A high-reliability fusion positioning method for vehicles based on ultra-wideband under vehicle-road coordination

Abstract

The invention discloses a highly reliable fusion positioning method for vehicles in a vehicle-road coordination scenario. Aiming at the problems of limited ease of use of vehicle-mounted satellite navigation and low positioning accuracy and reliability in urban environments, the traditional combination of vehicle-mounted satellites and inertial On the basis of navigation, the ultra-wideband (Ultra-Wideband, UWB) positioning technology is introduced. Through the reasonable layout of UWB nodes, combined with the non-line-of-sight (Not Line of Sight, NLOS) error processing algorithm, the error of UWB observation value is reduced. Here On top of that, the fusion positioning of the vehicle is realized based on the extended Kalman filter algorithm. Compared with traditional vehicle-mounted satellite and inertial integrated navigation, the method in the present invention has higher reliability in urban environments, especially complex environments (such as urban canyons, intersections, etc.) where satellite signals are severely blocked, and helps To achieve continuous, complete, reliable and real-time positioning of vehicles.

Description

technical field [0001] The invention relates to the field of vehicle navigation and positioning, in particular to a highly reliable fusion positioning method for vehicles in an urban vehicle-road collaborative environment. Background technique [0002] With the development and progress of the economy and society, the number of motor vehicles in my country has increased rapidly, and road traffic is facing huge challenges. In order to solve the increasingly severe urban traffic problems, Intelligent Vehicle Infrastructure Cooperative Systems (IVICS) came into being It has gradually become the latest development direction of intelligent transport systems (Intelligent Transport Systems, ITS) research. Whether it is the application of vehicle-road coordination or the realization of intelligent transportation, it is inseparable from high-precision vehicle positioning technology: only under the premise of realizing accurate and reliable vehicle positioning, the real-time dynamic inf...

AI Technical Summary

Problems solved by technology

[0005] Technical issues: Aiming at the limited ease of use of vehicle-mounted satellite navigation and low positioning accuracy and reliability in urban environments, Ultra-Wideband (UWB) was introduced on the basis of traditional vehicle-mounted satellite and inertial integrated navigation. Positioning technology, through reasonable layout of UWB nodes, combined with non-line-of-sight error processing algorithm, reduces the error of UWB observation value, and on this basis, based on the extended Kalman filter algorithm, the fusion positioning of the vehicle is realized

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