CN104422465A - Car-mounted gyroscope coefficient correction method and car-mounted gyroscope coefficient correction device as well as car-mounted navigation system - Google Patents

Car-mounted gyroscope coefficient correction method and car-mounted gyroscope coefficient correction device as well as car-mounted navigation system Download PDF

Info

Publication number
CN104422465A
CN104422465A CN201310407915.XA CN201310407915A CN104422465A CN 104422465 A CN104422465 A CN 104422465A CN 201310407915 A CN201310407915 A CN 201310407915A CN 104422465 A CN104422465 A CN 104422465A
Authority
CN
China
Prior art keywords
gps data
sections
straight
section
line travelling
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201310407915.XA
Other languages
Chinese (zh)
Inventor
穆允林
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Pateo Electronic Equipment Manufacturing Co Ltd
Original Assignee
Shanghai Pateo Electronic Equipment Manufacturing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Pateo Electronic Equipment Manufacturing Co Ltd filed Critical Shanghai Pateo Electronic Equipment Manufacturing Co Ltd
Priority to CN201310407915.XA priority Critical patent/CN104422465A/en
Publication of CN104422465A publication Critical patent/CN104422465A/en
Pending legal-status Critical Current

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Navigation (AREA)

Abstract

The invention provides a car-mounted gyroscope coefficient correction method and a car-mounted gyroscope coefficient correction device as well as a car-mounted navigation system. The method comprises the steps of reading GPS data recorded in the traveling of a car; carrying out mode matching on the GPS data, searching following preset modes: two adjacent linear traveling road sections conforming to a preset condition, and the two adjacent liner traveling road sections are isolated by a nonlinear traveling road section; by adopting the GPS data in the two linear traveling road sections as a reference, correcting an angular coefficient of a gyroscope. According to the method, the angular coefficient of the gyroscope can be corrected by virtue of the GPS data, and the navigation precision can be improved.

Description

Vehicle-mounted gyroscope coefficient correction method, device and onboard navigation system
Technical field
The present invention relates to vehicle mounted guidance technical field, particularly relate to a kind of vehicle-mounted gyroscope coefficient correction method, device and onboard navigation system.
Background technology
At present, in increasing automobile, onboard navigation system is installed, because GPS navigation device can provide precise positioning in conjunction with gyroscope, has thus received and pay close attention to widely and apply.
Gyroscope is when being applied to onboard navigation system, and its effect is mainly reflected in: gyroscope can continue the effect of performance navigation and revise the inaccurate problem in GPS location when gps signal is bad; GPS compared by gyroscope can provide more sensitive and accurate direction and speed.
But, in actual applications, gyrostatic coefficient of angularity often produces deviation, may affect navigation accuracy.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of vehicle-mounted gyroscope coefficient correction method, device and onboard navigation system, can be corrected by gps data to gyrostatic coefficient of angularity, is conducive to improving navigation accuracy.
For solving the problems of the technologies described above, the invention provides a kind of vehicle-mounted gyroscope coefficient correction method, comprising:
Read during vehicle travels the gps data recorded;
Pattern match is carried out to described gps data, finds following preset mode: meet pre-conditioned adjacent two sections of straight-line travelling sections, by one section of non-rectilinear running section interval between these two sections of straight-line travelling sections;
Using the gps data in these two sections of straight-line travelling sections as reference, gyrostatic coefficient of angularity is corrected.
According to one embodiment of present invention, carry out pattern match to described gps data to comprise: described gps data is divided into multistage, judge whether it meets respectively for each gps data section described pre-conditioned, if meet described pre-conditioned, then this gps data section is straight-line travelling section; If do not meet described pre-conditioned, then this gps data section is non-rectilinear running section.
It is according to one embodiment of present invention, described that pre-conditioned to comprise in following condition one or more:
The differential seat angle of Current GPS data segment is less than predetermined angle threshold value;
The distance of Current GPS data segment exceedes predeterminable range threshold value;
The accumulative angle change of the gyro data section that Current GPS data segment is corresponding and instantaneous angular change are less than predetermined angle change threshold;
The instantaneous velocity of Current GPS data segment finish time exceedes default instantaneous velocity threshold value;
The positional information of Current GPS data segment finish time and road network; And
The speed of a motor vehicle of Current GPS data segment exceedes preset vehicle speed threshold value.
According to one embodiment of present invention, find described preset mode in the following way: if Current GPS data segment is straight-line travelling section, then carry out forward coupling and find, find previous straight-line travelling section.
According to one embodiment of present invention, using the gps data in these two sections of straight-line travelling sections as reference, correction is carried out to gyrostatic coefficient of angularity and comprises:
The corner between these two sections of straight-line travelling sections is calculated according to the gps data in these two sections of straight-line travelling sections;
The corner between described two sections of straight-line travelling sections is used to correct described gyrostatic coefficient of angularity.
Present invention also offers a kind of vehicle-mounted gyroscope coefficient correction device, comprising:
Data read module, for reading during vehicle travels the gps data recorded;
Pattern Matching Module, carries out pattern match to described gps data, finds following preset mode: meet pre-conditioned adjacent two sections of straight-line travelling sections, by one section of non-rectilinear running section interval between these two sections of straight-line travelling sections;
Coefficient corrects module, using the gps data in these two sections of straight-line travelling sections as reference, corrects gyrostatic coefficient of angularity.
According to one embodiment of present invention, described gps data is divided into multistage, and for each gps data section, described Pattern Matching Module judges whether it meets respectively described pre-conditioned, if meet described pre-conditioned, then this gps data section is straight-line travelling section; If do not meet described pre-conditioned, then this gps data section is non-rectilinear running section.
It is according to one embodiment of present invention, described that pre-conditioned to comprise in following condition one or more:
The differential seat angle of Current GPS data segment is less than predetermined angle threshold value;
The distance of Current GPS data segment exceedes predeterminable range threshold value;
The accumulative angle change of the gyro data section that Current GPS data segment is corresponding and instantaneous angular change are less than predetermined angle change threshold;
The instantaneous velocity of Current GPS data segment finish time exceedes default instantaneous velocity threshold value;
The positional information of Current GPS data segment finish time and road network; And
The speed of a motor vehicle of Current GPS data segment exceedes preset vehicle speed threshold value.
According to one embodiment of present invention, described Pattern Matching Module finds described preset mode in the following way: if Current GPS data segment is straight-line travelling section, then carry out forward coupling and find, find previous straight-line travelling section.
According to one embodiment of present invention, described coefficient correction module comprises:
Angle calculation unit, calculates the corner between these two sections of straight-line travelling sections according to the gps data in these two sections of straight-line travelling sections;
Angle corrects unit, uses the corner between described two sections of straight-line travelling sections to correct described gyrostatic coefficient of angularity.
Present invention also offers a kind of onboard navigation system, comprise the vehicle-mounted gyroscope coefficient correction device described in above-mentioned any one.
Compared with prior art, the present invention has the following advantages:
In the vehicle-mounted gyroscope coefficient correction method of the embodiment of the present invention and device, utilize gps data to correct gyrostatic coefficient of angularity, thus avoid gyroscope coefficient of angularity deviation on the impact of navigation accuracy.
Furthermore, the embodiment of the present invention is found and is met two sections of pre-conditioned straight-line travelling sections by non-rectilinear running section interval in gps data, using the gps data in these two sections of straight-line travelling sections as reference, gyrostatic coefficient of angularity is corrected, the gps data met in pre-conditioned straight-line travelling section is comparatively stable and accurate, therefore adopt such gps data to correct gyroscope coefficient of angularity, be conducive to improving precision.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the vehicle-mounted gyroscope coefficient correction method of the embodiment of the present invention;
Fig. 2 is the road driving track schematic diagram of the vehicle-mounted gyroscope coefficient correction method of the embodiment of the present invention;
Fig. 3 is the structured flowchart of the vehicle-mounted gyroscope coefficient correction device of the embodiment of the present invention.
Embodiment
Below in conjunction with specific embodiments and the drawings, the invention will be further described, but should not limit the scope of the invention with this.
With reference to figure 1, the vehicle-mounted gyroscope coefficient correction method of the present embodiment comprises the steps:
Step S11, reads during vehicle travels the gps data recorded;
Step S12, carries out pattern match to described gps data, finds following preset mode: meet pre-conditioned adjacent two sections of straight-line travelling sections, by one section of non-rectilinear running section interval between these two sections of straight-line travelling sections;
Step S13, using the gps data in these two sections of straight-line travelling sections as reference, corrects gyrostatic coefficient of angularity.
Furthermore, in step S11, the gps data recorded can be read during vehicle travels from the buffer zone of onboard navigation system.More specifically, in vehicle travel process, gps data and gyro data can be recorded in the buffer zone of onboard navigation system.Carrying out gyroscope coefficient of angularity timing, from buffer zone, gps data is read out.
In step s 12, pattern match is carried out to the gps data of record, finds by two sections of straight-line travelling sections at one section of non-rectilinear running section interval, and these two sections of straight-line travelling sections need to meet pre-conditioned.
Furthermore, the gps data of record can be divided into multiple gps data section, reads according to order when reading, each reading gps data section.For the Current GPS data segment read, judge whether it meets pre-conditioned, if meet pre-conditioned, then Current GPS data segment is straight-line travelling section, otherwise is exactly non-rectilinear running section.And if Current GPS data segment is judged as straight-line travelling section, the row mode that so just marches forward coupling is found, and finds adjacent previous straight-line travelling section.If found, and by a non-rectilinear running section interval between the previous straight-line travelling section found and current straight-line travelling section, so just according to these two sections of straight-line travelling sections, gyrostatic coefficient of angularity is corrected.
Wherein, this pre-conditioned can to comprise in following condition one or more: the differential seat angle of Current GPS data segment is less than predetermined angle threshold value; The distance of Current GPS data segment exceedes predeterminable range threshold value; The accumulative angle change of the gyro data section that Current GPS data segment is corresponding and instantaneous angular change are less than predetermined angle change threshold, and this condition is mainly used in avoiding vehicle to twist the interference caused; The instantaneous velocity of Current GPS data segment finish time exceedes default instantaneous velocity threshold value; The positional information of Current GPS data segment finish time and road network, this condition mainly enters " drifting state " after gps data misalignment, if the positional information of finish time drops on outside road network, so represent that gps data enters " drifting state ", because vehicle can not enter the region beyond road network usually; The speed of a motor vehicle of Current GPS data segment exceedes preset vehicle speed threshold value, and this condition is mainly in order to ensure that this gps data section is the section that vehicle stabilization travels.Wherein, the gyro data section that Current GPS data segment is corresponding refers to this gps data section and gyro data paragraph section at one time, matches in time.
By upper, after above-mentioned one or more pre-conditioned judgement, abnormal signal is disallowable, makes the gps data for calculating be comparatively stablize with accurately, thus can ensure that the gyroscope coefficient of angularity after correcting is accurately.
Composition graphs 1 and Fig. 2, what step S12 pattern match will be found is exactly straight-line travelling section 21 and straight-line travelling section 22, therebetween by non-rectilinear running section 23 interval.More specifically, after finding straight-line travelling section 22, continue to find forward, find straight-line travelling section 21, confirm between straight-line travelling section 21 and 22 by non-rectilinear running section 23 interval; Afterwards, the corner between straight-line travelling section 21 and straight-line travelling section 22 can be adopted to be according to correcting gyrostatic coefficient of angularity.
At timing, the corner between these two sections of straight-line travelling sections can be calculated according to the gps data in these two sections of straight-line travelling sections, and use the corner obtained to correct gyrostatic coefficient of angularity.Such as, the corner between these two sections of straight-line travelling sections can be obtained correction parameter than the corner of upper corresponding gyro data section, for follow-up gyro data, as long as gyrostatic corner is multiplied by this correction parameter.
An example is adopted to be described below.
In a nonrestrictive example, trimming process is as follows:
Step 1, first inputs gps data and gyro data, starts to add up current data section, and each statistical computation value of initialization current data section;
Step 2, process present segment gps data and gyro data;
Step 2.1, if data are gyro data, then:
Step 2.1.1, statistics gyroscope differential seat angle, and repeat step 2;
Step 2.2, if data are gps data, then:
Step 2.2.1, the differential seat angle of statistics Current GPS data segment and distance, if differential seat angle is less than predetermined angle threshold value or distance is less than predeterminable range threshold value, then repeat step 2;
Step 2.2.2, if the differential seat angle of Current GPS data segment and distance are all enough large, then terminates present segment statistics;
Step 2.2.2.1, judges the state of Current GPS data segment, comprising:
Step 2.2.2.1.1, judges whether the accumulative angle change of the gyro data section that Current GPS data segment is corresponding and instantaneous angular change are less than predetermined angle change threshold, if enough little, then continue next step;
Step 2.2.2.1.2, judges whether the GPS angle change of Current GPS data segment is less than predetermined threshold value, if enough little, then continues next step;
Step 2.2.2.1.3, judge whether the state of Current GPS data segment finish time meets default status condition, comprise: the position of Current GPS data segment finish time whether with road network, and whether the instantaneous velocity of Current GPS data segment finish time is greater than predetermined threshold value, if all satisfied, then continue next step;
Step 2.2.2.1.4, judges whether the average speed of Current GPS data segment is greater than predetermined threshold value.
So far, if these conditions all meet, then show that Current GPS data segment is straight-line travelling section, continue row mode coupling searching of marching forward, find previous straight-line travelling section.If found, then use the corner in these two straight-line travelling sections to correct gyrostatic coefficient of angularity, and Current GPS data segment is labeled as calculates, and the GPS of Current GPS data segment as next period of start time is inputted, get back to step 1.
It should be noted that, in above-mentioned example, multiple pre-conditioned judgement order is preferred, but, those skilled in the art are to be understood that, each pre-conditioned judgement order also can adopt other suitable orders, in addition, also can according to actual conditions need pre-conditionedly to screen multiple, and be not defined in and multiplely pre-conditionedly all judge above-mentioned.
With reference to figure 3, the present embodiment additionally provides a kind of vehicle-mounted gyroscope coefficient correction device, comprising: data read module 31, Pattern Matching Module 32 and coefficient correct module 33.
Wherein, data read module 31 is for reading during vehicle travels the gps data recorded; Pattern Matching Module 32 carries out pattern match to described gps data, finds following preset mode: meet pre-conditioned adjacent two sections of straight-line travelling sections, by one section of non-rectilinear running section interval between these two sections of straight-line travelling sections; Gps data in these two sections of straight-line travelling sections as reference, is corrected gyrostatic coefficient of angularity by coefficient correction module 33.
Coefficient is corrected module 33 and be may further include: angle calculation unit 331, calculates the corner between these two sections of straight-line travelling sections according to the gps data in these two sections of straight-line travelling sections; Angle corrects unit 332, uses the corner between described two sections of straight-line travelling sections to correct described gyrostatic coefficient of angularity.
About the more details of this vehicle-mounted gyroscope coefficient correction device, refer to the associated description about vehicle-mounted gyroscope coefficient correction method in previous embodiment, repeat no more here.
In addition, the present embodiment additionally provides a kind of onboard navigation system, comprises the vehicle-mounted gyroscope coefficient correction device shown in Fig. 3, and this vehicle-mounted gyroscope coefficient correction device can be integrated in onboard navigation system.This guider can adopt the mode of software to realize, also can adopt the mode of software and hardware combining to realize, or also can adopt the mode of hardware to realize, such as, by the realization such as special IC (ASIC) or field programmable gate array (FPGA).This onboard navigation system can be special navigator, also can be the equipment being integrated with multiple functional module, such as, can also be integrated with telephone communication module, wireless communication module, multimedia playing module etc.
Although the present invention with preferred embodiment openly as above; but it is not for limiting the present invention; any those skilled in the art without departing from the spirit and scope of the present invention; can make possible variation and amendment, the scope that therefore protection scope of the present invention should define with the claims in the present invention is as the criterion.

Claims (11)

1. a vehicle-mounted gyroscope coefficient correction method, is characterized in that, comprising:
Read during vehicle travels the gps data recorded;
Pattern match is carried out to described gps data, finds following preset mode: meet pre-conditioned adjacent two sections of straight-line travelling sections, by one section of non-rectilinear running section interval between these two sections of straight-line travelling sections;
Using the gps data in these two sections of straight-line travelling sections as reference, gyrostatic coefficient of angularity is corrected.
2. vehicle-mounted gyroscope coefficient correction method according to claim 1, it is characterized in that, carry out pattern match to described gps data to comprise: described gps data is divided into multistage, each gps data section is judged whether it meets respectively described pre-conditioned, if meet described pre-conditioned, then this gps data section is straight-line travelling section; If do not meet described pre-conditioned, then this gps data section is non-rectilinear running section.
3. vehicle-mounted gyroscope coefficient correction method according to claim 2, is characterized in that, described pre-conditioned to comprise in following condition one or more:
The differential seat angle of Current GPS data segment is less than predetermined angle threshold value;
The distance of Current GPS data segment exceedes predeterminable range threshold value;
The accumulative angle change of the gyro data section that Current GPS data segment is corresponding and instantaneous angular change are less than predetermined angle change threshold;
The instantaneous velocity of Current GPS data segment finish time exceedes default instantaneous velocity threshold value;
The positional information of Current GPS data segment finish time and road network; And
The average speed of Current GPS data segment exceedes default average speed threshold value.
4. vehicle-mounted gyroscope coefficient correction method according to claim 2, it is characterized in that, find described preset mode in the following way: if Current GPS data segment is straight-line travelling section, then carry out forward coupling and find, find previous straight-line travelling section.
5. vehicle-mounted gyroscope coefficient correction method according to claim 1, is characterized in that, using the gps data in these two sections of straight-line travelling sections as reference, carries out correction comprise gyrostatic coefficient of angularity:
The corner between these two sections of straight-line travelling sections is calculated according to the gps data in these two sections of straight-line travelling sections;
The corner between described two sections of straight-line travelling sections is used to correct described gyrostatic coefficient of angularity.
6. a vehicle-mounted gyroscope coefficient correction device, is characterized in that, comprising:
Data read module, for reading during vehicle travels the gps data recorded;
Pattern Matching Module, carries out pattern match to described gps data, finds following preset mode: meet pre-conditioned adjacent two sections of straight-line travelling sections, by one section of non-rectilinear running section interval between these two sections of straight-line travelling sections;
Coefficient corrects module, using the gps data in these two sections of straight-line travelling sections as reference, corrects gyrostatic coefficient of angularity.
7. vehicle-mounted gyroscope coefficient correction device according to claim 5, it is characterized in that, described gps data is divided into multistage, for each gps data section, described Pattern Matching Module judges whether it meets respectively described pre-conditioned, if meet described pre-conditioned, then this gps data section is straight-line travelling section; If do not meet described pre-conditioned, then this gps data section is non-rectilinear running section.
8. vehicle-mounted gyroscope coefficient correction device according to claim 7, is characterized in that, described pre-conditioned to comprise in following condition one or more:
The differential seat angle of Current GPS data segment is less than predetermined angle threshold value;
The distance of Current GPS data segment exceedes predeterminable range threshold value;
The accumulative angle change of the gyro data section that Current GPS data segment is corresponding and instantaneous angular change are less than predetermined angle change threshold;
The instantaneous velocity of Current GPS data segment finish time exceedes default instantaneous velocity threshold value;
The positional information of Current GPS data segment finish time and road network; And
The speed of a motor vehicle of Current GPS data segment exceedes preset vehicle speed threshold value.
9. vehicle-mounted gyroscope coefficient correction device according to claim 7, it is characterized in that, described Pattern Matching Module finds described preset mode in the following way: if Current GPS data segment is straight-line travelling section, then carry out forward coupling and find, find previous straight-line travelling section.
10. vehicle-mounted gyroscope coefficient correction device according to claim 6, is characterized in that, described coefficient is corrected module and comprised:
Angle calculation unit, calculates the corner between these two sections of straight-line travelling sections according to the gps data in these two sections of straight-line travelling sections;
Angle corrects unit, uses the corner between described two sections of straight-line travelling sections to correct described gyrostatic coefficient of angularity.
11. 1 kinds of onboard navigation systems, is characterized in that, comprise the vehicle-mounted gyroscope coefficient correction device according to any one of claim 6 to 10.
CN201310407915.XA 2013-09-09 2013-09-09 Car-mounted gyroscope coefficient correction method and car-mounted gyroscope coefficient correction device as well as car-mounted navigation system Pending CN104422465A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310407915.XA CN104422465A (en) 2013-09-09 2013-09-09 Car-mounted gyroscope coefficient correction method and car-mounted gyroscope coefficient correction device as well as car-mounted navigation system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310407915.XA CN104422465A (en) 2013-09-09 2013-09-09 Car-mounted gyroscope coefficient correction method and car-mounted gyroscope coefficient correction device as well as car-mounted navigation system

Publications (1)

Publication Number Publication Date
CN104422465A true CN104422465A (en) 2015-03-18

Family

ID=52972128

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201310407915.XA Pending CN104422465A (en) 2013-09-09 2013-09-09 Car-mounted gyroscope coefficient correction method and car-mounted gyroscope coefficient correction device as well as car-mounted navigation system

Country Status (1)

Country Link
CN (1) CN104422465A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110118988A (en) * 2019-05-28 2019-08-13 上海擎感智能科技有限公司 A kind of combined positioning method and its device
CN111272194A (en) * 2020-02-19 2020-06-12 北京大椽科技有限公司 Method for calibrating gyroscope on trailer
CN113167910A (en) * 2018-12-12 2021-07-23 沃尔沃卡车集团 A method for estimating the pose of a vehicle
CN115309847A (en) * 2022-10-11 2022-11-08 中都物流有限公司 Method for processing positioning point data, electronic equipment and storage medium

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0738878A2 (en) * 1995-04-21 1996-10-23 Xanavi Informatics Corporation System for vehicle odometer correction
US20020055819A1 (en) * 2000-11-08 2002-05-09 Yasuhiro Shimizu Vehicle navigation apparatus providing rapid correction for excessive error in dead reckoning estimates of vehicle travel direction by direct application of position and direction information derived from GPS position measurement data
CN101586962A (en) * 2008-05-21 2009-11-25 环隆电气股份有限公司 Map Feedback Correction Method for Inertial Navigation System
CN102538826A (en) * 2012-02-13 2012-07-04 光庭导航数据(武汉)有限公司 Method for adaptively correcting gyro error based on map matching data and global position system (GPS)
CN102538790A (en) * 2011-11-23 2012-07-04 武汉光庭科技有限公司 Method for solving difference of gyroscope parameters in inertial navigation
US20120173142A1 (en) * 2010-12-03 2012-07-05 Qualcomm Incorporated Inertial sensor aided heading and positioning for gnss vehicle navigation

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0738878A2 (en) * 1995-04-21 1996-10-23 Xanavi Informatics Corporation System for vehicle odometer correction
US20020055819A1 (en) * 2000-11-08 2002-05-09 Yasuhiro Shimizu Vehicle navigation apparatus providing rapid correction for excessive error in dead reckoning estimates of vehicle travel direction by direct application of position and direction information derived from GPS position measurement data
CN101586962A (en) * 2008-05-21 2009-11-25 环隆电气股份有限公司 Map Feedback Correction Method for Inertial Navigation System
US20120173142A1 (en) * 2010-12-03 2012-07-05 Qualcomm Incorporated Inertial sensor aided heading and positioning for gnss vehicle navigation
CN102538790A (en) * 2011-11-23 2012-07-04 武汉光庭科技有限公司 Method for solving difference of gyroscope parameters in inertial navigation
CN102538826A (en) * 2012-02-13 2012-07-04 光庭导航数据(武汉)有限公司 Method for adaptively correcting gyro error based on map matching data and global position system (GPS)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113167910A (en) * 2018-12-12 2021-07-23 沃尔沃卡车集团 A method for estimating the pose of a vehicle
CN110118988A (en) * 2019-05-28 2019-08-13 上海擎感智能科技有限公司 A kind of combined positioning method and its device
CN111272194A (en) * 2020-02-19 2020-06-12 北京大椽科技有限公司 Method for calibrating gyroscope on trailer
CN111272194B (en) * 2020-02-19 2023-08-25 北京大椽科技有限公司 Method for calibrating gyroscope on trailer
CN115309847A (en) * 2022-10-11 2022-11-08 中都物流有限公司 Method for processing positioning point data, electronic equipment and storage medium
CN115309847B (en) * 2022-10-11 2023-01-24 中都物流有限公司 Method for processing positioning point data, electronic equipment and storage medium

Similar Documents

Publication Publication Date Title
CN109581449B (en) Positioning method and system for automatically driving automobile
US11193782B2 (en) Vehicle position estimation apparatus
CN101101214B (en) Link setting system suitable for map matching, method and program thereof
CN101310163B (en) Mobile object position estimation apparatus and method
US20200174113A1 (en) Omnidirectional sensor fusion system and method and vehicle including the same
JP6342104B1 (en) Vehicle position estimation device
US10794709B2 (en) Apparatus of compensating for a sensing value of a gyroscope sensor, a system having the same, and a method thereof
CN109443370A (en) A method of deviate detection track
US20170176598A1 (en) Multipath error correction
JP5762656B2 (en) Vehicle position display control device and vehicle position specifying program
JP2017091370A (en) Travel path information generation system for vehicle and on-vehicle device
US9969081B2 (en) Method and system for the directed control of robotic assets
CN104422465A (en) Car-mounted gyroscope coefficient correction method and car-mounted gyroscope coefficient correction device as well as car-mounted navigation system
CN113587945A (en) Vehicle driving route correction method and system under condition of road network data missing
CN104864867B (en) GNSS vehicle is applicable in VSYR blind areas position error modification method
KR20170020037A (en) Method for updating Navigation Map
CN105424050A (en) Method and equipment for determining traveling path of vehicle
CN111536972A (en) Vehicle-mounted DR navigation method based on odometer scale factor correction
JP6539129B2 (en) Vehicle position estimation device, steering control device using the same, and vehicle position estimation method
KR20210075675A (en) Platooning control apparatus and path planning method thereof
CN115635967A (en) Vehicle control method and device, vehicle-mounted terminal and storage medium
JP2007248321A (en) Vehicle travel position estimation system and vehicle travel position estimation method
KR20190060575A (en) Apparatus and method for estimating position of vehicle using yawrate sensor
CN114509087B (en) Positioning method, electronic device and computer storage medium
CN108195387B (en) AR-HUD navigation system and GPS data checking and correcting method thereof

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication

Application publication date: 20150318

RJ01 Rejection of invention patent application after publication