Dead reckoning method, apparatus and electronic device

By constructing filters and neurodynamic models, and combining IMU and odometry data, dead reckoning state variables are updated, solving the problems of odometry error and SINS/DR bias, and improving the reliability and accuracy of dead reckoning.

CN114964229BActive Publication Date: 2026-02-13UISEE SHANGHAI AUTOMOTIVE TECH LTD
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Patent Information

Application Number
CN202210493162.8
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2022-05-07
Publication Date
2026-02-13
Estimated Expiration
2042-05-07

AI Technical Summary

Technical Problem

In existing technologies, the vehicle speed monitored by the odometer has errors, especially in the case of skidding or data delay, which leads to low reliability of dead reckoning results, and the SINS/DR integrated navigation system has failed to effectively correct its own deviations.

Method used

By constructing a filter, the forward velocity information of the target vehicle is used to predict state variables, and the residual between the observed vehicle speed value and the state variable prediction result is obtained. The state variable prediction result of the filter is updated using the residual substitution, and the acceleration bias is calibrated by combining the measurement values ​​of IMU and odometer. The residual is processed using a neurodynamic model, and finally the dead reckoning result is determined based on the steering information.

Benefits of technology

It improves the reliability of dead reckoning results, enhances the ability to correct for various error scenarios, reduces reliance on IMU calibration, and improves the accuracy of position prediction.

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Abstract

The application discloses a dead reckoning method and device and electronic equipment, comprising: constructing a current state quantity corresponding to a filter according to forward speed information of a target vehicle at a current time, and predicting the current state quantity to obtain a state quantity prediction result of the filter; obtaining a residual error between a current observed vehicle speed value corresponding to the target vehicle and the state quantity prediction result, determining a residual error replacement quantity matched with the residual error, and updating the state quantity prediction result of the filter according to the residual error replacement quantity; and determining a dead reckoning result corresponding to the target vehicle according to the updated state quantity prediction result and steering information of the target vehicle. The technical scheme of the embodiment of the application can improve the reliability of the dead reckoning result.
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