Vehicle and road coordinated ultra-wideband (UWB) based highly reliable fused vehicle positioning method

Abstract

The invention discloses a highly reliable fused vehicle positioning method in the vehicle and road coordinated scene, and aims at solving the problems that vehicle satellite navigation in the urban environment tends to be limited and is low in positioning accuracy and reliability. On the basis of traditional vehicle-mounted satellite and inertia combined navigation, the UWB positioning technologyis introduced, UWB nodes are laid reasonably, and an NLOS (Not Line of Sight) error processing algorithm is combined, so that an observed UWB value error is reduced. Further, fused vehicle positioningis realized on the basis of an expanded Kalman filtering algorithm. Compared with the traditional vehicle-mounted satellite and inertia combined navigation, the method is high in reliability in the urban environment especially in the complex environment that satellite signals are shielded (as in a canyon or crossing), and the vehicle can be positioned continuously, completely and reliably in realtime.

Description

technical field [0001] The invention relates to the field of vehicle navigation and positioning, in particular to a highly reliable fusion positioning method for vehicles in an urban vehicle-road collaborative environment. Background technique [0002] With the development and progress of the economy and society, the number of motor vehicles in my country has increased rapidly, and road traffic is facing huge challenges. In order to solve the increasingly severe urban traffic problems, Intelligent Vehicle Infrastructure Cooperative Systems (IVICS) came into being It has gradually become the latest development direction of intelligent transport systems (Intelligent Transport Systems, ITS) research. Whether it is the application of vehicle-road coordination or the realization of intelligent transportation, it is inseparable from high-precision vehicle positioning technology: only under the premise of realizing accurate and reliable vehicle positioning, the real-time dynamic inf...

AI Technical Summary

Problems solved by technology

[0005] Technical issues: Aiming at the limited ease of use of vehicle-mounted satellite navigation and low positioning accuracy and reliability in urban environments, Ultra-Wideband (UWB) was introduced on the basis of traditional vehicle-mounted satellite and inertial integrated navigation. Positioning technology, through reasonable layout of UWB nodes, combined with non-line-of-sight error processing algorithm, reduces the error of UWB observation value, and on this basis, based on the extended Kalman filter algorithm, the fusion positioning of the vehicle is realized

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