Multi-vehicle joint absolute positioning method based on Internet of Vehicles

An absolute positioning and Internet of Vehicles technology, applied in the field of multi-source fusion navigation, can solve the problems of poor geometric structure of satellites, difficulty in centimeter-level high-precision positioning, and difficulty in obtaining fixed ambiguity solutions by RTK

Active Publication Date: 2020-06-16
WUHAN UNIV
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Problems solved by technology

GNSS is the key sensor for obtaining high-precision positions in integrated navigation systems. In open environments, GNSS-RTK (Real Time Kinematic) can provide real-time centimeter-level absolute positions. In occluded environments s

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  • Multi-vehicle joint absolute positioning method based on Internet of Vehicles
  • Multi-vehicle joint absolute positioning method based on Internet of Vehicles
  • Multi-vehicle joint absolute positioning method based on Internet of Vehicles

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Embodiment Construction

[0097] A multi-vehicle joint absolute positioning method based on the Internet of Vehicles provided by the present invention utilizes sensors such as GNSS, INS, and laser radar equipped with intelligent vehicles, and the characteristics that multi-vehicle data can be jointly processed under the condition of Internet of Vehicles, the multi-vehicle Joint processing of GNSS, INS and lidar data. This method is an epoch-by-epoch process. Each vehicle uses its own GNSS position results and INS to perform EKF loose combination to estimate the combined navigation results of the current vehicle, including position, velocity and attitude. Secondly, the high-precision relative positioning between vehicles is realized through multi-vehicle lidar data, which mainly uses the simultaneous localization and mapping method (SLAM) of INS-assisted lidar, the feature matching method of frame and map matching, etc.; and then in A GNSS double-difference observation model is constructed between vehic...

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Abstract

The invention discloses a multi-vehicle joint absolute positioning method based on the Internet of Vehicles. The multi-vehicle joint absolute positioning method utilizes the characteristic of multi-vehicle data joint processing under the condition of the Internet of Vehicles to carry out joint processing of GNSS, INS and laser radar data of a plurality of vehicles by employing sensors, such as GNSS, INS and laser radar, of the vehicles; high-precision relative position between vehicles acquired by the laser radar is used for assisting in resolving the relative ambiguity between the vehicles, so that a fixation rate of the relative ambiguity is improved; and finally, a joint RTK model is utilized to carry out joint calculation on the multi-vehicle GNSS data, high-precision relative positionconstraints and relative ambiguity constraints between the vehicles are considered, compared with GNSS observation of a bicycle, the GNSS data of the plurality of vehicles can be fused by combining the RTK model, and the satellite observation data and the geometric mechanisms utilized by the multi-vehicle joint absolute positioning method are superior to those of the GNSS data of a single vehicle, so that the ambiguity fixation rate is improved, the absolute positioning precision of the vehicles is improved, and the multi-vehicle joint absolute positioning method has remarkable advantages especially in a shielding environment.

Description

technical field [0001] The present invention relates to the field of multi-source fusion navigation, in particular to a global navigation satellite system (Global Navigation Satellite System, GNSS), inertial navigation system (Inertial Navigation System, INS), laser radar (light detection and ranging, LiDAR) data to achieve high-precision absolute positioning of vehicles. Background technique [0002] With the development of autonomous driving and the Internet of Things, smart cars and connected cars are getting more and more attention. Both of them need to accurately locate the car in operation. At present, the high-precision navigation and positioning of cars mainly depends on the Global Navigation Satellite System (GNSS) , an integrated navigation system composed of an inertial navigation system (INS), etc. GNSS is the key sensor for obtaining high-precision positions in integrated navigation systems. In open environments, GNSS-RTK (Real Time Kinematic) can provide real-...

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Application Information

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IPC IPC(8): G01C21/00G01S17/87G01S19/45G06T7/246G06T7/277G06T7/73
CPCG01C21/005G01S19/45G01S17/875G06T7/75G06T7/251G06T7/277G06T2207/10028G06T2207/30252
Inventor 钱闯张红娟唐健李文卓温景仁刘晖
Owner WUHAN UNIV
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