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Vehicle moving track correction method and device, electronic equipment and storage medium

A technology of moving trajectory and vehicle movement, applied in the field of navigation, it can solve problems such as not, to achieve the effect of improving accuracy, eliminating the influence of positioning height, and avoiding inaccurate trajectory correction.

Pending Publication Date: 2021-06-15
智道网联科技(北京)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the movement trajectory obtained by positioning and navigation through SLAM is relative and not the real movement trajectory

Method used

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  • Vehicle moving track correction method and device, electronic equipment and storage medium
  • Vehicle moving track correction method and device, electronic equipment and storage medium
  • Vehicle moving track correction method and device, electronic equipment and storage medium

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Embodiment Construction

[0052] Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the scope of this application to those skilled in the art.

[0053] The terminology used in this application is for the purpose of describing particular embodiments only, and is not intended to limit the application. As used in this application and the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any and all possible ...

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Abstract

The invention relates to a vehicle moving track correction method and device, electronic equipment and a storage medium. The method comprises the following steps: constructing an SLAM moving track by using a picture sequence shot when a vehicle runs; calculating a first scale factor by using the predicted longitude and the predicted latitude of the vehicle when the at least two frames of first target pictures are shot, and the positioning longitude and the positioning latitude correspondingly measured by a positioning system; performing scale transformation on the predicted height of the vehicle when each frame of picture is shot according to the first scale factor to obtain an SLAM track height; correcting the track height measured by the positioning system by using the SLAM track height; calculating correction parameters by utilizing the predicted longitude, predicted latitude and predicted height of the vehicle when at least two frames of second target pictures are shot, and the positioning longitude, positioning latitude and corrected positioning height correspondingly measured by a positioning system; and correcting the SLAM movement track according to the correction parameter. The precision of the vehicle moving track can be improved.

Description

technical field [0001] The present application relates to the field of navigation technology, and in particular to a method, device, electronic device and storage medium for correcting vehicle movement tracks. Background technique [0002] Positioning systems such as GPS (Global Positioning System, Global Positioning System), RTK (Real-time kinematic, real-time dynamics) are widely used in vehicle positioning and trajectory tracking due to their high precision and good performance. However, in practical applications, it is found that sometimes the positioning height measured by the positioning system will jump unreasonably, especially in places with poor positioning signals such as under bridges, culverts, tunnels or between dense buildings. The positioning height deviation will be larger, making the accuracy of the positioning height measurement result of the vehicle poor. [0003] SLAM (Simultaneous Localization And Mapping, real-time positioning and map construction) is ...

Claims

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Application Information

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IPC IPC(8): G06T17/05G06T7/73G06T7/285G01C21/28
CPCG06T17/05G06T7/73G06T7/285G01C21/28G06T2207/10016
Inventor 单国航朱磊贾双成李倩李成军
Owner 智道网联科技(北京)有限公司