An instantaneous collaborative positioning method for unmanned vehicle swarms facing short-term local positioning failure

Abstract

The present invention discloses an instantaneous collaborative positioning method for unmanned vehicle groups facing short-term local positioning failure, which belongs to the field of unmanned driving, including: 1. constructing a collaborative positioning response matrix of vehicles in the unmanned vehicle group, and calculating the noise reduction space distance vector between the vehicle with main positioning failure and the responding vehicle; 2. using the noise reduction space distance vector and the collaborative positioning response matrix, calculating the deviation and fuzzy correlation of the responding vehicle positioning information, and obtaining the positioning information credibility set of the responding vehicle; 3. constructing a collaborative positioning vehicle selection strategy, determining the current collaborative positioning vehicle in the unmanned vehicle group, and constructing a collaborative positioning information matrix; 4. calculating the initial value of the positioning information of the positioning failure vehicle at the next moment, establishing a collaborative positioning information correction model and correcting the initial value, and giving the real-time positioning information of the positioning failure vehicle at the next moment. The present invention can effectively improve the positioning anti-interference ability of unmanned vehicles in complex driving environments, and open up new GNSS positioning anti-interference strategies for the development of unmanned vehicles.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned driving, and mainly relates to an instantaneous collaborative positioning method for an unmanned vehicle group facing short-term local positioning failure. Background Art

[0002] In recent years, with the rapid development of big data technology, the technology of driverless cars has developed from the early proof-of-concept stage to the current actual road testing and partial commercialization stage. Many companies are actively developing and testing driverless technologies, which include advanced sensors, powerful data processing capabilities, and complex algorithms to achieve environmental perception, decision-making, and precise control. Among them, the precise positioning of the vehicle is one of the core elements of driverless technology. Driverless cars need to know their exact position in the environment in order to navigate and perform driving tasks safely and effectively.

[0003] However, there are still some deficiencies in the positioning technology of unmanned vehicles: the performance of modern positioning technologies such as GNSS (Global Navigation Satellite System), LiDAR and visual sensors may be affected in some cases, such as urban canyons with tall buildings, tunnels or densely wooded areas, resulting in reduced positioning accuracy; in an environment with network signal interference, the communication between the unmanned vehicle and the cloud monitoring platform may be interrupted, resulting in the vehicle being unable to receive its positioning data in real time and accurately; when the unmanned vehicle loses its own positioning ability and adopts the relative positioning method based on vehicle-to-vehicle communication (V2V) technology, the quality of the positioning data of the reference vehicle will have an adverse effect on its final positioning accuracy. Therefore, how to accurately quantify and evaluate the vehicle position information of the unmanned vehicle group in the area under complex and dynamically changing environmental conditions, and use V2V-based relative positioning technology to compensate for positioning failures caused by factors such as environmental interference and network delays, has become an urgent problem to be solved. Summary of the invention

[0004] In order to overcome the shortcomings of the above-mentioned prior art, the present invention proposes an instantaneous collaborative positioning method for unmanned vehicle groups facing short-term local positioning failure, in order to improve the quality of unmanned vehicle group positioning data, enhance the positioning accuracy and positioning anti-interference ability of unmanned vehicles in complex scenes, thereby providing a new idea for the positioning of unmanned vehicles.

[0005] The present invention adopts the following technical solutions to solve the above problems:

[0006] The instantaneous collaborative positioning method of an unmanned vehicle group facing short-term local positioning failure of the present invention is characterized by comprising:

[0007] Step 1, Invalid vehicles in invalid Broadcast cooperation request frames to surrounding vehicles at all times And receive any surrounding The coordinated response frame replied by the responding vehicle ;

[0008] Step 2: Build a failed vehicle Co-locate the response matrix at the moment and calculate the noise reduction spatial distance with the response vehicle;

[0009] Step 3: The disabled vehicle is selected from all responding vehicles to meet the effective response range. effective response vehicles and construct an effective collaborative positioning response matrix , thus obtaining the noise reduction space distance vector between the invalid vehicle and the effective response vehicle ;

[0010] Step 4: Utilization and , calculate the A disabled vehicle The credibility set of the positioning information at the moment ;

[0011] Step 5: Judgement Is it true? If so, build a collaborative positioning vehicle The collaborative positioning information matrix at the moment of Some position parameters at the moment are corrected, otherwise, increase After the value is obtained, return to step 3, where Indicates the total number of valid response vehicles in the unmanned vehicle group;

[0012] Step 6: Build the failed vehicle Collaboration Request Frame With collaborative response frame , used for interaction between disabled vehicles and surrounding vehicles.

[0013] The instantaneous collaborative positioning method for unmanned vehicle groups facing short-term local positioning failure described in the present invention is also characterized in that step 2 is performed according to the following steps:

[0014] Step 2.1: Based on the interactive frame information between unmanned vehicles, use formula (1) to construct the A disabled vehicle The collaborative positioning response matrix of vehicles in the unmanned vehicle group at the moment ;

[0015] (1)

[0016] In formula (1), Indicates A disabled vehicle Always The responding vehicle sends a cooperation request frame timestamp, For the The disabled vehicle receives The coordinated response frame replied by the responding vehicle timestamp, For the The transmission speed of the radio signal of a disabled vehicle, For the The communication equipment number of the disabled vehicle, For the The responding vehicle is The position parameters at the moment, Indicates Response vehicle processing Collaboration Request Frame And send a coordinated response frame The delay, , , Indicates the total number of vehicles in the unmanned vehicle group;

[0017] Step 2.2: Use formula (2) to calculate The disabled vehicle and The responding vehicle is Denoising space distance at the moment ;

[0018] (2)

[0019] In formula (2), is the noise correction value for interactive information network transmission.

[0020] Furthermore, step 3 is performed as follows:

[0021] Step 3.1: Define the effective response range of the disabled vehicle The noise reduction space distance of the responding vehicle at the time of main positioning failure is less than or equal to the distance threshold , then the The disabled vehicles are selected from all the responding vehicles to meet the effective response range. of effective response vehicle, and then use formula (3) to construct the first The effective response range of disabled vehicles Internal Effective co-location response matrix at all times ;

[0022] (3)

[0023] In formula (3), Indicates The effective response range of disabled vehicles Internal Always A valid response vehicle sends a cooperation request frame timestamp, For the The effective response range of disabled vehicles Internal reception A coordinated response frame with valid response vehicle reply timestamp, Valid response range Neidi Valid responding vehicles in The position parameters at the moment, Indicates the effective response range Neidi Valid response vehicle processing Collaboration Request Frame And send a coordinated response frame Delay

[0024] Step 3.2: Calculate The disabled vehicle and the valid response vehicle are The denoised spatial distance vector at time ;in, Indicates Disabled vehicles and effective response range Neidi Valid responding vehicles in The noise reduction space distance at the moment, .

[0025] Further, step 4 is performed as follows:

[0026] Step 4.1, the Invalid vehicle extraction middle The position parameters of the valid responding vehicle are established. The effective response range of disabled vehicles The location parameter information set of the valid response vehicle ,in, Indicates the effective response range Internal Moment The position parameter matrix of the effective responding vehicles, and , Indicates the effective response range Neidi Valid responding vehicles are The longitude coordinate of the time, Indicates the effective response range Neidi Valid responding vehicles in The latitude coordinate of the time, Indicates the effective response range Neidi Valid responding vehicles in The height coordinate at the time, Indicates the effective response range Neidi Valid responding vehicles in Moment direction of travel in the direction, and , Indicates the east direction. Indicates the south direction. Indicates the west direction, Indicates the direction of true north. Indicates the effective response range Neidi The responding vehicle is The front deflection angle at time , Indicates the effective response range Neidi Valid responding vehicles in The driving speed in the driving direction q at time , and ,when When The driving direction of the first valid response vehicle is the same as the The driving direction of the disabled vehicles is the same. When The driving direction of the first valid response vehicle is the same as the The disabled vehicle was traveling in the opposite direction. Indicates the effective response range Neidi Valid responding vehicles in The acceleration in the acceleration direction e at the moment, and ,when When The acceleration direction of the first effective response vehicle is the same as the The acceleration directions of the disabled vehicles are in the same direction. When The acceleration direction of the first effective response vehicle is the same as the The acceleration direction of the disabled vehicle is reversed;

[0027] Step 4.2: Use formula (4) to calculate A disabled vehicle Moment and Pseudorange between effective responding vehicles and The quality quantitative evaluation value of the effective response vehicle position parameters , thus obtaining A disabled vehicle The effective response vehicle pseudo-range set at the time And the quality quantitative evaluation value set of effective response vehicle position parameters ;

[0028] (4)

[0029] In formula (4), Indicates A disabled vehicle The longitude coordinate of the time, Indicates A disabled vehicle The latitude coordinate of the time, Indicates A disabled vehicle The altitude coordinate at the time;

[0030] Step 4.3: Use formula (5) to construct the effective response range The first The valid response vehicle is A disabled vehicle The deviation value of the position information at the moment , thus obtaining the effective response range All valid responding vehicles within A disabled vehicle The deviation value set of the moment position information ;

[0031] (5)

[0032] In formula (5), , , , Represents 4 different setting values, and > > > ; , , Respectively represent 3 different set values; and ;

[0033] Step 4.4: Middle Any position reference information of a failed vehicle is recorded as ,Will Middle Any position reference information of a valid responding vehicle is recorded as , , and then use formula (6) to calculate the Any location reference information of a failed vehicle With Any position reference information of a valid responding vehicle Fuzzy correlation between , thus obtaining A disabled vehicle Time and effective response range Neidi The fuzzy correlation quantization matrix between the responding vehicles ;

[0034] (6)

[0035] In formula (6), Indicates A disabled vehicle Moment Direction of travel in direction, Indicates A disabled vehicle The front deflection angle of the vehicle at the moment, , Indicates A disabled vehicle Driving direction at the moment The driving speed is Indicates A disabled vehicle The direction of acceleration at the moment Driving acceleration under

[0036] Step 4.5: Set the priority value of each responding vehicle's longitude coordinates to , the priority value of the latitude coordinate of each responding vehicle is , the priority value of the height coordinate of each responding vehicle is , the priority value of each responding vehicle’s driving direction is , the priority value of the headway angle of each responding vehicle is , the priority value of each responding vehicle’s driving speed is , the priority value of each responding vehicle’s acceleration is , thereby constructing a priority matrix of the location reference information of each responding vehicle ; T represents transpose;

[0037] Step 4.6: Use formula (7) to calculate the The effective response range of disabled vehicles Inside and outside The responding vehicle is The reliability value of the positioning information at the moment , thus obtaining The effective response range of disabled vehicles The credibility set of the positioning information of all valid responding vehicles ;

[0038] (7).

[0039] Further, the step 5 comprises:

[0040] Step 5.1: Use formula (8) to construct the collaborative positioning vehicle Co-location information matrix at each moment ;

[0041] (8)

[0042] In formula (8), Indicates the effective response range Neidi Co-located vehicles in The longitude coordinate of the time, Indicates the effective response range Neidi Co-located vehicles in The latitude coordinate of the time, Indicates the effective response range Neidi Co-located vehicles in The height coordinate at the time, ;

[0043] Step 5.2: Use formula (9) to calculate A disabled vehicle Longitude coordinate of the time , latitude coordinates and height coordinates ;

[0044] (9)

[0045] In formula (9), , , , , , , , Respectively expressed in There are 8 process quantities at the moment, and:

[0046] (10)

[0047] Step 5.3: time, time, Moment and Any time in the time is recorded as time t, and the formula (11) is used to calculate the A disabled vehicle Some position parameters after correction at this moment;

[0048] (11)

[0049] In formula (11), For the A disabled vehicle The time-corrected longitude coordinate, For the A disabled vehicle The time-corrected latitude coordinate, For the A disabled vehicle The height coordinate after time correction, Indicates A disabled vehicle The velocity component in the longitude direction at the moment, Indicates A disabled vehicle The velocity component in the latitude direction at a given moment, Indicates A disabled vehicle The velocity component in the height direction at a given moment.

[0050] Further, step 6 is performed as follows:

[0051] Step 6.1: Some position parameters after time correction and The remaining position parameter combinations at time A disabled vehicle The position parameter matrix at time , thus Write separately Collaboration Request Frame and Coordinated response frame at time ;

[0052] Step 6.2, A disabled vehicle Always check whether the main positioning has returned to normal. If not, Assign to Then, return to step 1 and execute sequentially. A disabled vehicle Always aware of the collaborative request frames of surrounding vehicles When the coordinated response frame is fed back to it .

[0053] Compared with the prior art, the present invention has the following beneficial effects:

[0054] 1. The present invention proposes a quality quantitative assessment method for the position parameters of a group of unmanned vehicles in a region, which accurately assesses the quality of the positioning data of the unmanned vehicle under study. This method eliminates the interfered positioning data source for the subsequent relative positioning method based on vehicle-to-vehicle communication (V2V) technology, thus laying the foundation for the instantaneous collaborative positioning of unmanned vehicles.

[0055] 2. The present invention designs a method for calculating the fuzzy correlation between the positioning failure vehicle and the response vehicle in the unmanned vehicle group, such as Figure 1 As shown in the figure, the position parameters of the unmanned vehicle in multiple dimensions are selected as the judgment factors, and the correlation between the positioning failure vehicle and the responding vehicle in seven dimensions, including longitude, latitude, altitude, driving direction, front deflection angle, speed, and acceleration, is analyzed. Finally, a fuzzy correlation quantization matrix is ​​formed, which accurately reflects the dynamic relationship between the vehicles, thereby providing a reliable quantitative basis for the selection of collaborative positioning vehicles in the relative positioning method based on vehicle-to-vehicle communication (V2V).

[0056] 3. The present invention provides a compensation positioning method for unmanned vehicle groups in complex driving environments. When the GNSS positioning signal of the unmanned vehicle itself is interfered with and loses contact with the cloud monitoring server due to network delays and other problems, it can establish communication with the responding vehicle, receive the responding vehicle's position parameters, and use the filtered collaborative position coordinates to calculate its own positioning coordinates. In the process of continuously iteratively calculating its own position coordinates, the collaborative positioning information correction model can effectively reduce the coordinate calculation error, thereby realizing instantaneous collaborative positioning among unmanned vehicle groups, and opening up a new GNSS positioning anti-interference strategy for the development of unmanned vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 A flow chart of the collaborative positioning vehicle selection based on the reliability value of the positioning information of the effective response vehicle according to the present invention;

[0058] Figure 2This is a basic flow chart of instantaneous co-location based on selected position parameters of co-located vehicles according to the present invention. DETAILED DESCRIPTION

[0059] In this embodiment, a method for instantaneous collaborative positioning of a group of unmanned vehicles for short-term local positioning failure includes: Figure 2 As shown, the steps are as follows:

[0060] Step 1: Assume that any unmanned vehicle If the main positioning fails at any time, the corresponding unmanned vehicle will be used as the first Disabled vehicle, A disabled vehicle Broadcast cooperation request frames to surrounding vehicles at all times , at the same time, A disabled vehicle receives any The responding vehicle replies with a cooperation request frame Coordinated response frame sent , thereby forming interactive frame information between unmanned vehicles in the interactive information network;

[0061] In this example, the cooperation request frame With collaborative response frame The contents include: 1 Byte of frame start, 1 Byte of frame type, 2 Byte of data area length, 8 Byte of frame sending time, 2 Byte of communication device number, 8 Byte of longitude coordinate, 8 Byte of latitude coordinate, 8 Byte of altitude coordinate, 2 Byte of driving direction, 1 Byte of vehicle head deflection angle, 1 Byte of speed, 1 Byte of acceleration, and 1 Byte of check bit.

[0062] Step 2: Build A disabled vehicle The collaborative positioning response matrix of vehicles in the unmanned vehicle group at the moment , thus calculating the A disabled vehicle The noise reduction space distance between the responding vehicle and the vehicle at the moment :

[0063] Step 2.1: Based on the interactive frame information between unmanned vehicles, use formula (1) to construct the A disabled vehicle Co-location response matrix at the moment ;

[0064] (1)

[0065] In formula (1), Indicates A disabled vehicle Always The responding vehicle sends a cooperation request frame timestamp, For the The disabled vehicle receives The coordinated response frame replied by the responding vehicle timestamp, For the The transmission speed of the radio signal of a disabled vehicle, For the The communication equipment number of the disabled vehicle, For the The responding vehicle is The position parameters at the moment, Indicates Response vehicle processing Collaboration Request Frame And send a coordinated response frame The delay, , , represents the total number of vehicles in the unmanned vehicle group. In this example, the radio signal transmission speed Meters / second.

[0066] Step 2.2: Use formula (2) to calculate The disabled vehicle and The responding vehicle is Denoising space distance at the moment ;

[0067] (2)

[0068] In formula (2), is the noise correction value transmitted by the interactive information network; in this example, the noise correction value transmitted by the interactive information network Second.

[0069] Step 3: Define the effective response range of the disabled vehicle The noise reduction space distance of the responding vehicle at the time of main positioning failure is less than or equal to the distance threshold , then The disabled vehicles are selected from all the responding vehicles to meet the effective response range. of effective response vehicle, and then use formula (3) to construct the first The effective response range of disabled vehicles Internal Effective co-location response matrix at all times , and then get the The disabled vehicle and the valid response vehicle are The denoised spatial distance vector at time ;in, Indicates Disabled vehicles and effective response range Neidi Valid responding vehicles in The noise reduction space distance at the moment, , Represents the total number of valid response vehicles in the unmanned vehicle group. In this example, meters, the total number of valid responding vehicles in the area Vehicle.

[0070] (3)

[0071] In formula (3), Indicates The effective response range of disabled vehicles Internal Always A valid response vehicle sends a cooperation request frame timestamp, For the The effective response range of disabled vehicles Internal reception A coordinated response frame with valid response vehicle reply timestamp, Valid response range Neidi Valid responding vehicles in The position parameters at the moment, Indicates the effective response range Neidi Valid response vehicle processing Collaboration Request Frame And send a coordinated response frame delay.

[0072] Step 4: Utilization and ,calculate The deviation and fuzzy correlation of the positioning information of the first effective responding vehicle are obtained. The effective response range of disabled vehicles Inside Valid responding vehicles in The credibility set of the positioning information at the moment :

[0073] Step 4.1, Invalid vehicle extraction middle The position parameters of the valid responding vehicle are established. The effective response range of disabled vehicles The location parameter information set of the valid response vehicle ,in, Indicates the effective response range Internal Moment The position parameter matrix of the effective responding vehicles, and , Indicates the effective response range Neidi Valid responding vehicles in The longitude coordinate of the time, Indicates the effective response range Neidi Valid responding vehicles in The latitude coordinate of the time, Indicates the effective response range Neidi Valid responding vehicles in The height coordinate at the time, Indicates the effective response range Neidi Valid responding vehicles in Moment Direction of travel in the direction, and , Indicates the east direction. Indicates the south direction. Indicates the direction due west. Indicates the direction of true north. Indicates the effective response range Neidi The responding vehicle is The front deflection angle at time , Indicates the effective response range Neidi Valid responding vehicles in The driving speed in the driving direction q at time , and ,when When The driving direction of the first valid response vehicle is the same as the The driving direction of the disabled vehicles is the same. When The driving direction of the first valid response vehicle is the same as the The disabled vehicle was traveling in the opposite direction. Indicates the effective response range Neidi Valid responding vehicles in The acceleration in the acceleration direction e at the moment, and ,when When The acceleration direction of the first effective response vehicle is the same as the The acceleration directions of the disabled vehicles are in the same direction. When The acceleration direction of the first effective response vehicle is the same as the The acceleration direction of the disabled vehicle is reversed; in this example, within the effective response range Among them, 9 valid response vehicles were traveling in the same direction as the disabled vehicle, and 3 were traveling in the opposite direction.

[0074] Step 4.2: Use formula (4) to calculate A disabled vehicle Moment and Pseudorange between effective responding vehicles and The quality quantitative evaluation value of the effective response vehicle position parameters , thus obtaining A disabled vehicle The effective response vehicle pseudo-range set at the time And the quality quantitative evaluation value set of effective response vehicle position parameters ;

[0075] (4)

[0076] In formula (4), Indicates A disabled vehicle The longitude coordinate of the time, Indicates A disabled vehicle The latitude coordinate of the time, Indicates A disabled vehicle The altitude coordinate at the time.

[0077] Step 4.3: Use formula (5) to construct the effective response range The first The valid response vehicle is A disabled vehicle The deviation value of the position information at the moment , thus obtaining the effective response range All valid responding vehicles within A disabled vehicle The deviation value set of the moment position information ;

[0078] (5)

[0079] In formula (5), , , , Represents 4 different setting values, and > > > ; , , Respectively represent 3 different setting values; and ; For example, the deviation values ​​of the effective response vehicle 1 and the effective response vehicle 2 are 0.9 and 0.8 respectively.

[0080] Step 4.4: Middle Any position reference information of a failed vehicle is recorded as ,Will Middle Any position reference information of a valid responding vehicle is recorded as , , and then use formula (6) to calculate the Any location reference information of a failed vehicle With Any position reference information of a valid responding vehicle Fuzzy correlation between , thus obtaining A disabled vehicle Time and effective response range Neidi The fuzzy correlation quantization matrix between the responding vehicles ;

[0081] (6)

[0082] In formula (6), Indicates A disabled vehicle Moment Direction of travel in direction, Indicates A disabled vehicle The front deflection angle of the vehicle at the moment, , Indicates A disabled vehicle Driving direction at the moment The driving speed is Indicates A disabled vehicle The direction of acceleration at the moment Driving acceleration.

[0083] Step 4.5: Set the priority value of each responding vehicle's longitude coordinates to , the priority value of the latitude coordinate of each responding vehicle is , the priority value of the height coordinate of each responding vehicle is , the priority value of each responding vehicle’s driving direction is , the priority value of the headway angle of each responding vehicle is , the priority value of each responding vehicle’s driving speed is , the priority value of each responding vehicle’s acceleration is , thereby constructing a priority matrix of the location reference information of each responding vehicle ; T represents transposition. In this example, the priority matrix is ​​selected according to the different importance levels of different dimensional data in the vehicle position parameter matrix. .

[0084] Step 4.6: Use formula (7) to calculate the The effective response range of disabled vehicles Inside and outside The responding vehicle is The reliability value of the positioning information at the moment , thus obtaining The effective response range of disabled vehicles The credibility set of the positioning information of all valid responding vehicles ;

[0085] (7)

[0086] Step 5: Judgement Is it true? If so, the first three valid responding vehicles are selected as the cooperative positioning vehicles according to the descending order of the positioning information credibility value, so as to construct the cooperative positioning vehicle in the formula (8). Co-location information matrix at each moment Otherwise, increase After taking the value, return to step 3 and execute sequentially;

[0087] (8)

[0088] In formula (8), Indicates the effective response range Neidi Co-located vehicles in The longitude coordinate of the time, Indicates the effective response range Neidi Co-located vehicles in The latitude coordinate of the time, Indicates the effective response range Neidi Co-located vehicles in The height coordinate at the time, .

[0089] Step 6: Based on the co-location vehicle Co-location information matrix at each moment , calculate the A disabled vehicle The partial position parameters of the moment, including longitude coordinates, latitude coordinates and altitude coordinates, and establish a collaborative positioning information correction model to correct the A disabled vehicle The partial position parameters at the moment are corrected to obtain A disabled vehicle Some position parameters after time correction;

[0090] Step 6.1: Use formula (9) to calculate A disabled vehicle Longitude coordinate of the time , latitude coordinates and height coordinates ;

[0091] (9)

[0092] In formula (9), , , , , , , , Respectively expressed in There are 8 process quantities at the moment, and:

[0093] (10)

[0094] Step 6.2: time, time, Moment and Any time in the time is recorded as time t, and the formula (11) is used to calculate the A disabled vehicle Some position parameters after correction at this moment;

[0095] (11)

[0096] In formula (11), For the A disabled vehicle The time-corrected longitude coordinate, For the A disabled vehicle The time-corrected latitude coordinate, For the A disabled vehicle The height coordinate after time correction, Indicates A disabled vehicle The velocity component in the longitude direction at the moment, Indicates A disabled vehicle The velocity component in the latitude direction at a given moment, Indicates A disabled vehicle The velocity component in the height direction at a given moment.

[0097] Step 7: Some position parameters after time correction and The remaining position parameter combinations at time are A disabled vehicle The position parameter matrix at time , thus Write separately Collaboration Request Frame and Coordinated response frame at time ;

[0098] Step 8: A disabled vehicle Always check whether the main positioning has returned to normal. If not, Assign to Then, return to step 1 and execute sequentially. A disabled vehicle Always aware of the collaborative request frames of surrounding vehicles When the coordinated response frame is fed back to it .

[0099] In this embodiment, an electronic device includes a memory and a processor, wherein the memory is used to store a program that supports the processor to execute the above method, and the processor is configured to execute the program stored in the memory.

[0100] In this embodiment, a computer-readable storage medium stores a computer program on the computer-readable storage medium, and the computer program executes the steps of the above method when executed by a processor.

[0101] To sum up, the present invention can quantitatively evaluate the position parameters of the unmanned vehicle group when the unmanned vehicle group is disturbed, filter out data sources with little reference value or problems, establish a fuzzy correlation evaluation system for responding vehicles for unmanned vehicles that have lost their own positioning capabilities, and select the most suitable collaborative positioning vehicle to calculate coordinates, thereby providing unmanned vehicles with an instantaneous collaborative positioning method in the face of short-term local positioning failures.

Claims

1. A method for instantaneous collaborative positioning of unmanned vehicle groups for short-term local positioning failure, characterized in that: include: Step 1, Invalid vehicles in invalid Broadcast cooperation request frames to surrounding vehicles at all times And receive any surrounding The coordinated response frame replied by the responding vehicle ; Step 2: Build a failed vehicle Co-locate the response matrix at the moment and calculate the noise reduction spatial distance with the response vehicle; Step 3: The disabled vehicle is selected from all responding vehicles to meet the effective response range. effective response vehicles and construct an effective collaborative positioning response matrix , thus obtaining the noise reduction space distance vector between the invalid vehicle and the effective response vehicle ; Step 4: Utilization and , calculate the A disabled vehicle The credibility set of the positioning information at the moment ; Step 5: Judgement Is it true? If so, build a collaborative positioning vehicle The collaborative positioning information matrix at the moment of Some position parameters at the moment are corrected, otherwise, increase After the value is obtained, return to step 3; where, Indicates the total number of valid response vehicles in the unmanned vehicle group; Step 6: Build the failed vehicle Collaboration Request Frame With collaborative response frame , used for interaction between disabled vehicles and surrounding vehicles.

2. The method for instantaneous collaborative positioning of unmanned vehicle groups facing short-term local positioning failure according to claim 1 is characterized in that: Described step 2 is carried out as follows: Step 2.1: Based on the interactive frame information between unmanned vehicles, use formula (1) to construct the A disabled vehicle The collaborative positioning response matrix of vehicles in the unmanned vehicle group at the moment ; (1) In formula (1), Indicates A disabled vehicle Always The responding vehicle sends a cooperation request frame timestamp, For the The disabled vehicle receives The coordinated response frame replied by the responding vehicle timestamp, For the The transmission speed of the radio signal of a disabled vehicle, For the The communication equipment number of the disabled vehicle, For the The responding vehicle is The position parameters at the moment, Indicates Response vehicle processing Collaboration Request Frame And send a coordinated response frame The delay, , , Indicates the total number of vehicles in the unmanned vehicle group; Step 2.2: Use formula (2) to calculate The disabled vehicle and The responding vehicle is Denoising space distance at the moment ; (2) In formula (2), is the noise correction value for interactive information network transmission.

3. The method for instantaneous collaborative positioning of unmanned vehicle groups facing short-term local positioning failure according to claim 2 is characterized in that: The step 3 is carried out as follows: Step 3.1: Define the effective response range of the disabled vehicle The noise reduction space distance of the responding vehicle at the time of main positioning failure is less than or equal to the distance threshold , then the The disabled vehicles are selected from all the responding vehicles to meet the effective response range. of effective response vehicle, and then use formula (3) to construct the first The effective response range of disabled vehicles Internal Effective co-location response matrix at all times ; (3) In formula (3), Indicates The effective response range of disabled vehicles Internal Always A valid response vehicle sends a cooperation request frame timestamp, For the The effective response range of disabled vehicles Internal reception A coordinated response frame with valid response vehicle reply timestamp, Valid response range Neidi Valid responding vehicles are The position parameters at the moment, Indicates the effective response range Neidi Valid response vehicle processing Collaboration Request Frame And send a coordinated response frame Delay Step 3.2: Calculate The disabled vehicle and the valid response vehicle are The denoised spatial distance vector at time ;in, Indicates Disabled vehicles and effective response range Neidi Valid responding vehicles are The noise reduction space distance at the moment, .

4. The method for instantaneous collaborative positioning of unmanned vehicle groups facing short-term local positioning failure according to claim 3 is characterized in that: The step 4 is carried out as follows: Step 4.1, the Invalid vehicle extraction middle The position parameters of the valid responding vehicle are established. The effective response range of disabled vehicles The location parameter information set of the valid response vehicle ,in, Indicates the effective response range Internal Moment The position parameter matrix of the effective responding vehicles, and , Indicates the effective response range Neidi Valid responding vehicles are The longitude coordinate of the time, Indicates the effective response range Neidi Valid responding vehicles are The latitude coordinate of the time, Indicates the effective response range Neidi Valid responding vehicles are The height coordinate at the time, Indicates the effective response range Neidi Valid responding vehicles are Moment direction of travel in the direction, and , Indicates the east direction. Indicates the south direction. Indicates the west direction, Indicates the direction of true north. Indicates the effective response range Neidi The responding vehicle is The front deflection angle at time , Indicates the effective response range Neidi Valid responding vehicles are The driving speed in the driving direction q at time , and ,when When The driving direction of the first valid response vehicle is the same as the The driving direction of the disabled vehicles is the same. When The driving direction of the first valid response vehicle is the same as the The disabled vehicle was traveling in the opposite direction. Indicates the effective response range Neidi Valid responding vehicles are The acceleration in the acceleration direction e at the moment, and ,when When The acceleration direction of the first effective response vehicle is the same as the The acceleration directions of the disabled vehicles are in the same direction. When The acceleration direction of the first effective response vehicle is the same as the The acceleration direction of the disabled vehicle is reversed; Step 4.2: Use formula (4) to calculate the A disabled vehicle Moment and The pseudo-range between effective responding vehicles and The quality quantitative evaluation value of the effective response vehicle position parameters , thus obtaining A disabled vehicle The effective response vehicle pseudo-range set at the time And the quality quantitative evaluation value set of effective response vehicle position parameters ; (4) In formula (4), Indicates A disabled vehicle The longitude coordinate of the time, Indicates A disabled vehicle The latitude coordinate of the time, Indicates A disabled vehicle The altitude coordinate at the time; Step 4.3: Use formula (5) to construct the effective response range The first The valid response vehicle is A disabled vehicle The deviation value of the position information at the moment , thus obtaining the effective response range All valid responding vehicles within A disabled vehicle The deviation value set of the moment position information ; (5) In formula (5), , , , Represents 4 different setting values, and > > > ; , , Respectively represent 3 different setting values; and ; Step 4.4: Middle Any position reference information of a failed vehicle is recorded as ,Will Middle Any position reference information of a valid responding vehicle is recorded as , , and then use formula (6) to calculate the Any location reference information of a failed vehicle With Any position reference information of a valid responding vehicle Fuzzy correlation between , thus obtaining A disabled vehicle Time and effective response range Neidi The fuzzy correlation quantization matrix between the responding vehicles ; (6) In formula (6), Indicates A disabled vehicle Moment Direction of travel in direction, Indicates A disabled vehicle The front deflection angle of the vehicle at the moment, , Indicates A disabled vehicle Driving direction at the moment The driving speed is Indicates A disabled vehicle The direction of acceleration at the moment Driving acceleration under Step 4.5: Set the priority value of each responding vehicle's longitude coordinates to , the priority value of the latitude coordinate of each responding vehicle is , the priority value of the height coordinate of each responding vehicle is , the priority value of each responding vehicle’s driving direction is , the priority value of the headway angle of each responding vehicle is , the priority value of each responding vehicle’s driving speed is , the priority value of each responding vehicle’s acceleration is , thereby constructing a priority matrix of the location reference information of each responding vehicle ; T represents transpose; Step 4.6: Use formula (7) to calculate the The effective response range of disabled vehicles Inside and outside The responding vehicle is The reliability value of the positioning information at the moment , thus obtaining The effective response range of disabled vehicles The credibility set of the positioning information of all valid responding vehicles ; (7)。 5. The method for instantaneous collaborative positioning of unmanned vehicle groups facing short-term local positioning failure according to claim 4 is characterized in that: The step 5 comprises: Step 5.1: Use formula (8) to construct the collaborative positioning vehicle Co-location information matrix at each moment ; (8) In formula (8), Indicates the effective response range Neidi Co-located vehicles in The longitude coordinate of the time, Indicates the effective response range Neidi Co-located vehicles in The latitude coordinate of the time, Indicates the effective response range Neidi Co-located vehicles in The height coordinate at the time, ; Step 5.2: Use formula (9) to calculate A disabled vehicle Longitude coordinate of the time , latitude coordinates and height coordinates ; (9) In formula (9), , , , , , , , Respectively expressed in There are 8 process quantities at the moment, and: (10) Step 5.3: time, time, Moment and Any time in the time is recorded as time t, and the formula (11) is used to calculate the A disabled vehicle Some position parameters after correction at this moment; (11) In formula (11), For the A disabled vehicle The time-corrected longitude coordinate, For the A disabled vehicle The time-corrected latitude coordinate, For the A disabled vehicle The height coordinate after time correction, Indicates A disabled vehicle The velocity component in the longitude direction at the moment, Indicates A disabled vehicle The velocity component in the latitude direction at a given moment, Indicates A disabled vehicle The velocity component in the height direction at a given moment.

6. The method for instantaneous collaborative positioning of unmanned vehicle groups facing short-term local positioning failure according to claim 5 is characterized in that: The step 6 is carried out as follows: Step 6.1: Some position parameters after time correction and The remaining position parameter combinations at time A disabled vehicle The position parameter matrix at time , thus Write separately Collaboration Request Frame and Coordinated response frame at time ; Step 6.2, A disabled vehicle Always check whether the main positioning has returned to normal. If not, Assign to Then, return to step 1 and execute sequentially. A disabled vehicle Always aware of the collaborative request frames of surrounding vehicles When the coordinated response frame is fed back to it .

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