Highly reliable fused vehicle positioning method based on fuzzy adaptive unscented Kalman filtering

Abstract

The invention discloses a highly reliable fused vehicle positioning method for the typical urban environment, 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 technology is introduced, a fuzzy algorithm is used to classify the UWB observation precision, and a UWB observation noise variance array is adjusted adaptively; and further, the fused vehicle positioning is realizedon the basis of an unscented 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 real time.

Description

technical field [0001] The invention relates to the field of vehicle navigation and positioning, in particular to a highly reliable vehicle fusion positioning method for urban environments. 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 information interaction between vehi...

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, and use the fuzzy algorithm to classify the UWB observation accuracy, so as to adaptively adjust the UWB observation noise variance matrix. On this basis, the fusion positioning of the vehicle is realized based on the unscented Kalman filter algorithm

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