Vehicle positioning method in tunnel environment based on visible light communication and inertial navigation
A technology for visible light communication and tunnel environment, applied in the field of integrated navigation and information fusion, to achieve the effects of high ranging accuracy, good reliability and low computational complexity
Active Publication Date: 2022-05-17
SOUTHEAST UNIV
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In this method, in the tunnel environment where the GPS signal is blocked and cannot achieve continuous and reliable positioning, by arranging LED lamps at the top of the tunnel, the vehicle-mounted photodetector receives the visible light signal intensity RSS and the signal arrival time TOA of the LED lamps as inputs. The radial basis function neural network algorithm is used to accurately estimate the distance between the photodetector and the LED lamp, which effectively overcomes the vulnerability of visible light signals to multipath effects in the tunnel environment and the difficulty of establishing an accurate mathematical model to estimate the distance information.
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[0081] With the rapid development of economy and society, the number of automobiles is also increasing rapidly. While automobiles are convenient for human life, they also bring huge pressure to urban traffic. In order to solve such problems, the development of intelligent transportation system has been paid great attention all over the world. For most intelligent transportation systems, obtaining an accurate, stable and continuous vehicle location information is the premise of its function.
[0082] Currently, GPS (Global Positioning System, Global Positioning System) technology is most widely used in the field of vehicle navigation and positioning. In an unobstructed environment, GPS can provide real-time and all-weather information such as three-dimensional position, speed, and orientation for vehicles, so it has been widely used. However, with the rapid development of three-dimensional transportation, more and more underground tunnels have been put into use. In the closed ...
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The invention discloses a vehicle positioning method in a tunnel environment based on visible light communication and inertial navigation, and solves the problem that GPS cannot realize continuous and reliable positioning in the tunnel environment due to signal occlusion through the VLC technology. By arranging LED lamps at the top of the tunnel, the vehicle-mounted photodetector receives the incident signal intensity and signal arrival time emitted by the LED lamps as the input signal of the radial basis neural network to accurately estimate the distance between the LED lamps and the vehicle, and combined with the vehicle inertia The observation information of the sensor is used to estimate the position information of the vehicle accurately in real time through the factor graph algorithm. It has the advantages of low cost, high precision and good real-time performance.
Description
technical field [0001] The invention belongs to the field of integrated navigation and information fusion, and in particular relates to a vehicle positioning method in a tunnel environment based on visible light communication and inertial navigation. Background technique [0002] With the rapid development of economy and society, the number of automobiles is also increasing rapidly. While automobiles are convenient for human life, they also bring huge pressure to urban traffic. In order to solve such problems, the development of intelligent transportation system has been paid great attention all over the world. For most intelligent transportation systems, obtaining an accurate, stable and continuous vehicle location information is the premise of its function. [0003] Currently, GPS (Global Positioning System, Global Positioning System) technology is most widely used in the field of vehicle navigation and positioning. In an unobstructed environment, GPS can provide real-ti...
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IPC IPC(8): G01S19/48G01S19/49G01S5/16G01C21/16H04B10/116G06N3/04
CPCG01S19/48G01S19/49G01S5/16G01C21/165H04B10/116G06N3/045Y02B20/40
Inventor 李旭孔鑫祝雪芬
Owner SOUTHEAST UNIV