Vehicle positioning method and system based on dual-antenna GNSS heading and wheel speed assistance

Abstract

The invention relates to a vehicle positioning method and system based on dual-antenna GNSS heading and wheel speed assistance. The method includes steps: 1) in a vehicle stationary condition, calculating initial values of position and heading according to positions and headings of GNSS antennas, and obtaining initial values of the position and the heading of a vehicle; 2) estimating the heading of the vehicle according to the initial values of the position and the heading and an angular velocity measured by inertial navigation, and calculating the position corresponding to the heading; 3) calculating an inertial navigation position and an inertial navigation heading according to a rotating speed of a motor and the calculated position corresponding to the heading, and correcting the position and the heading by employing an adaptive Kalman filtering algorithm; and 4) inputting the corrected position and heading to step 2), repeating the above steps, and outputting the final heading andposition to further obtain vehicle positioning information. Compared with the prior art, according to the method and system, vehicle information sources are fully used, the problem of low precision of the output speed of a GNSS receiver at a low speed is solved, and the method and system is advantaged by easy debugging, high estimation precision and small calculation amount.

Description

Technical field [0001] The present invention relates to the technical field of automatic driving, in particular to a vehicle positioning method and system based on dual-antenna GNSS heading and wheel speed assistance. Background technique [0002] Autonomous vehicles have developed rapidly in recent years and have become the focus of competition among vehicle companies and even IT companies. Accurate vehicle position and heading are essential for the realization of automatic driving. Fusion of multi-source information to estimate position, heading and position delay time has become an urgent problem to be solved. [0003] At present, most research points on the positioning of low-speed electric vehicles in this field at home and abroad focus on the estimation of position and heading errors. The main methods of current position error and heading estimation are: 1. Using satellite navigation and positioning system (GNSS) through RTK carrier phase Differential achieves accurate posi...

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Problems solved by technology

[0003] At present, most of the localization research points of low-speed electric vehicles in this field at home and abroad are concentrated on position and heading error estimation. The main methods of existing position error and heading estimation are: 1. Using satellite navigation and positioning system (GNSS) to pass RTK carrier phase The difference realizes the precise position and heading calculation, but its robustness is poor, and the GNSS signal is extremely susceptible to interference; 2. The inertial navigation system (INS) is used to realize the position and heading calculation, but this method has the problem of cumulative error; 3. Based on The position and heading estimation of the combination of wheel speed and INS, because this method has no global position correction, there is a problem of cumulative error; 4. The combined position and heading estimation based on sensors such as lidar and vision is seriously affected by the distribution of environmental feature points, and each Sensor performance requirements are high

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