Real-time precise positioning method and real-time precise positioning device of motor vehicles
A precise positioning, motor vehicle technology, applied in measuring devices, instruments, mapping and navigation, etc., can solve problems such as difficulty
Inactive Publication Date: 2015-12-23
FUZHOU HUAYING HEAVY IND MACHINERY
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Problems solved by technology
However, it is still very difficult to achieve stable and reliable centimeter-level positioning accuracy
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[0046] In order to explain in detail the technical content, structural features, achieved goals and effects of the technical solution, the following will be described in detail in conjunction with specific embodiments and accompanying drawings.
[0047] see figure 1 , is a flow diagram of a real-time precise positioning method for a motor vehicle according to the present invention, including the following steps, S1 motor displacement update, S2 measurement update;
[0048] Wherein the maneuvering displacement update includes the following steps: S101 takes the initial velocity as the initial condition, integrates the inertial acceleration with respect to time to obtain the system inertial rate; S103 takes the initial position coordinates as the initial condition to integrate to obtain the inertial position; repeats the above steps S101, S103 , to obtain a continuous navigation coordinate system; S105 eliminates the deviation between the navigation coordinate system and the veh...
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The invention provides a real-time precise positioning method and a real-time precise positioning device of motor vehicles. The method comprises the following steps: updating motorized displacement and updating measurement. The step of updating the motorized displacement comprises the following steps: taking a starting speed as an initial condition and carrying out integration on an inertial accelerated speed relative to time to obtain a system inertial speed; taking an initial position coordinate as an initial condition and carrying out integration to obtain an initial position; repeating the steps to obtain a continuous navigation coordinate system; and eliminating the deviation between the navigation coordinate system and a vehicle coordinate system to obtain posterior probability. The step of updating the measurement comprises the following steps: carrying out laser scanning on the environment to obtain reflection data; and calculating posterior probability distribution according to the posterior probability, the reflection data and map data information. According to the real-time precision positioning method and the real-time precision positioning device, the technical effects of high positioning precision on the motor vehicles, rapid updating and strong anti-interference capability are realized.
Description
technical field [0001] The invention relates to the technical field of motor vehicles, in particular to a method and device for real-time precise positioning of motor vehicles based on probability maps. Background technique [0002] Accurately determining the position of motor vehicles in a highly complex urban environment is an extremely important link in the realization of automatic driving of motor vehicles, especially for automatic driving systems that mainly rely on pre-collected electronic maps to achieve environmental perception. [0003] There are many methods for realizing positioning in the prior art, the more common ones are: [0004] 1. Completely rely on on-board sensors to achieve positioning: [0005] a. Based on the Global Positioning System, or based on the Global Positioning / Inertial Navigation Fusion System (GPS / INS). [0006] b. Based on other sensors, such as stereo cameras and lidar. [0007] 2. Relying on the information network in the vehicle and d...
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Login to View More IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 潘晨劲赵江宜
Owner FUZHOU HUAYING HEAVY IND MACHINERY