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Intelligent vehicle navigation system based on multi-sensor and navigation method thereof

An intelligent vehicle and multi-sensor technology, applied in the field of intelligent vehicle navigation system, can solve problems such as undiscovered devices and methods

Inactive Publication Date: 2019-01-15
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] At present, no introduction of devices and methods similar to this invention has been found in core journals and patent inquiries

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  • Intelligent vehicle navigation system based on multi-sensor and navigation method thereof
  • Intelligent vehicle navigation system based on multi-sensor and navigation method thereof

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Embodiment Construction

[0017] The present invention is described in detail below in conjunction with accompanying drawing:

[0018] The invention relates to a multi-sensor-based intelligent vehicle navigation system and method, belonging to the technical field of sensor signal detection and integrated navigation. The nine-axis MIMU uses MEMS gyroscopes and accelerometers to sense the angular motion and linear motion of the hull, combined with the assistance of GPS position, velocity information, and three-axis magnetometer information. The initial alignment of the vehicle before starting is achieved through Kalman filtering, and the vehicle carrier is obtained. The attitude transformation matrix from the coordinate system to the navigation coordinate system, so as to obtain the initial heading and horizontal attitude information of the vehicle; when the vehicle is in motion, the MIMU / GPS and MIMU / geomagnetic sub-filters are formed by means of the MIMU / GPS combination and the MIMU / geomagnetic combinat...

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Abstract

The invention discloses an intelligent vehicle navigation system based on multi-sensor and a navigation method thereof, and belongs to the technical field of the sensor signal detection and combined navigation. The system comprises a sensor detection unit 1, an embedded information processing and navigation resolving unit 2, a power supply communication cable 3 and a PC (personal computer) 4; thesystem is characterized in that the sensor detection unit 1 is connected with the PC 4 through the power supply communication cable 3; the sensor detection unit 1 is composed of a nine-axle MIMU 1-1,a GPS receiving device 1-2, a monocular vision sensor 1-3, a micro laser radar 1-4, and a mechanical structure 1-5; the embedded information processing and navigation resolving unit 2 is composed of amulti-power conversion power supply module 2-1 and a circuit board 2-2.

Description

technical field [0001] The invention belongs to the technical field of sensor signal detection and integrated navigation, and in particular relates to a multi-sensor-based intelligent vehicle navigation system and a navigation method thereof. Background technique [0002] Vehicles are the main means of transportation for people to travel, and their safe driving is very important. Among them, the navigation function is one of the important guarantees for the safe driving of vehicles. The traditional navigation method is mostly a single GPS navigation method. Although it has a better positioning function, but It is unable to complete the heading and attitude measurement of the vehicle, and faces the defect that it cannot navigate and locate in tunnels, bridge holes, and closed factory areas. In particular, the development of unmanned driving technology requires vehicles to have higher reliability navigation and positioning capabilities, more comprehensive navigation informatio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/28G01C21/16G01S17/02G01S19/45G01S19/47
CPCG01C21/165G01C21/28G01S19/45G01S19/47G01S17/86
Inventor 管练武王萌高延滨李宁波杨丽王野余立强王德超刘哲均荣寒萧
Owner HARBIN ENG UNIV
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