An integrated navigation method of odometer combined with dual-antenna differential GNSS

Abstract

The invention discloses a combined navigation method through the combination of a speedometer with a dual-antenna differential GNSS. According to the combination of the steering angle of front vehicle wheels, the speed output through a speedometer and the position and navigation direction of the dual-antenna differential GNSS, combined navigation is conducted; the method is suitable for low-cost combined positioning of an unmanned vehicle, and the requirement that positioning of lane lines needs to be accurate when the unmanned vehicle drives in a city in an unmanned mode can be met. Different from a traditional method in which Kalman filtering is adopted to be fused with IMU and GNSS data, the method estimates the credibility of the current position and the navigation direction by means of a position variance and a navigation direction variance, predicts the position and the navigation direction at the next moment, and a dynamic model of the vehicle does not need to be established; compared with Kalman filtering which requires accurate mathematical modeling and repeated debugging of a measurement variance matrix and a system variance matrix, the method is simpler and higher in efficiency.

Description

technical field [0001] The present invention relates to the technical field of navigation and positioning, in particular to a combined navigation method using an odometer combined with a dual-antenna differential GNSS (Global Navigation Satellite System), which is suitable for vehicle navigation and positioning, mainly for unmanned vehicles. Background technique [0002] Unmanned vehicles are a comprehensive system that integrates environmental perception, dynamic decision-making and planning, behavior control and execution of multiple functions. It is an important application of outdoor wheeled mobile robots in the field of transportation. Unmanned vehicles use on-board lidar, millimeter-wave radar, camera, GNSS, odometer and inertial device sensors to sense the surrounding environment and obtain their own position and attitude, so that the vehicle can safely and reliably drive on the road and complete predetermined tasks. [0003] Among them, GNSS as the Global Navigation ...

AI Technical Summary

Problems solved by technology

The international GNSS system is a multi-system, multi-level, and multi-mode complex combined system, which has the characteristics of all-weather and real-time positioning. However, when the GNSS signal is blocked or in an area with weak GNSS signal, unmanned vehicles cannot receive effective GNSS signals. , In addition, the frequency of the general GNSS receiver outputting the vehicle position is low, which cannot meet the precise positioning requirements of unmanned vehicles

[0004] In terms of positioning, currently unmanned vehicles mostly use high-precision inertial measurement units (IMUs), such as fiber optic inertial navigation and laser inertial navigation, to achieve precise positioning. However, high-precision inertial measurement units IMUs are expensive and generally require RMB 400,000-500,000, significantly increasing the cost of driverless vehicles

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