The invention provides a multi-sensor multi-vehicle cooperative positioning system and method, and relates to the technical field of vehicle positioning. The system comprises a GPS receiving module, an IMU module, an in-vehicle data acquisition module, an out-vehicle data acquisition module, a reinforcement learning module and a filtering fusion module. The GPS receiving module is used for receiving satellite signals; the IMU module is used for obtaining angular velocity, speed and acceleration estimation of a vehicle; the in-vehicle data acquisition module is used for acquiring wheel speed data, steering angle and mileage data of the vehicle; the outside-vehicle data acquisition module is used for obtaining relative position and speed estimation relative to other cooperative vehicles; the reinforcement learning module is used for improving the positioning precision of the GPS equipment; the filtering fusion module fuses various kinds of information to obtain accurate position information of the vehicle; according to the invention, information from a local vehicle-mounted sensor and observation of other vehicles or existing intelligent traffic system infrastructures (such as road side units) are fused, so that the precision and stability of positioning and mobile tracking are improved.
本发明提供一种多传感器多车辆协同定位系统与方法,涉及车辆定位技术领域;该系统包括GPS接收模块、IMU模块、车内数据采集模块、车外数据采集模块、强化学习模块和滤波融合模块;GPS接收模块用于接收卫星信号;所述IMU模块用于获得车辆的角速度、速度和加速度估计;车内数据采集模块用于采集车辆的轮速数据、转向角及里程数据;车外数据采集模块用于得到相对于其他合作车辆的相对位置和速度估计;强化学习模块,用以提高GPS设备的定位精度;滤波融合模块对多种信息进行融合,得到车辆准确的位置信息;本发明融合了来自本地车载传感器的信息,以及其他车辆或现有智能交通系统基础设施(如道路侧单元)的观测,以提高定位和移动跟踪的精度和稳定性。
Multi-sensor multi-vehicle cooperative positioning system and method
一种多传感器多车辆协同定位系统与方法
2023-11-07
Patent
Electronic Resource
Chinese
IPC: | H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze / 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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
Integrity for Multi-Sensor Cooperative Positioning
IEEE | 2021
|A Node Selection Method for Multi-vehicle Cooperative Positioning Base on CRLB
British Library Conference Proceedings | 2023
|