The invention provides an intelligent network connection automobile composite positioning method and device based on multi-sensor fusion. According to the invention, the advantages of V2X communication under the Internet of Vehicles are utilized, and the horizon AI chip is combined to design the intelligent networked automobile composite positioning method and device. Wherein the roadside positioning platform carrying the V2X communication unit can replace the differential base station, and the correction amount is sent to the vehicle-mounted platform in a V2X communication mode. Meanwhile, the invention provides a multi-layer fusion method based on an unscented Kalman filtering algorithm, and the intelligent network connection automobile can be accurately positioned at the roadside end. The precise intelligent network connection automobile positioning deviation is obtained through matching with a high-precision map, the latitude and longitude deviation value is sent to the vehicle-mounted unit through the road side unit, the vehicle-mounted GNSS positioning result is corrected, the centimeter-level positioning precision is achieved, and the reliability of the intelligent network connection automobile composite positioning system is improved.
本发明提供了一种基于多传感器融合的智能网联汽车复合定位方法及装置。本发明利用车联网下V2X通信的优势,结合地平线AI芯片设计了智能网联汽车复合定位方法及装置。其中,搭载V2X通信单元的路侧定位平台可代替差分基准站,通过V2X同通信的方式完成修正量的发送至车载平台。同时,本发明提出了基于无迹卡尔曼滤波算法的多层融合方法,能够在路侧端准确定位智能网联汽车。通过与高精地图相匹配得到精准的智能网联汽车定位偏差并通过路侧单元将经纬度偏差量发送至车载单元,修正车载GNSS定位结果,达到厘米级的定位精度,提高了智能网联汽车复合定位系统的可靠性。
Intelligent network connection automobile composite positioning method and device based on multi-sensor fusion
基于多传感器融合的智能网联汽车复合定位方法及装置
2022-12-30
Patent
Electronic Resource
Chinese
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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