摘要
为了进一步提高智能驾驶中车辆定位系统的精确性和稳定性,在高精度车道线数据库和低精度全球定位系统(GPS)及惯性导航系统(INS)组合定位的基础上,提出融合超宽带(UWB)测距信息的室外高精度定位算法:沿车道行驶情况下,根据车辆行驶航迹及UWB测距信息进行单基站航迹匹配;路口转弯情况下,通过扩展卡尔曼滤波融合原始定位数据和UWB测距信息进行组合定位。实验结果表明,该定位方法能够满足智能驾驶中的分米级高精度定位要求。
In order to further improve the accuracy and stability of vehicle positioning system in intelligent driving,the paper proposed an outdoor high-precise positioning algorithm fusing UWB ranging information based on the high-precise lane line database and the integrated positioning of low-precise GPS/INS:in the case of driving along the lane,single-station track matching was performed according to the vehicle’s travel tracks and UWB ranging information;in the case of the intersection turning,the original positioning data and UWB ranging information were combined with extended Kalman filter for integrated positioning.Experimental result showed that the proposed method could match the requirement of high-precise positioning with decimeter level in intelligent driving.
作者
周爱国
杨思静
沈勇
王嘉立
ZHOU Aiguo;YANG Sijing;SHEN Yong;WANG Jiali(School of Mechanical and Energy Engineering,Tongji University,Shanghai 201804,China;School of Automotive Studies,Tongji University,Shanghai 201804,China)
出处
《导航定位学报》
CSCD
2020年第1期26-31,共6页
Journal of Navigation and Positioning
基金
上海汽车工业科技发展基金项目（1705）
关键词
超宽带
室外定位
单基站航迹匹配
扩展卡尔曼滤波
组合定位
ultra wideband(UWB)
outdoor positioning
single-station track matching
extended Kalman filter
integrated positioning
