CN106443741B - Cooperative Localization Method and device based on vehicular wireless network - Google Patents

Cooperative Localization Method and device based on vehicular wireless network Download PDF

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CN106443741B
CN106443741B CN201611163244.7A CN201611163244A CN106443741B CN 106443741 B CN106443741 B CN 106443741B CN 201611163244 A CN201611163244 A CN 201611163244A CN 106443741 B CN106443741 B CN 106443741B
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neighbor node
target vehicle
position location
estimation
distance
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CN106443741A (en
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柳扬
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Neusoft Corp
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Neusoft Corp
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • G01S5/0263—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0284—Relative positioning

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The present disclosure proposes a kind of Cooperative Localization Method and device based on vehicular wireless network, is related to field of locating technology, this method comprises: obtaining the relative distance of m neighbor node, relative angle, the position location for passing through navigation acquisition and position location certainty factor；The estimation position location of target vehicle is determined using triangulation according to the relative distance of m neighbor node, relative angle, position location；According to the corrected parameter for the estimation position location that the relative distance of m neighbor node, position location, position location certainty factor utilize least square method to obtain for correcting mark vehicle；It is modified according to estimation position location of the corrected parameter to target vehicle, using revised position as the position location of target vehicle.Vehicle can still be positioned in vehicle travel process in the case where navigation satellite signal weakens or disappears, and improve the accuracy of vehicle location.

Description

Cooperative Localization Method and device based on vehicular wireless network
Technical field
This disclosure relates to field of locating technology more particularly to a kind of Cooperative Localization Method and dress based on vehicular wireless network It sets.
Background technique
With the development of wireless communication technique, mobile positioning technique is widely used, especially in automobile navigation Field.In the prior art, vehicle using GNSS, (defend by Global Navigation Satellite System, worldwide navigation Star system) carry out navigator fix, but vehicle can be will receive in the process of moving by a variety of landform, GNSS signal signal decaying, The influence of many factors such as multi-path jamming and barrier leads to that stable, accurate location information cannot be provided.In extreme case Under, when vehicle enters the regions such as tunnel, culvert, because vehicle is invisible to navigation satellite, GNSS signal cannot be received, is caused Location information cannot be provided.
Summary of the invention
The disclosure provides a kind of Cooperative Localization Method and device based on vehicular wireless network, is travelling to solve vehicle The problem of can not being positioned as caused by weakening navigation satellite signal or disappearance in the process.
To achieve the goals above, according to the first aspect of the embodiments of the present disclosure, it provides a kind of based on vehicular wireless network Cooperative Localization Method, which comprises
Obtain relative distance, the relative angle, the position location and position location obtained by navigation of m neighbor node Certainty factor；The neighbor node is other vehicles or roadside unit for being less than pre-determined distance at a distance from the target vehicle, Wherein, m is greater than or equal to 2；
According to the relative distance of the m neighbor node, relative angle, position location using described in triangulation determination The estimation position location of target vehicle；
It is obtained according to the relative distance of the m neighbor node, position location, position location certainty factor using least square method It takes in the corrected parameter for the estimation position location for correcting the target vehicle；
It is modified according to estimation position location of the corrected parameter to the target vehicle, revised position is made For the position location of the target vehicle.
Optionally, the relative distance include each neighbor node and the target vehicle relative distance and each neighbour The relative distance between node is occupied, the relative angle includes three that any two neighbor node and the target vehicle are constituted Using neighbor node as the angle at the angle on vertex in angular.
Optionally, described to be utilized according to the relative distance of the m neighbor node, position location, position location certainty factor Least square method obtains the corrected parameter of the estimation position location for correcting the target vehicle, comprising:
The assessment weight for meeting n neighbor node of preset condition in the m neighbor node is obtained, obtains including described The weight matrix of the assessment weight of n neighbor node；
Assessment square is obtained according to the position location of the n neighbor node and the estimation position location of the target vehicle Battle array；
According to the relative distance of the n neighbor node and the target vehicle, the sprocket bit of the n neighbor node It sets, the estimation position location of the target vehicle obtains error vector；
The corrected parameter is obtained according to the weight matrix, the evaluating matrix and the error vector.
It is optionally, described to obtain the assessment weight for meeting n neighbor node of preset condition in the m neighbor node, Obtain include the assessment weight of the n neighbor node weight matrix, comprising:
It is opposite with the target vehicle according to the position location certainty factor of each neighbor node, each neighbor node Distance, the maximum effective communication distance of each neighbor node and preset confidence level specific gravity and apart from specific gravity to described every A neighbor node carries out right assessment, obtains the assessment weight of the m neighbor node；
The maximum n neighbor node of assessment weight is selected in the m neighbor node；
Obtain the weight matrix according to the assessment weight of the n neighbor node, the weight matrix be include the n The diagonal matrix of the assessment weight of a neighbor node.
Optionally, the position location obtained by navigation is revised to be positioned by GNSS and passing through inertial navigation Position location, the position location certainty factor of each neighbor node include that the confidence level of GNSS positioning and inertial navigation position Confidence level；
The position location certainty factor, each neighbor node and the target vehicle according to each neighbor node Relative distance, the maximum effective communication distance of each neighbor node and preset confidence level specific gravity and apart from specific gravity to institute It states each neighbor node and carries out right assessment, obtain the assessment weight of the m neighbor node, comprising:
It is opposite with the target vehicle according to the position location certainty factor of each neighbor node, each neighbor node Distance, the maximum effective communication distance of each neighbor node and preset confidence level specific gravity and apart from specific gravity, exploitation right Re-computation formula carries out right assessment to each neighbor node, obtains the assessment weight of the m neighbor node；
The weight calculation formula includes:
W=A × G × a+ (DIST_MAX-DIST_R) ÷ DIST_MAX × b
Wherein, W indicates the assessment weight of neighbor node, and A indicates the confidence level of inertial navigation positioning, described in G expression The confidence level of GNSS positioning, a indicate the confidence level specific gravity, and b indicates described apart from specific gravity, and a+b=1, DIST_MAX are indicated The maximum effective communication distance, DIST_R indicate the relative distance.
Optionally, the positioning position information of the n neighbor node is the GNSS coordinate of the n neighbor node, described The estimation position location of target vehicle is the estimation GNSS coordinate of the target vehicle.
Optionally, the position location of the n neighbor node, according to the position location of the n neighbor node and institute The estimation position location for stating target vehicle obtains evaluating matrix, comprising:
It according to the positioning position information of the n neighbor node is the GNSS coordinate of the n neighbor node and described The estimation position location of target vehicle is that the estimation GNSS coordinate of the target vehicle obtains the n neighbor node and the mesh Mark the coordinate distance of vehicle；
The evaluating matrix, the assessment are obtained according to the coordinate distance of the n neighbor node and the target vehicle Matrix includes:
Wherein, xn, ynIndicate the GNSS coordinate of neighbor node n, x0, y0Indicate the estimation GNSS coordinate of the target vehicle.
Optionally, described to be saved according to the relative distance of the n neighbor node and the target vehicle, the n neighbours The position location of point, the estimation position location of the target vehicle obtain error vector, comprising:
The n is obtained according to the GNSS coordinate of the n neighbor node and the estimation GNSS coordinate of the target vehicle The coordinate distance of a neighbor node and the target vehicle；
According to the relative distance of the n neighbor node and the coordinate of the n neighbor node and the target vehicle Distance obtains the error vector；
The error vector includes:
Wherein, xn, ynIndicate the GNSS coordinate of neighbor node n, x0, y0Indicate the estimation GNSS coordinate of the target vehicle, L1To LnIndicate the relative distance of the n neighbor node and the target vehicle.
According to the second aspect of an embodiment of the present disclosure, a kind of co-positioned device based on vehicular wireless network, institute are provided Stating device includes:
Data obtaining module, estimation locating module, correction module and locating module；
The data obtaining module, for obtaining the relative distance of m neighbor node, relative angle, passing through navigation acquisition Position location and position location certainty factor；The neighbor node is at a distance from the target vehicle less than pre-determined distance Other vehicles or roadside unit, wherein m is greater than or equal to 2；
The estimation locating module, for the relative distance according to the m neighbor node, relative angle, position location The estimation position location of the target vehicle is determined using triangulation；
The correction module, for being firmly believed according to the relative distance of the m neighbor node, position location, position location The corrected parameter for the estimation position location that degree utilizes least square method to obtain for correcting the target vehicle；
The locating module, for being repaired according to estimation position location of the corrected parameter to the target vehicle Just, using revised position as the position location of the target vehicle.
Optionally, the relative distance include each neighbor node and the target vehicle relative distance and each neighbour The relative distance between node is occupied, the relative angle includes three that any two neighbor node and the target vehicle are constituted Using neighbor node as the angle at the angle on vertex in angular.
Optionally, the correction module include: weight matrix acquisition submodule, evaluating matrix acquisition submodule, error to Measure acquisition submodule and corrected parameter acquisition submodule；
The weight matrix acquisition submodule, for obtaining n neighbours for meeting preset condition in the m neighbor node The assessment weight of node, obtain include the assessment weight of the n neighbor node weight matrix；
The evaluating matrix acquisition submodule, for according to the n neighbor node position location and the target The estimation position location of vehicle obtains evaluating matrix；
The error vector acquisition submodule, for according to the n neighbor node and the target vehicle it is opposite away from Estimation position location from, the position location of the n neighbor node, the target vehicle obtains error vector；
The corrected parameter acquisition submodule, for according to the weight matrix, the evaluating matrix and the error Vector obtains the corrected parameter.
Optionally, the weight matrix acquisition submodule is used for:
It is opposite with the target vehicle according to the position location certainty factor of each neighbor node, each neighbor node Distance, the maximum effective communication distance of each neighbor node and preset confidence level specific gravity and apart from specific gravity to described every A neighbor node carries out right assessment, obtains the assessment weight of the m neighbor node；
The maximum n neighbor node of assessment weight is selected in the m neighbor node；
Obtain the weight matrix according to the assessment weight of the n neighbor node, the weight matrix be include the n The diagonal matrix of the assessment weight of a neighbor node.
Optionally, the position location obtained by navigation is to position and pass through by global navigation satellite system GNSS The revised position location of inertial navigation, the position location certainty factor of each neighbor node include the confidence level of GNSS positioning With the confidence level of inertial navigation positioning；
The weight matrix acquisition submodule is used for:
It is opposite with the target vehicle according to the position location certainty factor of each neighbor node, each neighbor node Distance, the maximum effective communication distance of each neighbor node and preset confidence level specific gravity and apart from specific gravity, exploitation right Re-computation formula carries out right assessment to each neighbor node, obtains the assessment weight of the m neighbor node；
The weight calculation formula includes:
W=A × G × a+ (DIST_MAX-DIST_R) ÷ DIST_MAX × b
Wherein, W indicates the assessment weight of neighbor node, and A indicates the confidence level of inertial navigation positioning, described in G expression The confidence level of GNSS positioning, a indicate the confidence level specific gravity, and b indicates described apart from specific gravity, and a+b=1, DIST_MAX are indicated The maximum effective communication distance, DIST_R indicate the relative distance.
Optionally, the positioning position information of the n neighbor node is the GNSS coordinate of the n neighbor node, described The estimation position location of target vehicle is the estimation GNSS coordinate of the target vehicle.
Optionally, the evaluating matrix acquisition submodule is used for: the positioning position information according to the n neighbor node is The GNSS coordinate of the n neighbor node and the estimation position location of the target vehicle are the estimation of the target vehicle GNSS coordinate obtains the coordinate distance of the n neighbor node and the target vehicle；
The evaluating matrix, the assessment are obtained according to the coordinate distance of the n neighbor node and the target vehicle Matrix includes:
Wherein, xn, ynIndicate the GNSS coordinate of neighbor node n, x0, y0Indicate the estimation GNSS coordinate of the target vehicle.
Optionally, the error vector acquisition submodule is used for:
The n is obtained according to the GNSS coordinate of the n neighbor node and the estimation GNSS coordinate of the target vehicle The coordinate distance of a neighbor node and the target vehicle；
According to the relative distance of the n neighbor node and the coordinate of the n neighbor node and the target vehicle Distance obtains the error vector；
The error vector includes:
Wherein, xn, ynIndicate the GNSS coordinate of neighbor node n, x0, y0Indicate the estimation GNSS coordinate of the target vehicle, L1To LnIndicate the relative distance of the n neighbor node and the target vehicle.
Through the above technical solutions, determining for the target vehicle can be obtained in the case where target vehicle does not have GNSS signal Position position, therefore it is able to solve what vehicle can not be positioned as caused by weakening navigation satellite signal or disappearance in the process of moving Problem has the effect of improving the stability of vehicle location.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not The disclosure can be limited.
Detailed description of the invention
Attached drawing is and to constitute part of specification for providing further understanding of the disclosure, with following tool Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings:
Fig. 1 is a kind of process of Cooperative Localization Method based on vehicular wireless network shown according to an exemplary embodiment Figure；
Fig. 2 is the stream of another Cooperative Localization Method based on vehicular wireless network shown according to an exemplary embodiment Cheng Tu；
Fig. 3 is the schematic diagram for implementing a kind of triangulation exemplified according to Fig. 1；
Fig. 4 is a kind of frame of co-positioned device based on vehicular wireless network shown according to an exemplary embodiment Figure；
Fig. 5 is the frame of another co-positioned device based on vehicular wireless network shown according to an exemplary embodiment Figure.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.
Before the Cooperative Localization Method and device based on vehicular wireless network for introducing disclosure offer, first to this public affairs Application scenarios involved in each embodiment are opened to be introduced.The application scenarios may include supporting WAVE (English: Wireless Access in Vehicelar Environment, Chinese: vehicle-carrying communication wireless access) network vehicle and roadside unit, should Vehicle and roadside unit can carry out short-range wireless communication by WAVE network, transmit message by carrier of wireless signal, It can use relative distance and phase that the propagation of wireless signal in the wireless context is calculated between each vehicle and roadside unit To angle, the navigation positioning system of vehicle itself is modified.The disclosure is each equipped with vehicle and roadside unit and can be sent out It penetrates for the UWB device of UWB (English: Ultra Wideband, Chinese: ultra wide band) signal, vehicle and roadside unit can be with It is communicated by the UWB device of its own with UWB signal, UWB signal is high frequency short pulse signal, is carried out using UWB signal Positioning can reach the precision of decimeter grade.Also, UWB signal has very wide bandwidth, therefore can adapt to the row of vehicle high-speed State is sailed, is able to solve multipath problem, signal reflection problem, diffraction problems in non-line-of-sight, positioning accuracy is basic at high speeds It is constant, it can work independently in the case where no GNSS signal.Above-mentioned vehicle can be configured with GNSS (English: Global Navigation Satellite System, Chinese: Global Navigation Satellite System) device and inertial navigation unit.Wherein, exist In each embodiment of the disclosure, GNSS be can include but is not limited to: GPS (Global Positioning System, the whole world Positioning system), Beidou satellite navigation system, GLONASS navigation system, galileo satellite navigation system etc., inertial navigation refers to Using the variation of three axis accelerometer and three-axis gyroscope, the technology of GNSS location data is constantly calibrated, can be provided more high-precision The amendment data of degree and stability, under short time GNSS signal loss situation, the absolute position of inertial navigation energy persistence forecasting vehicle It sets.The vehicle can be automobile, which is not limited to orthodox car, pure electric automobile or mixed electrical automobile, in addition to this may be used also To be suitable for other kinds of motor vehicle or non-motor vehicle.
Fig. 1 is a kind of process of Cooperative Localization Method based on vehicular wireless network shown according to an exemplary embodiment Figure, as shown in Figure 1, this method comprises:
Step 101, the relative distance of m neighbor node, relative angle are obtained, by the position location of navigation acquisition and Position location certainty factor；Neighbor node is other vehicles or roadside unit for being less than pre-determined distance at a distance from target vehicle, Wherein, m is greater than or equal to 2.
It is exemplary, when target vehicle in the process of moving, can when the intensity of the GNSS signal received is less than preset strength The error of positioning result can be caused excessive or can not be positioned.At this point, target vehicle may search for all capable of nearby passing through The neighbor node of WAVE network insertion, these neighbor nodes can be other vehicles near target vehicle, are also possible to install In the roadside unit of fixed location assistance vehicle location.Wherein either target vehicle or other vehicles above-mentioned all can be answer The vehicle described in scene, roadside unit are the roadside unit described in above-mentioned application scenarios with UWB device, the target Vehicle can be communicated by above-mentioned UWB device with these neighbor nodes.Neighbor node can be surveyed by UWB location technology Between amount and target vehicle, and the relative distance between other neighbor nodes, relative angle, and can be obtained by GNSS The position location of itself, so as to by relative distance, relative angle, pass through navigation obtain position location and position location Certainty factor is sent to target vehicle, and the position of itself is calculated for the target vehicle.Target vehicle from neighbor node in addition to receiving Except the position location of neighbor node, it is also necessary to obtain position location certainty factor, the position location certainty factor is for indicating positioning The credibility of position.
Wherein, the position location obtained by navigation can be to be positioned by GNSS and pass through inertial navigation (for example, ADR Technology) revised position location.Therefore, the position location certainty factor of each neighbor node include can with GNSS position it is credible The confidence level of degree and inertial navigation positioning.In addition, target vehicle obtain may include with the relative distance of each neighbor node Relative distance between each neighbor node and the relative distance and each neighbor node of target vehicle, relative angle can wrap It includes in the triangle that any two neighbor node and target vehicle are constituted using neighbor node as the angle at the angle on vertex.It is worth one It is mentioned that, about the acquisition methods of relative distance and relative angle, in addition to above-mentioned can be measured by neighbor node and be calculated obtains After be transmitted directly to outside the mode of target vehicle, can also by target vehicle according to neighbor node and target vehicle in WAVE net Coordinate in network, which calculates, to be obtained.
Step 102, it is determined according to the relative distance of m neighbor node, relative angle, position location using triangulation The estimation position location of target vehicle.
For example, Fig. 3 is the schematic diagram of triangulation, as shown in figure 3, wherein D indicates target vehicle, A, B, C and E Indicate four neighbor nodes around D.By taking the triangle that B and C and D are constituted as an example, neighbor node B and C can be target Other vehicles or roadside unit near vehicle D, and the GNSS coordinate of neighbor node B and C can be positioned directly by GNSS It connects to obtain.Can use between two neighbor nodes of target vehicle D and B, C UWB device transmitting-receiving UWB signal, and with this calculate D with B, in the triangle that the relative distance d 2 and d3 between C, relative distance d 1 and B and C between B and C and D are constituted respectively Using B, C as the angle of the angle a and b on vertex.Being equal to 180 degree according to angle sum of a triangle can calculate what B and C and D was constituted Using D as the angle of the angle c on vertex in triangle:
C=180 °-(a+b)
The angle of three edge lengths (relative distance d 1, d2, d3) and three apex angles in the triangle constituted according to B and C and D It spends (relative angle a, b, c), the coordinate of D point can be found out using acute triangle formula, which can serve as target carriage Estimation position location.Optionally, it can also be constituted according to adjacent A and B and D triangle, C and the E constituted and D Triangle is as calibration triangle, and for calibrating the coordinate of D, the coordinate after calibration is determined as the estimation of target vehicle D Position position.Wherein, it is worth mentioning at this point that, calibration can use the calibration method of triangulation chain.
Step 103, least square is utilized according to the relative distance of m neighbor node, position location, position location certainty factor Method obtains the corrected parameter of the estimation position location for correcting target vehicle.
Step 104, it is modified according to estimation position location of the corrected parameter to target vehicle, revised position is made For the position location of target vehicle.
It can be seen that since the relative distance of m neighbor node is obtained according to UWB location technology measurement, due to logical Crossing the position location that GNSS is obtained is usually meter accuracy, and the relative distance of the available decimeter grade of UWB device, therefore above-mentioned The corrected parameter obtained by the relative distance and position location of neighbor node can make the essence of the position of target vehicle Exactness is increased to a decimeter rank from meter level.And the target vehicle can be obtained in the case where target vehicle does not have GNSS signal Position location, therefore be able to solve vehicle in the process of moving due to navigation satellite signal weaken or disappear lead to positioning stablity The problem low with accuracy is spent, has the effect of improving the stability and accuracy of vehicle location.
Fig. 2 is the stream of another Cooperative Localization Method based on vehicular wireless network shown according to an exemplary embodiment Cheng Tu, as shown in Fig. 2, step 103 includes:
Step 1031, the assessment weight for meeting n neighbor node of preset condition in m neighbor node is obtained, is wrapped Include the weight matrix of the assessment weight of n neighbor node.
It is exemplary, it is possible, firstly, to according to the position location certainty factor, each neighbor node and target carriage of each neighbor node Relative distance, each neighbor node maximum effective communication distance and preset confidence level specific gravity and apart from specific gravity to every A neighbor node carries out right assessment, obtains the assessment weight of m neighbor node.Its calculation method may include:
According to the relative distance, every of the position location certainty factor of each neighbor node, each neighbor node and target vehicle The maximum effective communication distance of a neighbor node and preset confidence level specific gravity and apart from specific gravity, utilize weight calculation formula pair Each neighbor node carries out right assessment, obtains the assessment weight of m neighbor node.The weight calculation formula includes:
W=A × G × a+ (DIST_MAX-DIST_R) ÷ DIST_MAX × b
Wherein, W indicates that the assessment weight of neighbor node, A indicate the confidence level of inertial navigation positioning, and G indicates GNSS positioning Confidence level, a indicates that confidence level specific gravity, b are indicated apart from specific gravity, and a+b=1, DIST_MAX indicate maximum effective communication distance, DIST_R indicates relative distance.
It can be seen that the weight calculation formula is divided into two parts: confidence level (A × G × a) and distance ((DIST_MAX- DIST_R) ÷ DIST_MAX × b) respectively to the influence of weight.Wherein, the confidence level G of GNSS positioning can be by GNSS signal DOP (English: Dilution of Precision, Chinese: dilution of precision) determines that the DOP used in the present embodiment can be PDOP (English: Position Dilution of Precision, Chinese: position dilution of precision).The PDOP of GNSS signal can To be transmitted directly to target vehicle by neighbor node, PDOP value is smaller, indicates that GNSS signal is stronger, positioning accuracy is higher, also It is that the confidence level G that GNSS is positioned is bigger, correspondingly, PDOP value is bigger, indicates that GNSS signal is weaker, positioning accuracy is lower, GNSS The confidence level G of positioning is lower.When neighbor node is roadside unit, that is, the confidence level G of GNSS positioning smaller.When neighbours save Point is roadside unit, since its position is fixed and its position location is predetermined, GNSS coordinate be it is accurate, The confidence level G of GNSS positioning is maximum.For example, the confidence level G of GNSS positioning can be as shown in table 1:
Table 1
The confidence level G of GNSS positioning The dilution of precision DOP of GNSS signal
1 Neighbor node is the fixed roadside unit in position
0.8 PDOP≤3
0.5 3 PDOP≤6 <
0.3 PDOP > 6
The confidence level A of inertial navigation positioning can be by the time T and biography for losing GNSS signal inertial navigation isolated operation Sensor precision determines that confidence level A can be transmitted directly to target vehicle, the sensor essence of each neighbor node by neighbor node Degree is fixed, therefore the time T of inertial navigation isolated operation is longer, and the confidence level of measurement result is lower.For example, working as inertia Isolated operation of navigating is more than after 30 seconds, and confidence level is minimum.For example, the confidence level A of inertial navigation positioning can be as shown in table 2:
Table 2
Therefore, according to the position location certainty factor of above-mentioned m neighbor node, m neighbor node respectively with target vehicle Relative distance, the maximum effective communication distance of m neighbor node and preset confidence level specific gravity and apart from specific gravity, utilization is above-mentioned Weight calculation formula can calculate separately out the assessment weight of m neighbor node.
Secondly, selecting the maximum n neighbor node of assessment weight in m neighbor node.
Finally, obtain weight matrix according to the assessment weight of n neighbor node, weight matrix be include n neighbor node Assessment weight diagonal matrix.
Exemplary, the assessment weight of n neighbor node is w1, w2... ..., wn, then weight matrix be
Step 1032, assessment is obtained according to the position location of n neighbor node and the estimation position location of target vehicle Matrix.
Wherein, the position location of n neighbor node is the GNSS coordinate of n neighbor node, the estimation positioning of target vehicle Position is the estimation GNSS coordinate of target vehicle.Neighbor node position location, i.e. GNSS coordinate be it is known, when neighbor node is When other vehicles near target vehicle, other vehicles can be positioned by obtaining GNSS signal, when neighbor node is roadside When unit, in roadside unit installation, GNSS coordinate has pre-deposited the roadside unit.The estimation position location of target vehicle It is acquired by step 102.
Therefore, step 1032 may include:
Firstly, being the GNSS coordinate and target vehicle of n neighbor node according to the positioning position information of n neighbor node Estimation position location be target vehicle estimation GNSS coordinate acquisition n neighbor node and target vehicle coordinate distance.
Secondly, obtaining evaluating matrix according to the coordinate distance of n neighbor node and target vehicle, which includes:
Wherein, xn, ynIndicate the GNSS coordinate of neighbor node n, x0, y0Indicate the estimation GNSS coordinate of target vehicle.
Step 1033, according to the relative distance of n neighbor node and target vehicle, the position location of n neighbor node, mesh The estimation position location for marking vehicle obtains error vector.
Wherein, the relative distance of n neighbor node and target vehicle is obtained by UWB location technology measurement, due to UWB location technology does not need carrier wave, and the pulse spacing is short, and transmission rate is high, therefore has very strong interference free performance, is capable of providing The measurement result of decimeter grade, therefore, the relative distance of neighbor node and target vehicle are more accurate compared to the positioning result of GNSS, The standard of the positioning result for correcting GNSS be can be used as to calculate the error of target vehicle position location.
Therefore, step 1033 may include:
It is saved firstly, obtaining n neighbours according to the GNSS coordinate of n neighbor node and the estimation GNSS coordinate of target vehicle The coordinate distance of point and target vehicle.
Secondly, being obtained according to the coordinate distance of the relative distance of n neighbor node and n neighbor node and target vehicle Error vector.
The error vector may include:
Wherein, xn, ynIndicate the GNSS coordinate of neighbor node n, x0, y0Indicate the estimation GNSS coordinate of target vehicle, L1Extremely LnIndicate the relative distance of n neighbor node and target vehicle.
Then, it can be repaired according to weight matrix P, evaluating matrix B and error vector I according to least square method to calculate Positive parameter, Δ U:
Δ U=(BTPB)-1BTPI
Corrected parameter Δ U is the modification vector of the estimation GNSS coordinate to target vehicle:
Step 1034, corrected parameter is obtained according to weight matrix, evaluating matrix and error vector.
According to the estimation GNSS coordinate x of the corrected parameter Δ U of the acquisition target vehicle obtained to step 1020, y0It is repaired Just, final positioning result x, y are obtained:
X=x0+Δx
Y=y0+Δy
In addition, in the present embodiment, when the inertial navigation isolated operation time of target vehicle was less than 30 seconds, in target carriage Obtain position location after, positioning result can also be calibrated using the inertial navigation of target vehicle, if target vehicle energy The neighbor node enough searched is less than 2, and the inertial navigation that also can use target vehicle is positioned.
Further, according to the characteristic of GNSS itself, when target vehicle remains static, if utilizing GNSS signal 5-10 meters of static drift can be had by carrying out positioning.Therefore, first speed can be carried out before target vehicle carries out positioning operation Judgement, using the localization method of the present embodiment, is positioned using the information of neighbor node, be can be avoided when speed is 0 The static drift of GNSS.
In conclusion since the relative distance of m neighbor node is obtained according to UWB location technology measurement, due to logical Crossing the position location that GNSS is obtained is usually meter accuracy, and the relative distance of the available decimeter grade of UWB device, therefore above-mentioned The corrected parameter obtained by the relative distance and position location of neighbor node can make the essence of the position of target vehicle Exactness is increased to a decimeter rank from meter level.And the target vehicle can be obtained in the case where target vehicle does not have GNSS signal Position location, therefore be able to solve vehicle in the process of moving due to navigation satellite signal weaken or disappear lead to positioning stablity The problem low with accuracy is spent, has the effect of improving the stability and accuracy of vehicle location.
Fig. 4 is a kind of frame of co-positioned device based on vehicular wireless network shown according to an exemplary embodiment Figure, as shown in figure 4, the device includes: data obtaining module 401, estimation locating module 402, correction module 403 and locating module 404；
Data obtaining module 401, for obtaining the relative distance of m neighbor node, relative angle, being obtained by navigation Position location and position location certainty factor；Neighbor node be at a distance from target vehicle less than pre-determined distance other vehicles or Person's roadside unit, wherein m is greater than or equal to 2.
Locating module 402 is estimated, for utilizing three according to the relative distance of m neighbor node, relative angle, position location Angle determines the estimation position location of target vehicle；
Correction module 403, for being utilized according to the relative distance of m neighbor node, position location, position location certainty factor Least square method obtains the corrected parameter of the estimation position location for correcting target vehicle.
Locating module 404, for being modified according to estimation position location of the corrected parameter to target vehicle, after amendment Position location of the position as target vehicle.
Optionally, relative distance include each neighbor node and target vehicle relative distance and each neighbor node it Between relative distance, with neighbor node in the triangle that relative angle includes any two neighbor node and target vehicle is constituted For the angle at the angle on vertex.
Fig. 5 is the frame of another co-positioned device based on vehicular wireless network shown according to an exemplary embodiment Figure, as shown in figure 5, correction module 403 includes: weight matrix acquisition submodule 4031, evaluating matrix acquisition submodule 4032, misses Difference vector acquisition submodule 4033 and corrected parameter acquisition submodule 4034；
Weight matrix acquisition submodule 4031, for obtaining n neighbor node for meeting preset condition in m neighbor node Assessment weight, obtain include the assessment weight of n neighbor node weight matrix.
Evaluating matrix acquisition submodule 4032, for according to the n position location of neighbor node and estimating for target vehicle It counts position location and obtains evaluating matrix.
Error vector acquisition submodule 4033, for the relative distance according to n neighbor node and target vehicle, n neighbour The estimation position location of the position location, target vehicle that occupy node obtains error vector.
Corrected parameter acquisition submodule 4034 is corrected for being obtained according to weight matrix, evaluating matrix and error vector Parameter.
Optionally, weight matrix acquisition submodule 4031 is used for:
According to the relative distance, every of the position location certainty factor of each neighbor node, each neighbor node and target vehicle The maximum effective communication distance of a neighbor node and preset confidence level specific gravity and apart from specific gravity to each neighbor node carry out Right assessment obtains the assessment weight of m neighbor node.
The maximum n neighbor node of assessment weight is selected in m neighbor node.
Weight matrix is obtained according to the assessment weight of n neighbor node, weight matrix is the assessment for including n neighbor node The diagonal matrix of weight.
Optionally, the position location obtained by navigation is to be positioned by GNSS and pass through the revised positioning of inertial navigation Position, the position location certainty factor of each neighbor node include the confidence level of GNSS positioning and the confidence level of inertial navigation positioning.
Weight matrix acquisition submodule 4031 is used for:
According to the relative distance, every of the position location certainty factor of each neighbor node, each neighbor node and target vehicle The maximum effective communication distance of a neighbor node and preset confidence level specific gravity and apart from specific gravity, utilize weight calculation formula pair Each neighbor node carries out right assessment, obtains the assessment weight of m neighbor node.
The weight calculation formula includes:
W=A × G × a+ (DIST_MAX-DIST_R) ÷ DIST_MAX × b
Wherein, W indicates that the assessment weight of neighbor node, A indicate the confidence level of inertial navigation positioning, and G indicates GNSS positioning Confidence level, a indicates that confidence level specific gravity, b are indicated apart from specific gravity, and a+b=1, DIST_MAX indicate maximum effective communication distance, DIST_R indicates relative distance.
Optionally, the positioning position information of n neighbor node is the GNSS coordinate of n neighbor node, and target vehicle is estimated Count the estimation GNSS coordinate that position location is target vehicle.
Optionally, evaluating matrix acquisition submodule 4032 is used for:
It is the n GNSS coordinate of neighbor node and estimating for target vehicle according to the positioning position information of n neighbor node Count the coordinate distance that the estimation GNSS coordinate that position location is target vehicle obtains n neighbor node and target vehicle.
Evaluating matrix is obtained according to the coordinate distance of n neighbor node and target vehicle, evaluating matrix includes:
Wherein, xn, ynIndicate the GNSS coordinate of neighbor node n, x0, y0Indicate the estimation GNSS coordinate of target vehicle.
Optionally, error vector acquisition submodule 4033 is used for:
According to the GNSS coordinate of n neighbor node and the estimation GNSS coordinate of target vehicle obtain n neighbor node and The coordinate distance of target vehicle.
Error is obtained according to the coordinate distance of the relative distance of n neighbor node and n neighbor node and target vehicle Vector.
The error vector includes:
Wherein, xn, ynIndicate the GNSS coordinate of neighbor node n, x0, y0Indicate the estimation GNSS coordinate of target vehicle, L1Extremely LnIndicate the relative distance of n neighbor node and target vehicle.
Wherein, illustrating for above-mentioned modules realization of functions has carried out in above method embodiment in detail Description, details are not described herein again.
It can be seen that due to according to the relative distance of m neighbor node being obtained according to UWB location technology measurement, due to It is usually meter accuracy by the position location that GNSS is obtained, and the relative distance of the available decimeter grade of UWB device, therefore on The corrected parameter obtained by the relative distance and position location of neighbor node stated can make the position of target vehicle Accuracy is increased to a decimeter rank from meter level.And the target carriage can be obtained in the case where target vehicle does not have GNSS signal Position location, therefore be able to solve vehicle in the process of moving since navigation satellite signal weakens or disappearing causes positioning steady The fixed degree problem low with accuracy, has the effect of improving the stability and accuracy of vehicle location.
The preferred embodiment of the disclosure is described in detail in conjunction with attached drawing above, still, the disclosure is not limited to above-mentioned reality The detail in mode is applied, in the range of the technology design of the disclosure, those skilled in the art are considering specification and practice After the disclosure, it is readily apparent that other embodiments of the disclosure, belongs to the protection scope of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance In the case where shield, it can be combined in any appropriate way.Simultaneously between a variety of different embodiments of the disclosure Any combination can also be carried out, as long as it, without prejudice to the thought of the disclosure, equally should be considered as disclosure disclosure of that. The disclosure is not limited to the precision architecture being described above out, and the scope of the present disclosure is only limited by the attached claims System.

Claims (12)

1. a kind of Cooperative Localization Method based on vehicular wireless network, which is characterized in that be applied to target vehicle, the method packet It includes:
Relative distance, relative angle, the position location obtained by navigation and the position location for obtaining m neighbor node are firmly believed Degree；The neighbor node is other vehicles or roadside unit for being less than pre-determined distance at a distance from the target vehicle, wherein M is greater than or equal to 2；The relative distance include each neighbor node and the target vehicle relative distance and each neighbours Relative distance between node；
The target is determined using triangulation according to the relative distance of the m neighbor node, relative angle, position location The estimation position location of vehicle；
It is obtained and is used using least square method according to the relative distance of the m neighbor node, position location, position location certainty factor Corrected parameter in the estimation position location for correcting the target vehicle；
It is modified according to estimation position location of the corrected parameter to the target vehicle, using revised position as institute State the position location of target vehicle；Wherein,
It is described to be obtained according to the relative distance of the m neighbor node, position location, position location certainty factor using least square method It takes in the corrected parameter for the estimation position location for correcting the target vehicle, comprising:
The assessment weight for meeting n neighbor node of preset condition in the m neighbor node is obtained, obtains including the n The weight matrix of the assessment weight of neighbor node；
Evaluating matrix is obtained according to the position location of the n neighbor node and the estimation position location of the target vehicle；
According to the n neighbor node and the relative distance of the target vehicle, the position location of the n neighbor node, institute The estimation position location for stating target vehicle obtains error vector；
The corrected parameter is obtained according to the weight matrix, the evaluating matrix and the error vector；Wherein,
It is described to obtain the assessment weight for meeting n neighbor node of preset condition in the m neighbor node, it obtains including described The weight matrix of the assessment weight of n neighbor node, comprising:
According to the position location certainty factor of each neighbor node, each neighbor node and the target vehicle it is opposite away from From, the maximum effective communication distance of each neighbor node and preset confidence level specific gravity and with a distance from specific gravity to described each Neighbor node carries out right assessment, obtains the assessment weight of the m neighbor node；
The maximum n neighbor node of assessment weight is selected in the m neighbor node；
Obtain the weight matrix according to the assessment weight of the n neighbor node, the weight matrix be include the n neighbour Occupy the diagonal matrix of the assessment weight of node.
2. the method according to claim 1, wherein the relative angle includes any two neighbor node and institute It states in the triangle that target vehicle is constituted using neighbor node as the angle at the angle on vertex.
3. according to the method described in claim 2, it is characterized in that, the position location obtained by navigation is to pass through the whole world Navigational satellite system GNSS positions and passes through the revised position location of inertial navigation, the position location of each neighbor node Certainty factor includes the confidence level of GNSS positioning and the confidence level of inertial navigation positioning；
It is described opposite with the target vehicle according to position location certainty factor, each neighbor node of each neighbor node Distance, the maximum effective communication distance of each neighbor node and preset confidence level specific gravity and apart from specific gravity to described every A neighbor node carries out right assessment, obtains the assessment weight of the m neighbor node, comprising:
According to the position location certainty factor of each neighbor node, each neighbor node and the target vehicle it is opposite away from From, the maximum effective communication distance of each neighbor node and preset confidence level specific gravity and with a distance from specific gravity, utilize weight Calculation formula carries out right assessment to each neighbor node, obtains the assessment weight of the m neighbor node；
The weight calculation formula includes:
W=A × G × a+ (DIST_MAX-DIST_R) ÷ DIST_MAX × b
Wherein, W indicates that the assessment weight of neighbor node, A indicate the confidence level of the inertial navigation positioning, and G indicates the GNSS The confidence level of positioning, a indicate that the confidence level specific gravity, b indicate described apart from specific gravity, and described in a+b=1, DIST_MAX expression Maximum effective communication distance, DIST_R indicate the relative distance.
4. according to the method described in claim 2, it is characterized in that, the positioning position information of the n neighbor node is the n The GNSS coordinate of a neighbor node, the estimation position location of the target vehicle are the estimation GNSS coordinate of the target vehicle.
5. according to the method described in claim 4, it is characterized in that, the position location of the n neighbor node, according to the n The position location of a neighbor node and the estimation position location of the target vehicle obtain evaluating matrix, comprising:
It is the GNSS coordinate and the target of the n neighbor node according to the positioning position information of the n neighbor node The estimation position location of vehicle is that the estimation GNSS coordinate of the target vehicle obtains the n neighbor node and the target carriage Coordinate distance；
The evaluating matrix, the evaluating matrix are obtained according to the coordinate distance of the n neighbor node and the target vehicle Include:
Wherein, xn, ynIndicate the GNSS coordinate of neighbor node n, x0, y0Indicate the estimation GNSS coordinate of the target vehicle.
6. according to the method described in claim 4, it is characterized in that, described according to the n neighbor node and the target carriage Relative distance, the position location of the n neighbor node, the target vehicle estimation position location obtain error to Amount, comprising:
The n neighbour is obtained according to the GNSS coordinate of the n neighbor node and the estimation GNSS coordinate of the target vehicle Occupy the coordinate distance of node Yu the target vehicle；
According to the relative distance of the n neighbor node and the coordinate distance of the n neighbor node and the target vehicle Obtain the error vector；
The error vector includes:
Wherein, xn, ynIndicate the GNSS coordinate of neighbor node n, x0, y0Indicate the estimation GNSS coordinate of the target vehicle, L1Extremely LnIndicate the relative distance of the n neighbor node and the target vehicle.
7. a kind of co-positioned device based on vehicular wireless network, which is characterized in that be applied to target vehicle, described device packet It includes: data obtaining module, estimation locating module, correction module and locating module；
The data obtaining module, for obtaining the relative distance of m neighbor node, relative angle, being determined by what navigation obtained Position position and position location certainty factor；The neighbor node is other for being less than pre-determined distance at a distance from the target vehicle Vehicle or roadside unit, wherein m is greater than or equal to 2；The relative distance includes each neighbor node and the target vehicle Relative distance and each neighbor node between relative distance；
The estimation locating module, for being utilized according to the relative distance of the m neighbor node, relative angle, position location Triangulation determines the estimation position location of the target vehicle；
The correction module, for according to the relative distance of the m neighbor node, position location, position location certainty factor benefit The corrected parameter of the estimation position location for correcting the target vehicle is obtained with least square method；
The locating module will for being modified according to estimation position location of the corrected parameter to the target vehicle Position location of the revised position as the target vehicle；Wherein, the correction module includes: that weight matrix obtains submodule Block, evaluating matrix acquisition submodule, error vector acquisition submodule and corrected parameter acquisition submodule；
The weight matrix acquisition submodule, for obtaining n neighbor node for meeting preset condition in the m neighbor node Assessment weight, obtain include the assessment weight of the n neighbor node weight matrix；
The evaluating matrix acquisition submodule, for according to the n neighbor node position location and the target vehicle Estimation position location obtain evaluating matrix；
The error vector acquisition submodule, for the relative distance according to the n neighbor node and the target vehicle, institute The estimation position location of the position location, the target vehicle of stating n neighbor node obtains error vector；
The corrected parameter acquisition submodule, for according to the weight matrix, the evaluating matrix and the error vector Obtain the corrected parameter；Wherein, the weight matrix acquisition submodule is used for:
According to the position location certainty factor of each neighbor node, each neighbor node and the target vehicle it is opposite away from From, the maximum effective communication distance of each neighbor node and preset confidence level specific gravity and with a distance from specific gravity to described each Neighbor node carries out right assessment, obtains the assessment weight of the m neighbor node；
The maximum n neighbor node of assessment weight is selected in the m neighbor node；
Obtain the weight matrix according to the assessment weight of the n neighbor node, the weight matrix be include the n neighbour Occupy the diagonal matrix of the assessment weight of node.
8. device according to claim 7, which is characterized in that the relative angle includes any two neighbor node and institute It states in the triangle that target vehicle is constituted using neighbor node as the angle at the angle on vertex.
9. device according to claim 8, which is characterized in that the position location obtained by navigation is to pass through the whole world Navigational satellite system GNSS positions and passes through the revised position location of inertial navigation, the position location of each neighbor node Certainty factor includes the confidence level of GNSS positioning and the confidence level of inertial navigation positioning；
The weight matrix acquisition submodule is used for:
According to the position location certainty factor of each neighbor node, each neighbor node and the target vehicle it is opposite away from From, the maximum effective communication distance of each neighbor node and preset confidence level specific gravity and with a distance from specific gravity, utilize weight Calculation formula carries out right assessment to each neighbor node, obtains the assessment weight of the m neighbor node；
The weight calculation formula includes:
W=A × G × a+ (DIST_MAX-DIST_R) ÷ DIST_MAX × b
Wherein, W indicates that the assessment weight of neighbor node, A indicate the confidence level of the inertial navigation positioning, and G indicates the GNSS The confidence level of positioning, a indicate that the confidence level specific gravity, b indicate described apart from specific gravity, and described in a+b=1, DIST_MAX expression Maximum effective communication distance, DIST_R indicate the relative distance.
10. device according to claim 8, which is characterized in that the positioning position information of the n neighbor node is described The GNSS coordinate of n neighbor node, the estimation position location of the target vehicle are the estimation GNSS coordinate of the target vehicle.
11. device according to claim 10, which is characterized in that the evaluating matrix acquisition submodule is used for: according to institute The positioning position information for stating n neighbor node is the GNSS coordinate of the n neighbor node and the estimation of the target vehicle Position location be the target vehicle estimation GNSS coordinate obtain the coordinate of the n neighbor node and the target vehicle away from From；
The evaluating matrix, the evaluating matrix are obtained according to the coordinate distance of the n neighbor node and the target vehicle Include:
Wherein, xn, ynIndicate the GNSS coordinate of neighbor node n, x0, y0Indicate the estimation GNSS coordinate of the target vehicle.
12. device according to claim 10, which is characterized in that the error vector acquisition submodule is used for:
The n neighbour is obtained according to the GNSS coordinate of the n neighbor node and the estimation GNSS coordinate of the target vehicle Occupy the coordinate distance of node Yu the target vehicle；
According to the relative distance of the n neighbor node and the coordinate distance of the n neighbor node and the target vehicle Obtain the error vector；
The error vector includes:
Wherein, xn, ynIndicate the GNSS coordinate of neighbor node n, x0, y0Indicate the estimation GNSS coordinate of the target vehicle, L1Extremely LnIndicate the relative distance of the n neighbor node and the target vehicle.
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