Vehicle positioning method, device, electronic device, storage medium

Abstract

The present invention provides a vehicle positioning method, device, electronic equipment, and storage medium. The method includes: collecting acceleration data and angular velocity data of the inertial navigation system of the vehicle at time k; based on the acceleration data and angular velocity data of the inertial navigation system and The updated state variable of the vehicle at time k-1 predicts the state variable of the vehicle at time k, the state variable includes the speed variable and position variable of the vehicle; the observation of the vehicle at time k is determined according to the rolling distance data and map data of the wheel sensor Position: Update the state variable of the vehicle at time k according to the predicted state variable of the vehicle at time k and the determined observed position of the vehicle at time k, and use the updated state variable of the vehicle at time k as the vehicle's position at time k data, k is an integer greater than 1. The method and device provided by the invention realize accurate vehicle positioning.

Description

technical field [0001] The invention relates to the field of vehicle positioning, in particular to a vehicle positioning method, device, electronic equipment, and storage medium. Background technique [0002] With the development of vehicles and positioning technology, it is more and more important to accurately obtain the real-time location of the vehicle. On the one hand, for the vehicle itself, the driver needs to know his location and the surrounding environment, so as to make decisions about the driving path and driving behavior; On the other hand, for the remote monitoring center, knowing the location of the vehicle is the basis for remote monitoring. Especially for escort, rental, logistics and other industries, timely detection of dangerous areas and early warning are very important for vehicles, goods, and people. [0003] Generally speaking, the vehicle-mounted GPS (Global Positioning System) device can meet the needs of obtaining the real-time position of the vehi...

AI Technical Summary

Problems solved by technology

[0006] However, the biggest disadvantage of the existing technology is the error. The inertial navigation system has accumulated errors, that is, there are errors in the measurements of the accelerometer and the gyroscope. At the same time, each calculation depends on the previous calculation result. As a result, errors accumulate rapidly, making it impossible to achieve long-term positioning

[0007] However, the front / rear wheel sensor has a systematic error. Due to the existence of ground friction and tire slippage, the rotation speed of the tire is usually higher than the vehicle speed, and the error will vary due to the ground material, humidity, and temperature. There will also be a large error in estimating the vehicle position

[0008] It can be seen that the prior art cannot achieve accurate vehicle positioning after the vehicle-mounted GPS device stops working.

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