GNSS/INS/wheel speed combined positioning real-time smoothing method

Abstract

The invention discloses a GNSS (Global Navigation Satellite System) / INS (Inertial Navigation System) / wheel speed combined positioning real-time smoothing method, which comprises a forward model module, a judgment module, a reverse model module and a smoothing module. The forward model module carries out forward processing and estimation on the collected data and stores an estimator equivalent value at a corresponding moment. The judgment module is used for judging whether forward estimation time reaches the set sliding window size or not, if not, forward estimation continues to be carried out, and otherwise, reverse estimation is carried out. And the reverse model module carries out reverse processing and estimation on the collected data and stores an estimator equivalent value at a corresponding moment. The smoothing module carries out weighted smoothing on positioning parameters such as the position at the corresponding moment estimated by the forward and reverse modules and outputs the positioning parameters, and meanwhile, parameters such as smooth zero offset are further fed back to the forward model. Compared with the prior art, the method has the advantages of high real-time performance, high estimation precision and the like.

Description

technical field [0001] The invention relates to the technical field of navigation, in particular to a real-time smooth method for GNSS / INS / wheel speed combined positioning. Background technique [0002] GNSS / INS integrated navigation system is one of the most widely used vehicle navigation and positioning systems at present. With the development of smart cars, its requirements for positioning performance are becoming increasingly stringent. Because GNSS is easily blocked by obstacles, the signal is out of lock and cannot be used for INS. For measurement update, the pose error estimated by INS will continue to accumulate. Therefore, some scholars consider integrating vehicle chassis information such as wheel speed to assist INS, but the accuracy still needs to be improved. Therefore, it is considered to be based on GNSS / INS / wheel speed. post-processing. Although the introduction of post-processing technology can greatly improve the positioning accuracy, this technology does ...

AI Technical Summary

Problems solved by technology

[0002] GNSS / INS integrated navigation system is currently one of the most widely used vehicle navigation and positioning systems. With the development of smart cars, its requirements for positioning performance are becoming increasingly stringent. Because GNSS is easily blocked by obstacles, the signal is lost and it cannot be used for INS. For measurement update, the pose error estimated by INS will continue to accumulate, so some scholars consider fusing vehicle chassis information such as wheel speed to assist INS, but the accuracy still needs to be improved, so consider based on GNSS / INS / wheel speed Post-processing

Although the introduction of post-processing technology can greatly improve the positioning accuracy, this technology does not have real-time performance. At present, smart car planning and decision-making require real-time high-precision positioning

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