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.
Cooperation relative positioning method based on INS and GNSS pseudo-range double difference for VANET
2015-08-12
Patent
Electronic Resource
English
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