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GPS signal anti-drift method based on optical flow method

A GPS signal and anti-drift technology, applied in satellite radio beacon positioning systems, measuring devices, instruments, etc., can solve the problems of not meeting the positioning accuracy requirements and robust drift information

Active Publication Date: 2019-07-05
ZHEJIANG UNIV +1
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Problems solved by technology

Compared with pure GPS positioning results, the positioning results of this method are smoother and more robust to drift information. Compared with the positioning results of pure optical flow algorithm, the cumulative error is eliminated to a certain extent, but this method is oriented to the field of UAVs. , and the positioning error is about 11 meters, it is not suitable for the automotive field and does not meet the positioning accuracy requirements of car driving

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  • GPS signal anti-drift method based on optical flow method
  • GPS signal anti-drift method based on optical flow method
  • GPS signal anti-drift method based on optical flow method

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Embodiment Construction

[0047] In order to describe the present invention more specifically, the technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0048] Such as figure 1 Shown, the present invention is based on the GPS signal anti-drifting method of optical flow method, comprises the following steps:

[0049] Step 1: Install the camera at a distance of h meters from the front of the vehicle, and tilt the camera slightly. Specifically, the y-axis of the camera coordinate system points to the front of the vehicle, the x-axis points to the right side of the vehicle horizontally, and the z-axis points obliquely to the ground, where the y-axis is aligned with the vehicle The included angle in the vertical direction, that is, the inclination angle of the camera is α. h and α need to be determined according to the actual situation of the vehicle and the camera parameters. The determination standard is ma...

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Abstract

The invention discloses a GPS signal anti-drift method based on an optical flow method. The GPS signal anti-drift method adopts unscented Kalman filtering for fusing a GPS positioning result with vehicle position information estimated by adopting the optical flow method, and realizes the real-time vehicle high-precision positioning for a long time. When calculating the vehicle speed information byadopting the optical flow method, the noise point is effectively filtered according to the actual driving road scene and the vehicle driving condition, thus the measurement precision of vehicle speedis improved. In the process of correcting the GPS signal, the GPS signal anti-drift method utilizes the constraint information of the vehicle driving direction to correct the GPS signal, thereby further reducing the influence of GPS signal drift on the vehicle positioning.

Description

technical field [0001] The invention belongs to the technical field of positioning perception of smart cars, and in particular relates to a GPS signal anti-drift method based on an optical flow method. Background technique [0002] Whether the positioning is accurate is crucial to whether the driver can efficiently plan the route to the destination. At present, in the automotive field, the most widely used positioning method is mainly based on the GPS positioning method. However, due to the problems of ionospheric delay, multipath reflection effect and extremely poor signal when the tunnel is blocked by GPS, relying on GPS signal alone is not enough to meet the driver's requirements for precise positioning. In recent years, differential GPS obtains the correction amount of GPS signals at nearby locations by building a differential GPS reference station, and then sends the correction amount to the user's GPS receiver to correct the user's GPS data, which greatly improves the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/37G01S19/45
CPCG01S19/37G01S19/45
Inventor 杨国青吕攀张恒徐贵洲焦进星弓羽箭
Owner ZHEJIANG UNIV
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