Multi-vehicle positioning method and device based on multi-sensor fusion and computer equipment

Abstract

According to the multi-vehicle positioning method and device based on multi-sensor fusion and the computer equipment, the data of the combined inertial navigation sensor installed on the positioning unmanned vehicle in the formation, the sensing data and the navigation positioning data of the positioned unmanned vehicle are acquired; associating the navigation positioning data, the sensing data and prediction data of a current time step by a filter on the positioned unmanned vehicle to obtain an associated data packet; and according to a preset adaptive switching strategy, selecting one kind of data in the associated data packet as observation data of the positioned unmanned vehicle, and finally, inputting the observation data into a filter on the positioned unmanned vehicle to obtain a positioning result of the positioned unmanned vehicle in the formation. The external environment can be described more accurately through comprehensive analysis of the data of the multiple sensors, and due to the fact that the validity of the multi-vehicle communication system and the validity of the data of the various sensors are different under different environment conditions, data association is carried out, positioning sources are switched autonomously through the environment conditions, and the credibility of positioning data is improved.

Description

technical field [0001] The present application relates to the technical field of unmanned vehicle formation positioning, and in particular, to a multi-vehicle positioning method, device and computer equipment based on multi-sensor fusion. Background technique [0002] In order to complete the formation task, any unmanned vehicle in the formation needs to know the absolute position between other unmanned vehicles to complete the corresponding path planning. Usually, the position information exchange of the multi-vehicle formation system completes the interaction of the positioning information between the multi-vehicles through the master-slave or distributed communication architecture. Any unmanned vehicle in the formation obtains the absolute pose and speed information of any other unmanned vehicle Only then can the corresponding formation tasks be completed. [0003] However, the positioning method that relies solely on the interaction of GPS and other information on the r...

AI Technical Summary

Problems solved by technology

As a result, multi-sensor fusion technology emerged as the times require. However, the validity and reliability of different sensor data are different in complex environments. How to adaptively switch reliable data according to environmental conditions is a very challenging problem.

At the same time, the abnormality of the origin of the vehicle-to-vehicle communication time coordinate system, the instability of the multi-sensor trigger cycle of the positioning unmanned vehicle, and the inconsistency of the coordinate systems of different sensor data also bring challenges to the unification of data fusion results and the state design of the filter.

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