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Time synchronization method and system based on multi-sensor fusion positioning

A technology of multi-sensor fusion and time synchronization, which is applied in directions such as navigation through speed/acceleration measurement, can solve problems such as multi-sensor input time asynchrony, achieve the effect of improving fusion positioning accuracy and avoiding uncertain time delays

Pending Publication Date: 2022-04-29
HUMAN HORIZONS (SHANGHAI) AUTONOMOUS TECH CO LTD
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0003] Embodiments of the present invention provide a time synchronization method and system based on multi-sensor fusion positioning, which can solve the problem of multi-sensor input time asynchrony during fusion positioning and improve fusion positioning accuracy

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  • Time synchronization method and system based on multi-sensor fusion positioning
  • Time synchronization method and system based on multi-sensor fusion positioning
  • Time synchronization method and system based on multi-sensor fusion positioning

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Embodiment 1

[0046] see figure 1 , an embodiment of the present invention provides a time synchronization method based on multi-sensor fusion positioning, including:

[0047] S11: According to the acceleration and angular velocity output by the inertial measurement unit, recursively obtain the first positioning information of the vehicle at multiple moments, and generate a recursive queue;

[0048] Further, according to the acceleration and angular velocity output by the inertial measurement unit, deriving the first positioning information of the vehicle at multiple moments, and generating a recursive queue, including:

[0049]Taking the first positioning information at the set historical moment as the initial value, using the acceleration and angular velocity output by the inertial measurement unit to perform integral calculations to obtain the first positioning information at several consecutive moments;

[0050] The first positioning information obtained by integration is sorted in chr...

Embodiment 2

[0095] see image 3 , the embodiment of the present invention provides a time synchronization system based on multi-sensor fusion positioning, including:

[0096] The inertial-based high-frequency positioning module 1 is used to deduce the first positioning information of the vehicle at multiple moments according to the acceleration and angular velocity output by the inertial measurement unit, and generate a recursive queue;

[0097] A sensor information processing module 2, configured to receive second positioning information sent by multiple sensors of the vehicle;

[0098] The positioning data correction module 3 is configured to align the corresponding second positioning information with the first positioning information in the recursive queue according to the sending time at each receiving moment of the second positioning information, so as to obtain The first positioning information and the second positioning information at the moment;

[0099] The positioning data cor...

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Abstract

The invention discloses a time synchronization method and system based on multi-sensor fusion positioning, and the method comprises the steps: carrying out the recursion of first positioning information of a vehicle at a plurality of moments according to the acceleration and angular velocity outputted by an inertial measurement unit, and generating a recursion queue; at the receiving moment of each piece of second positioning information, aligning the corresponding second positioning information with the first positioning information in the recursion queue according to the sending moment of the second positioning information to obtain the first positioning information and the second positioning information at the same moment; predicting and resolving the first positioning information and the second positioning information at each moment from a set historical moment to a current moment by using a Kalman filtering algorithm to obtain a Jacobian matrix; according to the Jacobian matrix, using a Kalman filtering algorithm to measure and update the first positioning information at the current moment; according to the invention, the problem of asynchronous input time of multiple sensors during fusion positioning can be effectively solved, and the fusion positioning precision is improved.

Description

technical field [0001] The invention relates to the technical field of wireless positioning, in particular to a time synchronization method and system based on multi-sensor fusion positioning. Background technique [0002] A smart driving vehicle is a smart car that perceives the road environment through on-board sensors, determines its own position, and plans its own driving route to reach the preset destination. Determining its own position is extremely important for planning driving routes and controlling the steering and speed of the vehicle. The main purpose of intelligent driving real-time positioning technology. Accuracy is one of the main indicators of positioning technology. Existing solutions perform fusion positioning based on multiple sensors. However, since the output of multiple sensors has an uncertain time delay in sending and receiving, how to solve the asynchronous input time of multiple sensors has become an urgent problem in this field when performing po...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16
CPCG01C21/165G01C21/166
Inventor 丁磊王云
Owner HUMAN HORIZONS (SHANGHAI) AUTONOMOUS TECH CO LTD
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