Seamless vehicle positioning method based on multi-source information fusion

Abstract

The invention belongs to the technical field of wireless communication, and relates to a seamless vehicle positioning method based on multi-source information fusion. The seamless vehicle positioning method mainly comprises the steps as follows: a master filter adopts a Kalman filter to perform continuous fusion and stepwise refinement on three different types of signal source positioning data including UWB (Ultra Wide Band)-based short-range and high-precision wireless positioning information, BDS+GPS (Bei Dou Navigation Satellite System + Global Positioning System) dual-mode GNSS (Global Navigation Satellite System) positioning information and SINS+CAN (Strapdown Inertial Navigation System + Controller Area Network)fusion dead reckoning information, and feeds back and corrects a positioning result, so that high-precision and seamless positioning of a vehicle is achieved. The seamless vehicle positioning method based on multi-source information fusion can be adapt to various special road environments, achieves seamless and precise vehicle positioning, provides technical support for an intelligent transportation system and provides high-precision position information to avoid chain collision of vehicles.

Description

technical field [0001] The invention belongs to the technical field of wireless communication, and relates to a vehicle seamless positioning method based on multi-source information fusion. Background technique [0002] The intelligent transportation system is the development direction of the future transportation system. It is a real-time, accurate and efficient comprehensive transportation management system established by effectively integrating advanced navigation and positioning technology, data communication technology, and electronic sensing technology. Intelligent transportation is one of the six key areas and priority development themes of the transportation industry in the "National Medium and Long-Term Science and Technology Development Plan (2006-2020)", and it is also one of the "Twelfth Five-Year Plans for Transportation" It is one of the five major scientific and technological research and development projects and one of the six key areas for the promotion and ...

AI Technical Summary

Problems solved by technology

[0004] At present, there are mainly three types of vehicle positioning technologies: ① GNSS positioning (Global Navigation Satellite System, Global Satellite Positioning System): ideally, although wide-area positioning with a positioning accuracy of about 10 meters can be achieved, the signal is easily affected by occlusion and multipath attenuation. , so reliable positioning accuracy and availability cannot be guaranteed in dense urban areas and indoor closed spaces

②Short-range wireless positioning technology: Although existing radio positioning technologies based on UWB (Ultra Wide Band, ultra-wideband), Wi-Fi, WLAN (Wireless Local Area Networks, wireless local area network), infrared rays, and ultrasonic waves can reach centimeter and meter levels High positioning accuracy, but only limited to a small area, not suitable for vehicle positioning

③SINS (Strapdown Intertial Navigation System, Strapdown Inertial Navigation System): Although it is possible to rely on the inertial measurement unit (IMU, Inertial Measurement Unit) to measure vehicle positioning parameters in the absence of GNSS signals, and use the laws of kinematics for autonomous positioning, but due to The error is time-cumulative, so long-term high-precision positioning cannot be achieved

[0006] Therefore, any single positioning system has its own limitations, and none of them can meet the requirements of high precision and seamless positioning in complex scenes.

Images