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Vehicle positioning method and device

A vehicle positioning and vehicle technology, applied in the field of geographic information, can solve the problems of dependence, high cost, complex hardware, etc., and achieve the effect of low cost, simple hardware, and accurate positioning results

Inactive Publication Date: 2020-05-12
WUHAN ZHONGHAITING DATA TECH CO LTD
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] Aiming at the technical problems existing in the prior art, the present invention provides a vehicle positioning method and system to solve the problem that the traditional vehicle positioning method relies on the pre-built UWB base station in the underground garage, and the hardware is complicated and the cost is high

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Embodiment Construction

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0037] It should be noted that in the underground garage, the GPS positioning signal received by the vehicle is weak or even has no signal, so the vehicle positioning cannot be performed through the GPS positioning system. The inertial navigation system INS can be used, but due to the inertial navigation drift problem, relatively high positioning accuracy can only be achieved in a short period of time. UWB positioning can achieve relatively high positi...

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Abstract

The invention relates to a vehicle positioning method and device. The method comprises the steps that: GPS data output by a vehicle-mounted global positioning system and INS data output by a vehicle-mounted inertial navigation system INS are acquired; and if it is judged that a vehicle meets an initial positioning condition, a node-level positioning condition and a global positioning condition based on the GPS data and the INS data, initial positioning, node-level positioning and global positioning are performed on the vehicle in sequence. According to the vehicle positioning method and deviceprovided by the embodiments of the invention, the GPS data and the INS data of the vehicle are used to judge whether the vehicle meets the initial positioning condition, the node-level positioning condition and the global positioning condition or not; if the three conditions are met, initial positioning, node-level positioning and global positioning are sequentially conducted on the vehicle; anda more accurate positioning result can be obtained by conducting the three times of positioning on the vehicle. Moreover, the method does not need to depend on a UWB base station, so that hardware issimple, and cost is relatively low.

Description

technical field [0001] The invention relates to the technical field of geographic information, in particular to a vehicle positioning method and device. Background technique [0002] A high-precision map, also known as a high-resolution map (High Definition Map, HD Map), is a map dedicated to unmanned driving. Different from traditional navigation maps, high-precision maps include a large amount of driver assistance information, the most important information being the accurate 3D representation of the road network, for example, intersection layout and road sign locations. A high-resolution map also includes a lot of semantic information. A high-resolution map may report the meaning of different colors on a traffic light. It may also indicate the speed limit of a road, and the location of the left-turn lane. One of the most important features of high-precision maps is accuracy. Traditional navigation maps can only achieve meter-level accuracy, while high-precision maps can ...

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Application Information

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IPC IPC(8): G01S19/49G01C21/16
CPCG01C21/165G01S19/49
Inventor 苏航宇郑武贞汪林娟罗跃军
Owner WUHAN ZHONGHAITING DATA TECH CO LTD
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