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Brain-imitating navigation method based on optical flow UWB combination

A navigation method and optical flow technology, applied in navigation computing tools and other directions, can solve the problems of insufficient intelligence of navigation and positioning technology, the accuracy of pure inertial navigation system cannot meet the long-term requirements of intelligent vehicles, and satellite navigation signals are easily interfered. Achieve the effect of increasing autonomy, increasing intelligence, and increasing speed

Active Publication Date: 2019-03-12
ZHONGBEI UNIV
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AI Technical Summary

Problems solved by technology

Since the error of the inertial navigation system will diverge rapidly with time, the accuracy of the pure inertial navigation system is far from meeting the long-duration requirements of intelligent vehicles
However, satellite navigation signals are easily interfered, and the reliance on satellite navigation will face huge risks in some special environments, such as wartime
In short, the current commonly used navigation and positioning technology is not intelligent enough, which leads to certain limitations in its application on intelligent vehicles

Method used

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  • Brain-imitating navigation method based on optical flow UWB combination
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  • Brain-imitating navigation method based on optical flow UWB combination

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Embodiment Construction

[0031] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0032] A brain-like navigation method based on optical flow UWB combination, including the following steps:

[0033] Step 1: If figure 1 As shown, the motion area of ​​the intelligent vehicle is divided into a path integration area and a location cell node area. UWB ultra-wideband positioning system.

[0034] Among them, the construction method of the location cell node area is as follows: in the movement area of ​​the intelligent vehicle, set a fixed distance at intervals, and set a location cell node at every fixed distance. No overlap between cell node areas is the minimum standard; four UWB base stations are arranged at each cell node, and the absolute geographic location of each UWB base station is measured by high-precision differential GPS and stored in each UWB base station; the four UWB base stations The perceived area is the place ...

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Abstract

The invention discloses a brain-imitating navigation method based on an optical flow UWB combination. The brain-imitating navigation method based on the optical flow UWB combination comprises the following steps: dividing a movement region of an intelligent vehicle into a path integration domain and a position cell joint domain; in the path integration domain, measuring the speed of the intelligent vehicle by an optical flow sensor, and carrying out integration on speed to obtain position information; in the position cell joint domain, detecting the speed and position of the intelligent vehicle through UWB, subtracting the speed and position, which are detected by UWB, of the intelligent vehicle from the speed and position which are acquired by an optical flow method, and establishing a model among a speed error, a position error and running time; and when the intelligent vehicle moves to the path integration domain again, carrying out real-time correction on the speed and the positioninformation by using an error model. The brain-imitating navigation method based on the optical flow UWB combination can be used for application scenarios such as navigation and position of the intelligent vehicle which carries out tasks in a certain fixed domain, the autonomy of navigation and positioning can be improved effectively, the degree of intelligence of the intelligent vehicle is increased.

Description

technical field [0001] The present invention relates to the field of navigation and positioning and artificial intelligence, in particular to a brain-like navigation method based on optical flow UWB combination for intelligent vehicles. Background technique [0002] Smart vehicles are the product of the combination of the latest scientific and technological achievements of electronic information and the modern automobile industry, and usually have functions such as automatic driving and path planning. Navigation and positioning is one of the key core technologies of intelligent vehicles, and "inertial + satellite" integrated navigation is currently the most commonly used navigation and positioning method. Since the error of the inertial navigation system will diverge rapidly with time, the accuracy of the pure inertial navigation system is far from meeting the long-endurance requirements of intelligent vehicles. However, satellite navigation signals are easily interfered, a...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 申冲刘晓杰王晨光郭肖亭赵东花唐军刘俊周宇晨赵成帅
Owner ZHONGBEI UNIV
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