Information fusion method and device, computer equipment and computer readable storage medium

A fusion method and a mean square error technology, applied in the field of navigation, can solve problems such as inability to navigate smart cars, divergence of filtering results, etc.

Active Publication Date: 2019-10-22
CENT SOUTH UNIV
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Problems solved by technology

[0005] Based on this, it is necessary to provide an information fusion method, device, computer equipment and computer-readable storage medium for the problem that the filtering results of the traditional technology are easy to diverge during the coordinate information fusion process, resulting in the inability to provide accurate navigation for smart cars.

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  • Information fusion method and device, computer equipment and computer readable storage medium
  • Information fusion method and device, computer equipment and computer readable storage medium
  • Information fusion method and device, computer equipment and computer readable storage medium

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Embodiment Construction

[0039]At present, smart cars are more and more widely used in transportation, production, inspection and other fields. Usually, the navigation modes of smart cars include inertial navigation and visual two-dimensional code navigation. The inertial navigation mode uses the position coordinates, speed and yaw angle of the previous moment to calculate the current position coordinates, and uses the yaw angle as the heading angle. And the process of calculating the yaw angle will produce errors, so that the calculated position coordinates and the actual position coordinates of the smart car will deviate. Therefore, using the inertial navigation mode for a long time will cause cumulative errors, resulting in inaccurate positioning of the smart car. Using the visual two-dimensional code navigation mode, first preset a coordinate system on the ground and lay multiple two-dimensional codes with location information. When the smart car passes the two-dimensional code, it can obtain the l...

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Abstract

The invention provides an information fusion method and device, computer equipment and a computer readable storage medium. The method comprises that according to an absolute position coordinate of a navigation object at present time is determined according to a quick response code position coordinate at present time and a deviation coordinate between the quick response code position coordinate anda practical position coordinate of the navigation object, a first difference is determined according to the absolute position coordinate and a dead reckoning coordinate at present, a second noise measurement value at present time is determined according to Kalman filter gain of last time, a first noise measurement value of last time, a mean square deviation matrix of the dead reckoning coordinateof present time and the first difference, and a fusion coordinate of the navigation object at present time is determined according to the first difference, the dead reckoning coordinate of present time, the mean square deviation matrix of the dead reckoning coordinate of present time and the second noise measurement value. The method can be used to converge a filtering result, greatly improves the precision of the fusion coordinate result, and improves the accuracy in positioning the coordinate of the navigation object.

Description

technical field [0001] The present invention relates to the technical field of navigation, in particular to an information fusion method, device, computer equipment and computer-readable storage medium. Background technique [0002] At present, with the rapid development of information technology, smart vehicles have been widely used in transportation, production, inspection and other fields. There are many navigation methods for smart cars, and inertial navigation and visual two-dimensional code navigation are the most commonly used. Inertial navigation alone has good real-time performance and strong anti-interference, but it will produce cumulative errors under long-term operation, while using visual Two-dimensional code navigation has high navigation accuracy at a single two-dimensional code, but the navigation process is discontinuous and the reliability is low. Therefore, inertial-visual integrated navigation technology has become an important development direction in ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/16
CPCG01C21/20G01C21/165G01C21/005
Inventor 黄科科阳春华刘一顺张亦弛陈宇
Owner CENT SOUTH UNIV
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