Vehicle navigation trail point offset correction method based on Kalman filtering

A Kalman filter and vehicle navigation technology, applied in the field of route navigation planning, can solve the problems of not being able to accurately know the user's driving trajectory, affecting the research on the characteristics of the navigation trajectory, and the deviation of the trajectory points from the actual position, etc., to achieve real-time processing, high availability, and data The effect of small storage

Inactive Publication Date: 2019-07-19
CENT SOUTH UNIV
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Problems solved by technology

At present, there are a lot of research on real-time positioning offset correction in the navigation process at home and abroad, so as to correct the real-time navigation plan in time, but very few focus on the offset correction of historical navigation track points
For the historical trajectory of the user's navigation, due to the limitation of the user's positioning device, there will be some trajectory points that deviate from the actual position
In the research on the characteristics of the user's historical trajectory, if the position of some points is far away from the actual position, the user's driving trajectory will not be accurately known, which will affect the research on the characteristics of the navigation trajectory

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  • Vehicle navigation trail point offset correction method based on Kalman filtering
  • Vehicle navigation trail point offset correction method based on Kalman filtering
  • Vehicle navigation trail point offset correction method based on Kalman filtering

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Embodiment Construction

[0055] A Kalman filter-based offset correction method for vehicle navigation track points, the specific process is as follows figure 1 shown. It mainly includes the following steps:

[0056] Step 1: Denoise the track points in the navigation track;

[0057] The process of denoising the track points in the navigation track is as follows:

[0058] Step 1.1: divide the track points in the navigation track into speed segments;

[0059] In the navigation track, the section where the continuous track points belonging to the same speed section are divided into speed sections, and each speed section includes at least 5 continuous track points;

[0060] Track point speed section includes low speed section [0~10)m / s, medium speed section [20~30)m / s, high speed section [0~10m / s;

[0061] The final speed division effect obtained is as follows: figure 2 shown.

[0062] Step 1.2: Calculate the distance between adjacent track points in each speed section, and judge whether the distanc...

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Abstract

The invention discloses a vehicle navigation trail point offset correction method based on Kalman filtering. The method comprises the following steps of step 1: de-noising the trail points in the navigation trail; step 2: complementing the missing points in the navigation trail; and step 3: performing offset correction on the de-noised and complemented navigation trail points by Kalman filtering.The offset points obeying Gaussian distribution are well corrected within a reasonable range by using the Kalman filter algorithm, and the navigation trail returned by the user positioning equipment is closer to the real driving trail by correcting the offset points of the historical navigation trail, thereby improving the usability of the historical navigation trail.

Description

technical field [0001] The invention belongs to the field of path navigation planning, and in particular relates to a method for correcting track point offset of vehicle navigation based on Kalman filtering. Background technique [0002] Satellite navigation is a very common technology that is now used. It can provide navigation information such as longitude, latitude, altitude, speed, heading, and time on a global scale. Through satellite navigation, drivers can be easily guided to reach their destinations. The core technology of navigation is positioning technology, and now the data is mainly obtained through the GPS system or the Beidou system. For navigation path planning, it is necessary to study the historical trajectory of user navigation to provide users with better travel suggestions. In the historical track points of user navigation, due to the delay effect of the atmosphere ionosphere, satellite clock error, satellite orbit error and multipath effects caused by u...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/40G01C25/00
CPCG01C25/00G01S19/40
Inventor 肖晓明吴箫
Owner CENT SOUTH UNIV
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