The invention belongs to the technical field of parking lot vehicle end positioning and field end positioning, and discloses a vehicle end positioning result and field end positioning result fusion method comprising the following steps: recording GPS positioning coordinates when a vehicle enters a basement, and uploading the coordinate position to a field library; the vehicle requests for positioning connection to the parking lot library and obtains parking lot library positioning; the vehicle uses an indoor and outdoor navigation technology to send positioning data to the driver client; the field library sends positioning to the vehicle, and the vehicle performs time matching in combination with self-positioning after obtaining the positioning; after timestamp matching is completed, the vehicle uses self-positioning matching field library positioning data; calculating a probability beta for each effective measurement by using probability data association, and calculating a new optimal measurement by combining the information of the probability beta; after matching is completed, a confirmation matrix and an interconnection matrix are calculated and fused; after fusion, the vehicle end sends positioning to the field library; and the parking lot library records the vehicle end positioning data as a backup.
本发明属于停车场车端定位与场端定位技术领域,公开了一种车端定位结果与场端定位结果的融合方法,方法包括以下步骤:车辆进入地库时记录GPS定位坐标,将坐标位置上传场库;车辆向场库请求定位连接,并获取场库定位;车辆使用室内外导航技术,向驾驶员客户端发送定位数据;场库向车辆发送定位,车辆获取到定位后结合自身定位进行时间配;时间戳匹配完成,车辆使用自身定位匹配场库定位数据;使用概率数据关联,为每个有效量测计算出一个概率β,并结合其新息计算出一个新的最优量测;匹配完成后计算确认矩阵和互联矩阵进行融合;融合后,车端向场库发送定位;场库记录车端定位数据作为备份。
Fusion method of vehicle end positioning result and field end positioning result
一种车端定位结果与场端定位结果的融合方法
2025-02-28
Patent
Electronic Resource
Chinese
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