New compound positioning method based on fuzzy theory

Abstract

The invention relates to a new compound positioning method based on fuzzy theory, belonging to the technical field of vehicle positioning. Based on vehicle cyber physical system technology, the positioning data of three positioning devices in a target vehicle and an adjacent vehicle is used, the error of each positioning technology is optimized by using the fuzzy theory and the positioning contribution of each positioning technology is obtained, and then with the positioning contribution as a weight, the fuzzy weighted calculation is carried out to obtain the composite position of the target vehicle. A Kalman filter of fuzzy variable measurement noise covariance is used to filter a composite position. According to the method, multiple vehicle positioning technologies are fused, two indexes of an outlier rate and an absolute error are constructed to reflect the reliability degree of each positioning technology, the rationality of positioning technology fusion is improved, at the same time, an improved Kalman filter is used to filter a fusion result, and the accuracy of positioning is improved.

Description

technical field [0001] The invention relates to a new compound positioning method based on fuzzy theory, which belongs to the technical field of vehicle positioning. Background technique [0002] Cyber-Physical System CPS (Cyber-Physical System) is a multi-dimensional complex system that integrates computing, network and physical environment. Through the organic integration and deep cooperation of 3C technology (Computing, Communication and Control), it can realize real-time perception and information service and dynamic control. In recent years, people have studied the application of CPS in electric power, medical treatment, traffic and other fields, and have obtained some extremely valuable results. With the construction of urban intelligent transportation systems and the improvement of people's requirements for automobile performance, automobile CPS (Vehicular Cyber-Physical System, VCPS) has also attracted the attention of many scholars. In the car CPS, the real-time i...

AI Technical Summary

Problems solved by technology

[0005] The present invention aims at the problems of low precision, high cost, and lack of universality in vehicle positioning in the prior art, combines the real-time perception of the information of the vehicle or other vehicles in the automobile CPS system, realizes the interaction and calculation of information and based on the feedback information To complete the characteristics of the control of the car, a new composite positioning technology based on fuzzy theory is proposed

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