Pilotless automobile combination navigation method based on vision screening

An unmanned vehicle and integrated navigation technology, applied in the field of integrated navigation and unmanned vehicle integrated navigation, can solve the problems of inaccurate positioning and pseudo-range estimation deviation, so as to improve reliability, novel methods, and avoid dimensional disasters. Effect

Inactive Publication Date: 2015-08-19
BEIJING UNIV OF TECH
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Problems solved by technology

[0005] Aiming at the problem that the non-line-of-sight (NLOS) transmission of the global positioning system (GPS) signal in the urban road environment of the unmanned smart car caus...

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  • Pilotless automobile combination navigation method based on vision screening
  • Pilotless automobile combination navigation method based on vision screening
  • Pilotless automobile combination navigation method based on vision screening

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Embodiment Construction

[0040] The present invention will be further described below in conjunction with the drawings and embodiments.

[0041] Schematic diagram of the integrated navigation system for driverless cars based on visual screening figure 1 Shown. The flow chart of the method of the present invention is as follows figure 2 As shown, including the following steps:

[0042] Step 1. Coordinate system conversion.

[0043] Step 1.1: Convert the geodetic coordinate system to the visual coordinate system.

[0044] The camera imaging transformation involves the conversion between different coordinate systems, including the geodetic coordinate system, the camera coordinate system, the imaging plane coordinate system and the image plane coordinate system.

[0045] In the smart car vision system, the geodetic coordinate system needs to be converted into the camera coordinate system. w On the ground directly below the center of gravity of the car, z v Axis vertically upwards, x v The axis is parallel to the ...

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Abstract

The invention relates to a pilotless automobile combination navigation method based on vision screening. The method comprises the following steps: carrying out the conversion for a coordinate system; recognizing a building occlusion angle; judging availability of a satellite signal in a non-line-of-sight environment; implementing an improved self-adaptive square-root volume kalman filtering algorithm. A combination navigation algorithm adopting vision information as a screening condition is provided, a concept of removing the non-line-of-sight transmission of satellite data is introduced, a judgment method is also provided, so that the GPS satellite data information with lower precision caused by the blocking of a building can be eliminated; different from the traditional combination method adopting the vision navigation to process the data in parallel in real time, the vision information is used for screening the GPS data on purpose, so that the dimensional disaster caused by adopting the vision navigation in the traditional method is avoided; the improved self-adaptive square-root volume kalman filter algorithm is provided, and the strong nonlinear problem of the navigation data when a pilotless intelligent car runs on urban roads is considered.

Description

Technical field [0001] The invention relates to an unmanned car integrated navigation method based on visual screening, and belongs to the related field of integrated navigation. technical background [0002] The subjective factors of the driver are the root cause of many traffic accidents, and about 90% of traffic accidents are caused by the driver's error. In order to provide traffic safety and transportation efficiency, the research of autonomous driving smart vehicles has been valued by many countries and has become an important content of research. Following the release of the first driverless smart car by Google in 2012, in April 2015, a driverless car developed by auto parts supplier Delphi completed a journey across the United States, again showing that driverless smart cars in recent years The rapid development of vehicle technology. In 2009, the National Natural Science Foundation of my country established the "China Smart Car Future Challenge", which was valued by un...

Claims

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Application Information

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IPC IPC(8): G01C21/34G01S19/49
CPCG01C21/3415G01S19/49
Inventor 段建民石慧战宇辰刘丹
Owner BEIJING UNIV OF TECH
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