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 poor stability of the positioning system and difficulty in improving the positioning accuracy, so as to improve the security, increase the calculation speed, and improve the calculation accuracy. Effect
Active Publication Date: 2022-04-19
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 application provides a vehicle-mounted multi-sensor fusion positioning method, computer equipment and storage media. The vehicle-mounted multi-sensor fusion positioning method includes obtaining IMU data, ODO data, laser radar data and combined navigation data; performing IMU mileage data and IMU&ODO fusion mileage data. Iterative optimization; according to the optimized IMU mileage data, the optimized IMU&ODO fusion mileage data and the laser radar data to obtain the lidar pose data; the final positioning result is obtained by joint optimization and fusion through the sliding window. The technical solution of this application is relatively simple to directly use the integral mileage after coordinate alignment, and the noise is smaller. The accuracy of the subsequent integral mileage can be guaranteed through the corrected IMU data, which ensures the initial node pose accuracy of the sliding window constraint optimization fusion process and reduces the noise. The iteration cycle is optimized, the calculation speed is improved, and the calculation accuracy is improved at the same time, 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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IPC IPC(8): G01C21/16G01C21/28
CPCG01C21/1652G01C21/28
Inventor 刘现款陈国芳
Owner BYD CO LTD