Vehicle dead reckoning positioning method and device based on encoder and gyroscope

Abstract

The present invention provides a vehicle dead reckoning positioning method and device based on an encoder and a gyroscope, wherein the method includes: obtaining the first coordinate and the first heading angle of the target vehicle in the previous cycle according to the dead reckoning algorithm; The device acquires the distance data of the target vehicle within the preset sampling period, and at the same time obtains the gyroscope data of the target vehicle within the preset sampling period based on the gyroscope; judges whether the acquired distance data is zero, and if so, determines whether the acquired distance data is within the preset sampling period The second coordinate and the second heading angle of the previous cycle are the first coordinates and the first heading angle; otherwise, based on the pre-stored preset algorithm, the first coordinate and the first heading angle are compensated to update the previous cycle. The first coordinate and first heading angle of the cycle. It is used to calculate and compensate the dead position of the vehicle through the encoder and gyroscope, which can effectively reduce the positioning error.

Description

technical field [0001] The invention relates to the technical field of vehicle navigation, in particular to a vehicle dead reckoning positioning method and device based on an encoder and a gyroscope. Background technique [0002] With the wide application of vehicle navigation, in terms of land vehicle navigation, GPS positioning technology has technical advantages such as all-weather, high precision, global and three-dimensional positioning, but continuous and accurate positioning cannot be achieved in places with occlusions. Although the vehicle dead reckoning positioning algorithm based on gyroscopes and accelerometers was later adopted to solve the above-mentioned problems, when the displacement is obtained by two integrations based on the change in heading angle measured by the gyroscope and the acceleration measured by the accelerometer, The zero bias problem of its accelerometer and gyroscope causes the positioning error to increase with the accumulation of driving di...

AI Technical Summary

Problems solved by technology

[0002] With the wide application of vehicle navigation, in terms of land vehicle navigation, GPS positioning technology has technical advantages such as all-weather, high precision, global and three-dimensional positioning, but continuous and accurate positioning cannot be achieved in places with occlusions.

Although the vehicle dead reckoning positioning algorithm based on gyroscopes and accelerometers was later adopted to solve the above-mentioned problems, when the displacement is obtained by two integrations based on the change in heading angle measured by the gyroscope and the acceleration measured by the accelerometer, The zero bias problem of its accelerometer and gyroscope causes the positioning error to increase with the accumulation of driving distance and driving time. Therefore, the vehicle dead reckoning positioning algorithm based on encoder and gyroscope came into being

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