Vehicle-mounted multi-sensor fusion positioning method, computer equipment and storage medium
A technology of multi-sensor fusion and positioning method, applied in the directions of instruments, navigation, surveying and mapping, and navigation, etc., can solve the problems of difficulty in improving the accuracy of positioning and poor stability of the positioning system, so as to improve security, increase computing speed, and improve system stability. high effect
Active Publication Date: 2022-01-25
BYD CO LTD
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[0003] Embodiments of the present invention provide a vehicle-mounted multi-sensor fusion positioning method, computer equipment, and storage media to solve the problems that the fusion positioning method adopted in the prior art is difficult to improve the positioning accuracy and the stability of the positioning system is poor
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[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0032] The embodiment of the present application provides a vehicle-mounted multi-sensor fusion positioning method, which can be applied to the control system of rail vehicles, such as figure 1 As shown, the control system includes data acquisition sensors and a vehicle safety computing platform, where the data acquisition sensors include Lidar, wheel speed sensor ODO, inertial sensor IMU, and integrated navigation. The integrated navigation equipment ...
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The invention provides a vehicle-mounted multi-sensor fusion positioning method, computer equipment and a storage medium. The vehicle-mounted multi-sensor fusion positioning method comprises the following steps: acquiring IMU data, ODO data, laser radar data and integrated navigation data; carrying out iterative optimization on IMU mileage data and IMUODO fusion mileage data; obtaining laser radar pose data according to the optimized IMU mileage data, the optimized IMUODO fusion mileage data and the laser radar data; and performing joint optimization fusion through a sliding window to obtain a final positioning result. According to the technical scheme, noise is lower by directly and independently using the integral mileage after relatively simple coordinate alignment, subsequent integral mileage precision of the corrected IMU data can be guaranteed, initial node pose precision in the sliding window constraint optimization fusion process is guaranteed, the optimization iteration period is shortened, the calculation speed is increased, meanwhile, the calculation precision is improved, the system stability is high, and the safety of the vehicle is improved.
Description
technical field [0001] The invention relates to the technical field of vehicle positioning, in particular to a vehicle multi-sensor fusion positioning method, computer equipment and a storage medium. Background technique [0002] At present, regarding the positioning technology in rail vehicles, the positioning technology that has passed the sil4 safety integrity certification mainly relies on the wayside equipment, such as transponders, axle counters and other equipment systems. In order to reduce the wayside equipment, usually based on GNSS and wheel speed fusion Positioning method, the positioning method fuses the information of multiple sensors for positioning, and the fusion method is to use Kalman filter, particle filter and other technologies for fusion calculation. This fusion method is difficult to improve the positioning accuracy, and at the same time, the stability of the positioning system is poor, resulting in the inability to fully utilize the advantages of eac...
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Login to View More IPC IPC(8): G01C21/16G01C21/28
CPCG01C21/1652G01C21/28
Inventor 刘现款陈国芳
Owner BYD CO LTD