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Vehicle-mounted integrated high-precision positioning device and positioning method

A positioning device, high-precision technology, applied in satellite radio beacon positioning system, navigation through speed/acceleration measurement, instruments, etc., can solve problems such as high cost, increase user development and debugging workload, and achieve easy loading integrated effect

Pending Publication Date: 2019-12-31
成都云科新能汽车技术有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] 1) Higher cost;
[0009] 2) The user needs to design relevant algorithms and logic to integrate the positioning results output by the two systems, thus increasing the workload of user development and debugging

Method used

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  • Vehicle-mounted integrated high-precision positioning device and positioning method
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  • Vehicle-mounted integrated high-precision positioning device and positioning method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0044] Such as figure 1 As shown, a vehicle-mounted integrated high-precision positioning device includes: 1) the calculation and processing module is responsible for monitoring and scheduling the operation of other modules, and the core algorithm for realizing positioning calculation and fusion;

[0045] 2) The RTK module (including a pair of GNSS antennas) is responsible for receiving and processing GNSS original observation signals, and obtains differential data from local reference stations or CORS systems based on wireless communication links, and then performs differential calculations to output high-precision position information;

[0046] 3) The UWB module (including a pair of UWB antennas) is responsible for receiving and processing ultra-wideband signals transmitted by different base stations to measure the distance between the module and each base station, and further solve the relative and absolute coordinates of the module;

[0047] 4) The IMU module is responsible ...

Embodiment 2

[0057] Such as figure 2 As shown, a vehicle-mounted integrated high-precision positioning method includes the following steps:

[0058] S1: Initialize the RTK module, UWB module and IMU module, if the initialization process is completed normally, enter step S2, otherwise output the corresponding fault prompt information and exit;

[0059] S2: Use the UWB module to detect the UWB base station signals deployed around. If more than the preset number of base station stable UWB pulse signals can be received at the same time, it is determined that the base station signal is good, and based on the output signals of the UWB module and the IMU module, the real-time position and location of the vehicle are calculated. Heading, then enter step S4;

[0060] S3: Detect GNSS satellite signals through the RTK module. If more than the preset number of satellite signals can be received at the same time, it is determined that the satellite signals are good, and based on the output signals of ...

Embodiment 3

[0067] Such as Figure 4 As shown, further on the basis of Embodiment 1 and Embodiment 2, the unmanned transport vehicle in the figure is applied to the on-site material transfer scene of a certain factory, and the integrated high-precision positioning device described in this paper is installed on the On the chassis of the unmanned transport vehicle, the UWB antenna and GNSS antenna at the front and rear of the vehicle are connected to the positioning equipment through corresponding transmission cables. The unmanned transport vehicle travels between the material warehouse and the production workshop according to a pre-designed route. A certain number of UWB base stations are installed in the material warehouse and production workshop. When the vehicle is running in the indoor environment (inside the material warehouse and the production workshop), the positioning device receives the signal transmitted by the UWB base station through the front and rear UWB antennas; when the ...

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Abstract

The invention discloses a vehicle-mounted integrated high-precision positioning device comprising an RTK module for receiving and processing a GNSS original observation signal, a UWB module for receiving and processing ultra-wideband signals transmitted by different base stations, an IMU module for collecting and processing acceleration signals of three independent axes of a vehicle under a carrier coordinate system, an operation and processing module for carrying out data fusion and post processing on RTK-based high-precision position information, UWB-based relative and absolute coordinates and the IMU-based independent tri-axial acceleration signals and angular velocity signals and outputting real-time positioning and orientation results of the vehicle. According to the invention, the fused high-precision position information is directly outputted; and the user does not need to determine whether the vehicle runs indoors or outdoors and does not needs to develop any indoor-outdoor switching algorithm and logic.

Description

technical field [0001] The invention belongs to the technical field of vehicle positioning, and in particular relates to a vehicle-mounted integrated high-precision positioning device and a positioning method. Background technique [0002] High-precision positioning technology is an important basis for realizing automatic driving of vehicles. Commonly used high-precision positioning systems in the field of automatic driving include: [0003] 1) High-precision positioning system based on real-time kinematic difference (RTK) and inertial measurement unit (IMU); [0004] 2) High-precision positioning system based on ultra-wideband (UWB) technology and IMU; [0005] 3) A high-precision positioning system based on laser or visual simultaneous mapping and localization (SLAM) and IMU. [0006] Among them, 1) it is usually used in outdoor scenes, and requires the support of good satellite signals and local reference stations or Continuous Operation Reference Station System (CORS);...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/48G01S19/49G01C21/16
CPCG01S19/48G01S19/49G01C21/165
Inventor 曾帆姚远杨旭徐铮
Owner 成都云科新能汽车技术有限公司
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