Map-assisted urban environment satellite positioning navigation method and map-assisted urban environment satellite positioning navigation device
An environmental satellite, positioning and navigation technology, applied in the field of global navigation satellite systems, can solve problems such as the failure of classic solutions to navigation problems, and achieve the effect of easy implementation and cost saving
Inactive Publication Date: 2019-01-11
BEIJING CNTEN SMART TECH CO LTD
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Since the number of equations (two, number of pseudorange measurements) is smaller than the number of unknowns (four, 3D coordinates and clock drift correction), the classical solution to the navigation problem fails
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[0015] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.
[0016] figure 1 It shows the flow chart of the map-assisted urban environment satellite positioning and navigation method provided by the embodiment of the present invention, see figure 1 , the map-assisted urban environment satellite positioning and navigation method provided by the embodiment of the present invention includes:
[0017] S101. Acquire a motion model of the vehicle to be positioned, and calculate a longitudinal err...
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The invention provides a map-assisted urban environment satellite positioning navigation method and a map-assisted urban environment satellite positioning navigation device, wherein the method comprises the following steps: acquiring a motion model of a vehicle to be located, and calculating a longitudinal error; obtaining lane width information of the urban road, and calculating a lateral error;acquiring first pseudo-range information provided by a GNSS satellite, acquiring second pseudo-range information provided by another GNSS satellite, and obtaining prior position information and priorheight information of the road where the vehicle to be located is located in the electronic map; and performing least squares calculation by using the longitudinal error, the lateral error, the firstpseudo-range information, the second pseudo-range information, the prior position information, and the prior height information to obtain a locating result of the vehicle to be located. Based on the use of urban electronic maps, GNSS navigation can be ensured even when only signals from two navigation satellites are received.
Description
technical field [0001] The invention relates to the field of global navigation satellite systems, in particular to a map-assisted urban environment satellite positioning and navigation method and device. Background technique [0002] There is an increasing urgency to develop reliable navigation systems for manned and unmanned vehicles in urban environments. When the commonly used global satellite positioning and navigation system (GNSS) receives signals from four different navigation satellites at the same time, the receiver can independently give accurate positioning results. It is well known that GNSS receivers are less accurate in “urban canyons” due to occlusion and reflections of navigation signals by tall buildings. [0003] The GNSS receivers of vehicles such as vehicles all store city road maps, including the known altitude of the road and the height of the GNSS antenna on the vehicle. In the initial stage, there are four or more satellites and a classical navigati...
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IPC IPC(8): G01S19/42
CPCG01S19/423
Inventor 秦炜尤勇李宁何英杰刘小凯
Owner BEIJING CNTEN SMART TECH CO LTD