Integrated navigation method, electronic equipment and storage medium
A combined navigation and impact factor technology, applied in the computer field, can solve the problems of unfavorable sensor data fusion and different influence degrees, and achieve the effect of increasing the convergence speed and reducing the obvious difference
Active Publication Date: 2021-12-17
ZHIDAO NETWORK TECH (BEIJING) CO LTD
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Problems solved by technology
In order to obtain accurate positioning in a realistic and complex environment, it is necessary to use the Kalman filter algorithm to fuse the data in the integrated navigation, but the sensors in the integrated navigation are affected by the noise in the environment to a certain extent, and there are certain differences. Not conducive to the fusion of sensor data
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[0038] 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.
[0039] 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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The invention relates to an integrated navigation method, electronic equipment and a storage medium. The integrated navigation is realized based on a wheel speed sensor and at least one sensor of other types, and the method comprises the following steps: acquiring a speed absolute value of a speed of a vehicle at a certain moment measured by the wheel speed sensor; according to the absolute value of the speed and a preset rule, obtaining measurement noise influence factors endowed by the wheel speed sensor and other types of sensors in measurement noise in a Kalman filter; and using the Kalman filter to carry out filtering fusion on the data of the wheel speed sensor and the other types of sensors, wherein the measurement noise of at least one of the data of the wheel speed sensor and the other types of sensors during filtering fusion is endowed with the corresponding measurement noise influence factor. According to the scheme provided by the invention, the fusion of data of all sensors in integrated navigation is facilitated, and the filtering convergence speed is increased.
Description
technical field [0001] The present application relates to the field of computer technology, in particular to an integrated navigation method, electronic equipment and storage media. Background technique [0002] With the development of technologies such as artificial intelligence and automatic driving, high-precision positioning technology has become a vital part of realizing automatic driving. In general, in order to achieve high-precision positioning, a combined navigation system consisting of different types of sensors will be used on the vehicle. In order to obtain accurate positioning in a realistic and complex environment, it is necessary to use the Kalman filter algorithm to fuse the data in the integrated navigation, but the sensors in the integrated navigation are affected by the noise in the environment to a certain extent, and there are certain differences. It is not conducive to the fusion of sensor data. Contents of the invention [0003] In order to solve o...
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IPC IPC(8): G01C21/28G01C21/20G06K9/62
CPCG01C21/28G01C21/20G06F18/251
Inventor 宋振伟张海强李成军
Owner ZHIDAO NETWORK TECH (BEIJING) CO LTD