GNSS positioning drift processing method based on UFIR filter
A processing method and filter technology, applied in satellite radio beacon positioning systems, instruments, radio wave measurement systems, etc., can solve problems such as weak universality, and achieve strong robustness and universality, good performance, The effect of pinpointing information
Pending Publication Date: 2021-05-28
上海智驾汽车科技有限公司
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[0004] The purpose of the present invention is to solve the drift phenomenon of GNSS positioning information in the case of poor external environment, and the existing commonly used Kalman filter algorithm is weak in universality, and proposes a GNSS positioning based on UFIR filter Drift processing method, this method detects the drift phenomenon of GNSS positioning, uses the accumulated historical state observation value to estimate the current position information, and provides more accurate position information estimation value to the vehicle system to ensure the normal function of the vehicle's automatic driving function run
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[0050] like figure 1 Shown is a GNSS positioning drift processing method based on a UFIR filter, specifically including the following:
[0051] Step 1. Establish the kinematic model of the vehicle as follows:
[0052]
[0053] Among them, X k ∈ R 4 is the real state of vehicle motion; A∈R 4×4 is the state transition matrix; W k ∈ R 2 is the process noise; B∈R 4×2 is the coefficient matrix of the process noise; Z k ∈ R 2 Vehicle positioning information obtained from GNSS observations; C∈R 2×4 is the observation transition matrix; v k ∈ R 2 To measure noise, the specific matrix is defined as follows:
[0054]
[0055] Among them, x(k) and y(k) respectively represent the coordinate values of the vehicle in the x-axis and y-axis directions in the measurement coordinate system defined by the GNSS system at time k; v x (k) and v y (k) respectively represent the speed values of the vehicle in the x-axis and y-axis directions in the measurement coordinate syst...
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The invention provides a GNSS positioning drift processing method based on a UFIR filter, and the method comprises the following steps: firstly, building a kinematic model of vehicle driving; secondly, determining the optimal sliding window length of the UFIR filter under unbiased estimation; then determining a parameter matrix of related calculation UFIR according to a vehicle kinematics model and a sliding window length, and accumulating historical positioning observation information of a corresponding length; and finally, determining a confidence interval of the GNSS positioning data through the environment information, and if the current positioning information does not meet the confidence interval, performing state estimation based on the UFIR filter to obtain more accurate vehicle position information. The UFIR filtering algorithm adopted by the method does not need related noise statistical information, is suitable for various environments, meets the requirement for complex industrial control of vehicle driving, and has high robustness.
Description
technical field [0001] The invention relates to the technical field of signal processing and control algorithms, in particular to a UFIR filter-based GNSS positioning drift processing method. Background technique [0002] One of the goals of the autonomous driving perception function is to realize vehicle positioning. Currently, the main positioning method used is the Global Navigation Satellite System (GNSS). Although GNSS can achieve continuous, stable, and high-precision positioning, its effect is greatly affected by the external environment, such as in tunnels or indoors, surrounded by high-rise buildings to block signals, the number of satellites received is small, and electromagnetic interference signal transmission and other conditions , GNSS cannot work normally and effectively, there will be a certain deviation in precision and accuracy, and the positioning results often drift to varying degrees. Inaccurate positioning information will lead to wrong path planning a...
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IPC IPC(8): G01S19/40G01S19/37G01S19/21
CPCG01S19/40G01S19/37G01S19/21Y02T10/40
Inventor 刘甫张辉冯敏健
Owner 上海智驾汽车科技有限公司