High-precision positioning method in complex environment

Abstract

The invention discloses a high-precision positioning method in a complex environment. The method comprises the following steps: acquiring original observation data of a GNSS (Global Navigation Satellite System) sensor, a VISON visual sensor, an SINS (Strapdown Inertial Navigation System) inertial sensor and a WHEEL wheel type odometer, and preprocessing and synchronizing the original observation data; vISON / SINS / WHEEL joint dynamic initialization is carried out on the VISO / SINS / Aligning the data of the visual sensor, the data of the inertial sensor, the data of the wheel type odometer and the data of the GNSS sensor; constructing a pre-integration model of the inertial sensor and the wheel type odometer; aggregating the GNSS original observation residual error, the visual residual error, the inertia pre-integration model, the wheel type odometer model and the plane constraint, and constructing a nonlinear residual error model; and solving the constructed nonlinear residual model in real time, and completing high-precision positioning in a complex environment. According to the method, a high-precision positioning process in a complex environment is realized, and the method is high in reliability, good in precision and good in robustness.

Description

technical field [0001] The invention belongs to the technical field of navigation, and in particular relates to a high-precision positioning method in a complex environment. Background technique [0002] With the development of economy and technology and the improvement of people's living standards, positioning and navigation services have been widely used in people's production and life, bringing endless convenience to people's production and life. Therefore, ensuring the accuracy of positioning and navigation has become the focus of researchers' research. [0003] At present, in practical applications, there are many areas with weak GNSS (Global Navigation Satellite System) signals or no GNSS signals in the actual environment, such as tunnels, overheads, garages, etc.; in these areas, if pure GNSS positioning is used, Then the positioning system cannot provide high-precision positioning results in real time. Therefore, a comprehensive positioning method integrating multi...

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Problems solved by technology

[0004] However, the current multi-source fusion positioning methods generally have some defects: the current method of VIO (Visual-Inertial Odometry, visual-inertial trajectory method) and GNSS fusion method, in areas without GNSS signals, the positioning system degenerates into pure VIO system, because the ground carrier is approximately flat, the monocular VIO system will have additional insignificant degrees of freedom, resulting in positioning drift; in addition, the current fusion of VIO and GNSS is mainly based on loose coupling or semi-tight combination, which cannot be achieved in complex environments. Provides highly robust positioning results

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