A Consistency Judgment Method and Device Based on Vehicle Geomagnetic Positioning and Navigation
A positioning, navigation and consistency technology, applied in ground navigation and other directions, can solve problems such as difficult to peel off, increase the difficulty and complexity of vehicle-mounted geomagnetic matching algorithms, and low signal-to-noise ratio in real-time measurement
Active Publication Date: 2020-10-09
BEIJING HUAHANG RADIO MEASUREMENT & RES INST
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Problems solved by technology
The most notable feature of the road magnetic field is its complexity. In addition to the stable magnetic field that can be used as a matching feature, such as bridges, stone piers, road signs, and lampposts, etc.; there are also interference magnetic fields generated by overtaking, wrong vehicles, and queuing. The interference magnetic field is very similar to the stable magnetic field, and it is difficult to peel off, which makes the signal-to-noise ratio of real-time measurement relatively low, and increases the difficulty and complexity of the on-board geomagnetic matching algorithm
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[0039] Preferred embodiments of the present invention will be specifically described below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the application and are used together with the embodiments of the present invention to explain the principles of the present invention.
[0040] A specific embodiment of the present invention discloses an intelligent fully automatic weapon station, such as figure 1 As shown, a consistency judgment method based on vehicle-mounted geomagnetic positioning and navigation includes the following steps:
[0041] Step S101, performing initial matching on the geomagnetic positioning results according to the position output of the inertial navigation;
[0042] Optionally, the difference correlation method is used for the initial matching of the magnetic field, and the geomagnetic positioning with the smallest difference with the inertial navigation position is taken as the initial matching positio...
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The invention relates to a consistency judgment method and device based on vehicle-mounted geomagnetic positioning navigation and belongs to the technical field of vehicle-mounted geomagnetic positioning and navigation, which solves the problems of matching precision and matching probability of a vehicle-mounted geomagnetic matching algorithm. The method comprises the following steps that according to position output of inertial navigation, initial matching is carried out on a geomagnetic positioning result; the output positions of the continuous three-time inertial navigation are minus the position of initial matching to obtain three sets of position difference data: the three sets of position difference data are subjected to every-two subtraction, and the absolute values of the three sets of position difference data are obtained; secondary difference value data is obtained: consistency judgment and reliability judgment are carried out according to a comparison result of the secondarydifference value data and a preset consistency judgment threshold; and a final matching result is output to carry out a reliability mark. The method has the advantages that the process is simple, thespeed is fast, and the performance of the positioning and navigation can be remarkably improved.
Description
technical field [0001] The invention relates to the technical field of vehicle-mounted geomagnetic positioning and navigation, in particular to a consistency judgment method and device based on vehicle-mounted geomagnetic positioning and navigation. Background technique [0002] The use of road magnetic field information for vehicle positioning can be used as an effective alternative to satellite navigation in complex environments. The matching positioning algorithm of vehicle geomagnetic positioning and navigation is one of the key technologies that affect the performance of vehicle geomagnetic positioning and navigation, and its performance directly affects the realization of positioning and navigation functions. The most notable feature of the road magnetic field is its complexity. In addition to the stable magnetic field that can be used as a matching feature, such as bridges, stone piers, road signs, and lampposts, etc.; there are also interference magnetic fields gener...
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IPC IPC(8): G01C21/08
CPCG01C21/08
Inventor 曹清华徐玉峰许振丰
Owner BEIJING HUAHANG RADIO MEASUREMENT & RES INST