Multi-sensing high-precision fusion measurement method for shielding evaluation environment

A measurement method and multi-sensing technology, which is applied in the direction of navigation, measurement device, and radio wave measurement system through speed/acceleration measurement, can solve the problems of no global frame, reduced positioning accuracy of laser radar SLAM, and cumulative errors, etc., to achieve The effect of improving positioning accuracy

Pending Publication Date: 2022-05-24
SOUTHEAST UNIV
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AI Technical Summary

Problems solved by technology

However, lidar SLAM only estimates the pose in a local frame, without a global frame, which means that pose estimation is locally accurate but prone to accumulating errors over time
In addition, when the vehicle travels to an area with fewer feature points, lidar SLAM will also cause a decrease in positioning accuracy due to sparse point clouds

Method used

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  • Multi-sensing high-precision fusion measurement method for shielding evaluation environment
  • Multi-sensing high-precision fusion measurement method for shielding evaluation environment
  • Multi-sensing high-precision fusion measurement method for shielding evaluation environment

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Embodiment Construction

[0068] With the development and progress of the economy and society, the number of motor vehicles in our country has increased rapidly, and road traffic is facing huge challenges. In order to solve the increasingly serious urban traffic problems, the intelligent transportation system came into being. It can comprehensively apply various technologies such as new sensor technology, data communication transmission technology, and information technology to the transportation system, so as to effectively realize the comprehensive management of the transportation system and maximize the harmony and unity of people, vehicles and roads. . For most intelligent transportation systems, obtaining accurate and reliable location information is the premise of their functions.

[0069] At present, GNSS technology is the most widely used in the field of vehicle navigation and positioning. In an unobstructed environment, GNSS can provide vehicles with three-dimensional position, speed, attitud...

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Abstract

The invention discloses a multi-sensor high-precision fusion measurement method for a shielding evaluation environment. According to the scheme of multi-sensor fusion, reliable and continuous positioning of a vehicle under the condition that GNSS signals are shielded is achieved. The observed quantity of the laser radar is increased by arranging active features on the roadside, so that the positioning precision of the laser SLAM under the condition of sparse point clouds is improved; meanwhile, the UWB distance observed quantity is introduced to identify an active characteristic number scanned by the laser radar, and the positioning frequency is improved by combining a vehicle-mounted inertial sensor; and finally, accurately estimating the position information of the vehicle in real time through a factor graph algorithm. The system has the advantages of low cost, high precision and good real-time performance.

Description

technical field [0001] The invention belongs to the field of vehicle navigation and positioning, and in particular relates to a multi-sensor high-precision fusion measurement method oriented to an occlusion evaluation environment. Background technique [0002] In recent years, the intelligent transportation system has developed rapidly around the world. It can comprehensively apply various technologies such as newly advanced sensor technology, data communication transmission technology, and information technology to the transportation system, so as to effectively realize the improvement of the transportation system. comprehensive management, to maximize the harmony and unity of people, vehicles and roads. For most intelligent transportation systems, obtaining accurate and reliable location information is the premise of their functions. [0003] At present, the most widely used in the field of vehicle navigation and positioning is the Global Navigation Satellite System (GNSS...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/86G01S17/89G01S17/931G01S5/02G01C21/16G01C21/20
CPCG01S17/86G01S17/89G01S17/931G01S5/021G01C21/1652G01C21/20
Inventor 李旭孔鑫徐启敏孔栋
Owner SOUTHEAST UNIV
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