Patent
Positioning method and device
Hao Liliang,Shen Hao,Wei Ziqian,Zhou Xiaohong,Gao Chunle +4 more
- 28 Apr 2020
1
TL;DR: In this paper, the authors proposed a positioning method and device based on GNSS, where the position information of each satellite is determined by acquiring satellite data sent by a GNSS and the pseudo-range information between each satellite and a vehicle is determined according to the time difference of sending and receiving the satellite data.
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Abstract: The invention discloses a positioning method and device According to the scheme, the position information of each satellite is determined by acquiring the satellite data sent by a GNSS, and the pseudo-range information between each satellite and a vehicle is determined according to the time difference of sending and receiving the satellite data Through the position information of each satellite,the predicted positioning information of the vehicle at the current moment and the pseudo-range information, a positioning error of the satellite subjected to GNSS positioning is determined A sensing positioning error is determined according to the sensing data acquired by each sensor and the predicted positioning information of the vehicle at the current moment The predicted positioning information is adjusted by taking the minimization of the sum value of the satellite and sensing positioning errors as an optimization objective, and the adjusted predicted positioning information is used as the positioning information of the vehicle at the current moment According to the scheme, the GNSS and the sensors are matched with each other for positioning, an error equation is established by fully utilizing the GNSS and original data in the sensors, and the positioning precision of the vehicle at the current moment is improved by adopting an optimization algorithm
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Citations
Patent
Method, device and apparatus for improving positioning precision of vehicle in city, and medium
You Ke,Xu Yongjun +1 more
- 26 Jun 2020
TL;DR: In this paper, a method for improving the positioning precision of a vehicle in a city and a storage medium is proposed, which comprises the following steps: S1, receiving a satellite positioning signal; S2, acquiring a propagation distance d1 from the position of the satellite position to a vehicle when the satellite positioning signals are transmitted by a satellite; S3, correcting the propagation distance D1 to obtain a corrected propagation distanced2; and S4, acquiring the satellite location position of vehicle according to the corrected propagation distances d2.
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Differential GNSS (Global Navigation Satellite System) and INS (Inertial Navigation System) adaptive tightly-coupled navigation method based on inertial measurement unit
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