A GNSS/inertial navigation/lane line constraint/odometer multi-source fusion method

A fusion method and lane line technology, applied in road network navigators, radio wave measurement systems, satellite radio beacon positioning systems, etc., can solve problems such as unpredictable, complex and changeable urban environments, and achieve low cost and convenient application , The effect of flexible positioning means

CN110411462BActive Publication Date: 2021-05-18WUHAN UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2021-05-18

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Abstract

The invention discloses a GNSS / inertia / lane line constraint / odometer multi-source fusion method. Firstly, a visual sensor is used to generate a lane line map database off-line based on a vision + crowdsourcing mode. When the carrier performs real-time calculation of navigation and positioning, it is based on the tight combination of differential GNSS / INS. When the GNSS is seriously blocked, the visual sensor installed on the carrier is used to detect the relative relationship between the carrier and the lane line. With the assistance of the lane line map, Dynamically add lane line constraint observation equations to assist positioning, effectively suppress position divergence in both lateral and elevation directions, and provide speed observations in the direction of the vehicle through the wheel odometer, as well as observable satellites above the carrier and in the direction of the road , which significantly improves the carrier forward error. The present invention can effectively control position error drift in three directions in the typical dynamic complex environment of the city, and is an effective scheme for realizing centimeter-level positioning in the complex urban environment.
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Description

technical field

[0001] The invention relates to the field of integrated navigation, in particular to a GNSS / inertial navigation / lane line constraint / odometer multi-source fusion method. Background technique

[0002] With the completion and operation of the regional service system of Beidou satellite navigation system in my country, the modernization of GPS in the United States and GLONASS in Russia, and the construction of Galileo in the European Union, QZSS in Japan, and IRNSS in India, GNSS (GNSS, Global Navigation Satellite System) is moving towards multi-frequency and multi-system direction flourishes. However, due to the three major vulnerabilities of occlusion, interference and spoofing in GNSS, it cannot provide reliable and continuous positioning services in complex environments. Therefore, integrating a variety of different navigation systems and sensors, fusing all available signal sources, all-source positioning and navigation in a plug-and-play manner was propose...

Examples

Embodiment Construction

[0054] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0055] The overall filtering framework of the present invention is GNSS / INS tight combination extended Kalman filter, and the tight combination structure is as follows figure 2 As shown, the navigation coordinate system is selected as the ECEF system, and the corresponding SINS mechanical layout is also carried out under the ECEF system. In the tight combination, the original observations of GNSS and SINS are jointly input into a Kalman filter, and the navigation parameters (position, velocity and attitude), SINS system error and GNSS related parameters (ambiguity) are jointly estimated, and the c...