The application discloses a vehicle positioning method, a vehicle positioning device, terminal equipment and a computer readable storage medium. The vehicle positioning method comprises the followingsteps that a vehicle state after primary correction is acquired, wherein the vehicle state comprises speed, position, orientation and posture; the motion state of a vehicle is detected in real time; when the vehicle is detected in a running state, secondary correction is carried out on the vehicle state after the primary correction based on virtual constraint correction; when the vehicle is detected is in a stationary state, secondary correction is carried out on the vehicle state after the primary correction based on zero speed correction; and the vehicle is positioned based on the vehicle state after secondary correction. According to the scheme of the vehicle positioning method, the vehicle positioning device, the terminal equipment and the computer readable storage medium, on the premise of accurately judging the running state of the vehicle, parameters such as speed, position, orientation, posture and the like of the vehicle are correspondingly corrected according to different moving states of the vehicle, so that the positioning accuracy of the vehicle is improved.

Vehicle positioning method, vehicle positioning device and terminal equipment

The invention relates to the technical field of the vehicle navigation, and discloses a vehicle-mounted navigation method and system based on a MEMS and a GPS. The vehicle-mounted navigation system comprises the following steps: S1, acquiring GPS data and inertial navigation data of a vehicle, and preprocessing the GPS data and the inertial data; S2, performing strapdown inertial navigation resolving according to the preprocessed inertial navigation data to obtain navigation information of the vehicle; S3, performing combined navigation resolving on the navigation information and GPS data at the current moment by utilizing the Kalman filtering algorithm, thereby obtaining the error information of the navigation information; and S4, correcting the navigation information of the vehicle at the current moment according to the error information to obtain the navigation information of the vehicle at the next moment. The GPS data and inertial navigation data of the vehicle are fused, so thatthe navigation positioning has the long-term high-precision performance of the GPS navigation and the short-term high-precision performance of the inertial navigation, and the precision and the reliability of the vehicle navigation positioning are improved.

Vehicle-mounted navigation method and system based on MEMS and GPS

The invention discloses an integrated navigation method and system based on multi-sensor fusion. The method comprises the steps: obtaining initial GPS navigation information when a GPS signal is valid; acquiring data of a speedometer, and judging whether the carrier is in a static state or not according to the data of the speedometer; if the carrier is in the motion state, judging whether the GPSsignal is valid or not; if the GPS signal is valid, correcting the error of the inertial measurement element by using GPS navigation information and outputting a navigation result; If the GPS signal fails, correcting the error of the inertial measurement element by using the data of the odometer and outputting a navigation result. The invention provides an integrated navigation method and system based on multi-sensor fusion. When the GPS fails, the odometer is used for compensation to suppress error divergence, so that accurate position and orientation information is provided, the navigation requirement of an automatic driving vehicle is met, and when the GPS fails, stable and reliable navigation is maintained, the navigation precision and the anti-interference capability are improved, andthe application range of a navigation system is widened.

Integrated navigation method and system based on multi-sensor fusion

The invention belongs to the technical field of inertia and navigation. The invention discloses a vehicle-mounted DR navigation method based on odometer scale coefficient correction. The method comprises the steps of installing a vehicle-mounted inertial integrated navigation system on a vehicle-mounted platform, acquiring data information of an inertial measurement unit, data information of a GNSS (Global Navigation Satellite System) and data information of a speedometer, and performing time synchronization on the three kinds of data information; establishing a turning point odometer scale coefficient compensation model, and obtaining a turning point odometer scale coefficient compensation value; according to the turning point odometer scale coefficient compensation value, obtaining the position increment of the compensated odometer; and correcting the DR navigation positioning result by combining the compensated position increment of the odometer and the data information of the inertial measurement unit to obtain final positioning information. The problem that in the prior art, when a vehicle-mounted inertial integrated navigation system turns around, the positioning error is large is solved, and the positioning and attitude determination precision of the system in the environment that GNSS signals are not available and turning around is achieved can be effectively improved.

Vehicle-mounted DR navigation method based on odometer scale coefficient correction

The invention discloses a method and system for train attitude and direction measurement and intelligent decision-making and early warning, wherein, the method for train attitude and direction measurement and intelligent decision-making and early warning comprises the following steps of: collecting data; calculating the number of satellites available; calculating the collected data to obtain attitude information and heading information of the train based on the number of satellites; comparing the attitude information and heading information with local data to obtain an optimal value; judging whether the optimal value exceeds a preset threshold value, and obtaining a judging result; makinga corresponding action according to the judgment result. By calculating the number of satellites available, so as to judge whether the satellite signal is good or not, The attitude information and heading information of the train are calculated according to the judgment result, and the attitude information and heading information of the train are accurately obtained. The attitude information and heading information obtained are compared with the local data, so as to obtain the optimal value and achieve the purpose of enhancing stability, reliability and being able to adapt to the harsh environment.

Method and system for train attitude and direction measurement and intelligent decision-making and early warning

The invention provides a GNSS+INS+odo (global navigation satellite system+inertial navigation system+odometer) combined navigation system, which can solve the problems that at present in a combined navigation system of the vehicle-mounted field, vehicle-mounted easily outputtable odometer information can be effectively utilized to amend a GNSS+INS system so as to achieve a better positioning effect, and when the odometer information output of part of a vehicle-mounted system has low priority in vehicle-mounted master control scheduling and is likely to be discontinuous, a GNSS+INS combined navigation system can be directly adopted, and related amendment module can be started to achieve better positioning output. Without adding the vehicle-mounted system hardware cost, the combined navigation system performs adaptive adjustment of relevant algorithm module through reasonable use of sensor information, can output a good positioning result with or without a odometer, and for end-users, the cost performance is greatly enhanced, thus being easy for industrialization development.

Combined navigation method for GNSS+INS+odo

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Combined navigation method for GNSS+INS+odo