Unmanned vehicle positioning method fusing multi-source sensor information
Technology of a source sensor, localization method
Active Publication Date: 2022-05-06
HAINAN UNIVERSITY
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At present, the solutions that simply use GPS to complete the positioning work on the market are characterized by all-weather and large coverage areas. However, when the satellite signal is interfered, there will be a large error. In addition, the solution that only uses IMU to complete the positioning work is due to this technology. Relative positioning technology, its positioning error will accumulate more and more over time
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[0136] An unmanned vehicle positioning method for fusing multi-source sensor information, the method comprising the following steps:
[0137] Step 1: Obtain the GPS position information and IMU information of the vehicle to be controlled, and use the centimeter-level precision positioning obtained by combining the inertial navigation system and GPS signal of the vehicle to be controlled as the true value to verify the fused positioning accuracy;
[0138] Step 2: Establish a linear model based on GPS position information and IMU information;
[0139] Step 3: Obtain an unmanned vehicle positioning method that fuses multi-source sensor information according to the linear model, and obtain the fusion positioning result under the linear model;
[0140] Step 4: Establish a nonlinear model according to GPS position information and IMU information;
[0141] Step 5: Obtain the unmanned vehicle positioning method of fusing multi-source sensor information under the kinematic model accor...
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The invention relates to an unmanned vehicle positioning method fusing multi-source sensor information, and the method comprises the following steps: 1, obtaining the GPS position information and IMU information of a to-be-controlled vehicle, and taking the centimeter-level precision positioning obtained by combining an inertial navigation system and a GPS signal of the to-be-controlled vehicle as a true value; 2, establishing a linear model; 3, an unmanned vehicle positioning algorithm fusing multi-source sensor information under the linear model is obtained, and a fusion positioning result under the linear model is obtained; 4, establishing a nonlinear model; 5, acquiring an unmanned vehicle positioning algorithm fusing multi-source sensor information under the kinematic model, and obtaining a fusion positioning result under the nonlinear model; step 6, establishing a bicycle model; 7, an unmanned vehicle positioning algorithm fusing multi-source sensor information under the single vehicle model is obtained, and a fusion positioning result under the single vehicle model is obtained. Compared with the prior art, the method has the advantages that the unmanned vehicle positioning precision is improved, and the applicability is high.
Description
technical field [0001] The invention relates to the technical field of automatic driving, in particular to an unmanned vehicle positioning method for fusing multi-source sensor information. Background technique [0002] In recent years, with the growth of China's economy, automobiles are not just a convenient means of transportation. The intelligent networking of automobiles has become another demand of people. industry attention. Among them, the positioning of unmanned vehicles is the basic module in the field of unmanned vehicles, and the use of different perception sensors requires different research methods. At present, the solutions that simply use GPS to complete the positioning work on the market are characterized by all-weather and large coverage areas. However, when the satellite signals are interfered, large errors will occur. In addition, the solutions that only use IMU to complete the positioning work are due to this technology. Relative positioning technology,...
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IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/20Y02T10/40
Inventor 张卫东刘馨泽王咸鹏张永辉黄梦醒沈重
Owner HAINAN UNIVERSITY