The invention discloses a cooperation relative positioning method based on INS and GNSS pseudo-range double difference for a VANET. The vehicle-to-vehicle cooperation relative positioning method is high in positioning accuracy and high in applicability. The invention relates to vehicle positioning problems in GNSS signal non-blind zones, and mainly solves a vehicle relative positioning problem under a condition that a GNSS is low in positioning accuracy and is limited in applications. Firstly, accelerated speed information and vehicle GNSS position information which are provided by an INS and corrected by a high-precision odometer are shared through V2V communication between vehicles, so that corresponding information between the vehicles is shared. Secondly, information of the adjacent vehicle and information of the assigned vehicle are integrated and processed through the extended Kalman filtering technology, wherein the information is received through V2V communication, so that vehicle-to-vehicle relative positioning results of high accuracy are obtained.


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    Title :

    Cooperation relative positioning method based on INS and GNSS pseudo-range double difference for VANET


    Contributors:
    HUANG BO (author) / HAN JIAQUN (author) / ZHAO HAITAO (author) / LI DAPENG (author)

    Publication date :

    2015-08-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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