Vehicle turning track two-way calculation method, system and device

Abstract

The invention belongs to the technical field of multi-sensor fusion positioning navigation, particularly relates to a vehicle turning track two-way calculation method, system and device, aiming to solve the problem of low track calculation precision before vehicle turning in the prior art. The vehicle turning track two-way calculation method comprises the steps: acquiring picture feature points and sensor measurement values, and storing and updating a sliding window; carrying out system initialization; when the new image is added into the sliding window, optimizing parameters such as sensor pose and the like until the vehicle turns around; when the new image is added into the sliding window, optimizing parameters such as the pose and offset of the sensor until the offset estimated value ofthe accelerometer converges; when the new image is added into the sliding window, optimizing all parameters; and opening up a reverse calculation thread, and calculating a track before turning according to a time sequence from back to front from the current position. According to the vehicle turning track two-way calculation method, track optimization after turning is carried out multiple times through the forward thread, and the reverse thread is opened up to calculate the track before turning, and the high-precision track before and after turning can be obtained, and accurate positioning and navigation without GPS can be achieved.

Description

technical field [0001] The invention belongs to the technical field of multi-sensor fusion positioning and navigation, and in particular relates to a bidirectional calculation method, system and device for vehicle turning tracks. Background technique [0002] Visual-inertial odometry using cameras and IMUs (Inertial Measurement Units) has achieved good results in applications such as augmented reality and drones. However, for the application of visual-inertial odometry to vehicles, there are often two difficult scenarios: first, when the acceleration of the vehicle in its own The scale estimation in inertial odometry is inaccurate; second, the pitch angle and roll angle estimation in visual inertial odometry are inaccurate when the vehicle is moving in a straight line. For the first difficult scenario, an existing method using tightly coupled vehicle wheel speedometer data can already be solved. In contrast, the second difficult scenario is more difficult to solve. Even wi...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the above-mentioned problems in the prior art, that is, the problem in the prior art that the trajectory calculation accuracy of the vehicle before turning is low, the present invention provides a bidirectional calculation method for the vehicle turning trajectory. The bidirectional calculation method for the trajectory includes:

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