Vehicle Cooperative Navigation Method Based on Relative Motion Model Constraints

A technology of collaborative navigation and relative motion, applied in directions such as navigation, mapping and navigation, and navigation through speed/acceleration measurement, which can solve the problems of difficulty in providing navigation information, unavailability of satellite navigation systems, etc., and achieve the effect of improving accuracy

Active Publication Date: 2022-06-17
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0002] In the existing technology, the navigation system widely used in vehicles is mostly realized by inertial device (IMU-accelerometer and gyroscope) / satellite integrated navigation system, but when the vehicle is driving in an environment with occlusion such as tunnels, the satellite signal is affected by Shading makes the satellite navigation system unavailable, and the inertial / satellite integrated navigation system will be difficult to provide accurate navigation information

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  • Vehicle Cooperative Navigation Method Based on Relative Motion Model Constraints
  • Vehicle Cooperative Navigation Method Based on Relative Motion Model Constraints
  • Vehicle Cooperative Navigation Method Based on Relative Motion Model Constraints

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specific Embodiment approach

[0077] 1. Establish the state equation of the vehicle cooperative navigation method based on the constraints of the relative motion model

[0078] First define the coordinate system: the geographic coordinate system selects "East-North-Sky" as the navigation system (n), and the carrier coordinate system (b) is selected as "Right-Front-Up". The state vector of the vehicle cooperative navigation system is:

[0079]

[0080] Among them, X is the state vector of the cooperative navigation system, X A is the state vector of vehicle A in the cooperative navigation system, X B is the state vector of vehicle B in the collaborative navigation system, is the platform error angle of the inertial navigation system of vehicle A, are the three-axis mathematical platform error angles of vehicle A's SINS x, y, and z, respectively, δV A is the speed error of vehicle A, is the speed error of the three-axis northeast sky of vehicle A, δp A is the position error of vehicle A, δL A , ...

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Abstract

The invention discloses a vehicle cooperative navigation method based on relative motion model constraints, and belongs to the technical field of vehicle cooperative navigation. In this method, the state equation of the cooperative navigation system is constructed on the basis of the error equation of the inertial navigation system; then the Doppler frequency shift effect is used to calculate the frequency offset of the vehicle-mounted wireless broadcasting due to the relative motion of the vehicle, and then the relative meeting time is judged; Establish the relative motion model of the vehicle and the measurement equation based on the relative motion model during the meeting; finally, the state equation and the measurement equation are discretized, and the measurement is updated during the meeting, and the system state quantity is fed back and corrected. Realize the effective modification of the cooperative navigation system. The invention can effectively utilize the relative motion constraint information of the vehicle in tunnels and other satellite navigation failure environments, realize effective integration with inertial navigation, improve the accuracy and reliability of the vehicle navigation system, and is suitable for engineering applications.

Description

technical field [0001] The invention relates to a vehicle cooperative navigation method based on relative motion model constraints, and belongs to the technical field of vehicle cooperative navigation. Background technique [0002] In the prior art, the navigation systems widely used in vehicles are mostly realized by inertial devices (IMU-accelerometer and gyroscope) / satellite integrated navigation system. Shading makes the satellite navigation system unavailable, and the inertial / satellite integrated navigation system will have difficulty in providing accurate navigation information. Therefore, in the case of satellite failure, it is necessary to collect available navigation information as much as possible. When vehicles traveling in opposite directions on the same road meet, there is a certain law in their relative motion. Using the relative motion law to form a relative motion model constraint has the advantages of simple implementation and low cost, and can provide imp...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00G01C21/18G06F17/16G06F17/18
CPCG01C21/005G01C21/18G06F17/16G06F17/18
Inventor 陈明星熊智李文龙李欣童张玲王融曾庆化
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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