Multi-vehicle cooperative positioning platform and positioning method under limit working condition
A technology of extreme working conditions and co-location, applied in the field of vehicle perception, can solve problems such as inability to meet high-precision maps, inaccurate positioning, and large vehicle positioning errors, and achieve the effect of solving signal interruption, reliable use, and high-precision positioning
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Embodiment 1
[0056] It is assumed that the vehicles located in the network include three vehicles, namely the first vehicle, the second vehicle and the third vehicle,
[0057] The satellite group includes a first receiving satellite, a second receiving satellite and a third receiving satellite,
[0058] The aforementioned communication device includes a first base station, a second base station, and a third base station. The three base stations communicate with each other through buried optical cables, and the first vehicle, the second vehicle, and the third vehicle communicate with the first base station and the second base station at the same time. And the third base station realizes real-time connection in pairs, and the first base station, the second base station and the third base station simultaneously receive the positioning signal of the satellite group in real time;
[0059] The aforementioned vehicle-mounted device includes a base station receiver installed at the front and rear ...
Embodiment 2
[0068] A positioning method for a multi-vehicle collaborative positioning platform under extreme working conditions, comprising the following steps:
[0069] The first step: the first base station, the second base station and the third base station obtain the positioning signal sent by the satellite group in real time, obtain the positioning value of the base station in different environments, and finally obtain the positioning point information of each vehicle through vehicle-to-vehicle communication, TOA and AOA ;
[0070] Step 2: Receive the position information of the first base station, the second base station, and the third base station through the base station receivers installed at the front and rear of the vehicle, that is, obtain the absolute road-level positioning of the vehicle under extreme working conditions, and combine it with the The four radars on each vehicle can calculate the time, distance and direction angle when the vehicle travels to the positioning poi...
Embodiment 3
[0075] In the first step in Example 2, Figure 5 As shown, to obtain the positioning point information of each vehicle, the specific steps are as follows: Take obtaining the positioning point information of the first vehicle as an example:
[0076] Set the coordinates of the first base station and the second base station as known points A 1 =(x 1 ,y 1 ), A 2 =(x 2 ,y 2 ), set the coordinates of the first vehicle as V n =(v i ,v j ), the distance between vehicles can be obtained through vehicle-to-vehicle communication, TOA and AOA, and A 1 A 2 、A 1 V i 、A 2 V i , according to the formula of the anchor point of the first vehicle
[0077]
[0078]
[0079]
[0080] Obtain the positioning point V of the first vehicle n =(v i ,v j );
[0081] The positioning points of the remaining vehicles can be obtained in this way.
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