Doppler radar-assisted GPS/INS vehicle speed measuring method

Abstract

The invention discloses a Doppler radar-assisted GPS / INS vehicle speed measuring method. According to the method, different geographical coordinate systems and coordinate transformation matrixes are defined; a filtering method such as wavelet transform is adopted to preprocess radar / IMU output data; corresponding error models are established according to the working principles and main error mechanisms of different sensors; and therefore, main ways and methods that affect the accuracy of speed measurement and improve the safe driving performance of vehicles are analyzed. Finally, a neural network-based combined system training and prediction model is provided. According to the method, the advantages and disadvantages of different measurement methods are fully considered; the different error models are established; corresponding speed estimation models are independently selected according to the state changes of the vehicles during actual driving processes; and therefore, the improvement of speed measurement precision can be realized, and a system has better robustness.

Description

technical field [0001] The invention relates to the technical field of combined measurement, in particular to a Doppler radar-assisted GPS / INS vehicle speed measurement method. Background technique [0002] For the anti-lock braking system (ABS), electronic stability control system (ESC), etc. involved in safe driving technology on urban roads, as well as the possible sideslip of the vehicle when driving on complex terrain such as mountains and swamps, it is necessary to monitor the speed of the vehicle. Accurate measurement. Compared with traditional measurement methods such as ultrasonic or laser sensors, which are easily affected by weather and other conditions, Doppler radar has been widely used as a method with superior dynamic performance and non-contact measurement. [0003] In vehicle-mounted combined measurement and navigation, the combination of GPS / INS is often used to provide high-precision positioning and navigation functions, but the inertial device errors in I...

AI Technical Summary

Problems solved by technology

[0003] In vehicle-mounted combined measurement and navigation, the combination of GPS / INS is often used to provide high-precision positioning and navigation functions, but the inertial device errors in INS will gradually accumulate over time, and GPS signals are easily blocked and interfered in urban environments. Poor dynamic response ability and other problems, so it is necessary to consider using external auxiliary information to correct the error of the original combined measurement system

For the odometer speed measurement method often used in actual engineering, due to the large scale factor changes and real-time calibration and other issues, the speed measurement accuracy is limited

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