面向车辆导航的多用户云端地磁匹配定位技术研究

Research on Technology of Geomagnetic-Matching Cloud Positioning for Multi-User Vehicle Navigation

针对车辆在经过隧道、地下车库等环境时,GNSS信号中断导致GNSS/MIMU组合导航系统定位失效的问题,研究了地磁匹配定位算法,利用地磁匹配输出的绝对位置信息实现对组合导航系统的修正。针对地磁匹配算法运行过程中数据计算量、存储量大以及实时性高的要求,研究了多用户接入与云-端实时双向通信的云定位关键技术,搭建了一种面向车辆导航的多用户地磁匹配定位的云平台。经测试,所设计的云定位架构可实现多用户同时在线接入定位,单用户定位平均传输延迟在80 ms左右,满足定位的实时性和稳定性要求;基于云平台进行实际车辆地磁匹配定位实验,精度可达到3 m,满足城市环境车辆定位的要求。

Aiming at positioning failure of GNSS/MIMU integrated navigation system due to the interruption of GNSS signal when the vehide enters tunnels or underground parking garage lot,a positioning method based on geomagnetic matching(GM)is proposed to correct the integrated navigation system.Focused on the requirements of large amount of data calculation,and storage and high real-time performance of the GM algorithm,the key technologies of cloud positioning for multi-user access and cloud-end real-time bidirectional communication are studied,and a cloud platform for multi-user vehicle positioning is built.The results show that the technology proposed can realize the multi-user online access and positioning,with an average transmission delay of 80 ms for the single user.The results from actual area experiments show that the accuracy of cloud positioning based on GM can reach 3 m,which meets the requirements of real-time,stable,continuous and accurate positioning in urban areas.