A multi-vehicle joint absolute positioning method based on Internet of Vehicles

Abstract

The invention discloses a multi-vehicle joint absolute positioning method based on the Internet of Vehicles, using GNSS, INS, laser radar and other sensors equipped with vehicles, and the characteristics of multi-vehicle data joint processing under the condition of Internet of Vehicles, the multi-vehicle GNSS, INS Joint processing with lidar data. The high-precision relative positioning between vehicles is realized through the laser radar data of multiple vehicles, and then the high-precision relative position between vehicles obtained by laser radar is used to assist the relative ambiguity resolution between vehicles, and the fixed rate of relative ambiguity is improved. Finally, the joint The RTK model jointly solves the GNSS data of multiple vehicles, and takes into account the high-precision relative position constraints and relative ambiguity constraints between vehicles. Compared with the GNSS observation of a single vehicle, the joint RTK model can integrate the GNSS data of multiple vehicles. The observation data and geometric structure are better than the single-vehicle GNSS data, thereby improving the ambiguity fixation rate and improving the absolute positioning accuracy of the vehicle, especially in the occlusion environment, the advantages of this method are very significant.

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-...

AI Technical Summary

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 such as canyons, the number of visible satellites drops rapidly, and the satellite geometry is poor. It is difficult for RTK to obtain a fixed ambiguity solution, and it is difficult to achieve centimeter-level high-precision positioning

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