle, and the left wheel odometer and the right wheel odome...
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The invention discloses a dead reckoning and GPS (global positioning system) combined positioning method. The method includes: initializing combined positioning parameters, using them in DR (dead reckoning) system and a GPS positioning to determine whether or not to start the DR system and the DR and GPS combined positioning. In the DR and GPS combined positioning, differences between vehicle position and speed output by the DR system and vehicle position and speed output by a GPS receiver are input into a Kalman filter to obtain corrected values, and position and speed of the combined positioning are acquired according to the corrected values and the position and speed output by the DR system. The dead reckoning and GPS combined positioning method has the advantages that the problem that sole GPS positioning in complex urban road environments is not continuous or reliable is effectively solved, output of the DR system can be corrected in real time with the aid of only two speedometers rather than inertial sensors such as a gyro accelerometer, accumulative errors never occur, and implementing is convenient and reliable.
Description
technical field [0001] The invention relates to vehicle positioning technology, in particular to a combined positioning method of dead reckoning and global positioning system. Background technique [0002] Vehicle positioning technology is the key technology to realize driving route guidance. GPS (Global Positioning System) has become the current preferred vehicle positioning technology due to its fast and accurate positioning and all-weather positioning without occlusion. However, in today's urban road environment, vehicle signals using GPS navigation and positioning systems alone are often blocked by tall buildings, trees, viaducts and other objects, resulting in discontinuous positioning and low positioning accuracy. Therefore, the GPS navigation and positioning system needs to be combined with other navigation systems to obtain higher navigation and positioning quality. [0003] In the navigation system that is often combined with the GPS navigation and positioning syst...
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Login to View More IPC IPC(8): G01S19/48G01C21/12
CPCG01C21/12G01S19/48
Inventor 王励扬何文涛马成炎蔺晓龙翟昆朋胡晓峰王浩
Owner JIAXING MICROELECTRONICS & SYST ENG CENT CHINESE ACADEMY OF SCI