CN113063415A - Vehicle, navigation method thereof, inertial navigation system correction method, and storage medium - Google Patents
Vehicle, navigation method thereof, inertial navigation system correction method, and storage medium Download PDFInfo
- Publication number
- CN113063415A CN113063415A CN202110357996.1A CN202110357996A CN113063415A CN 113063415 A CN113063415 A CN 113063415A CN 202110357996 A CN202110357996 A CN 202110357996A CN 113063415 A CN113063415 A CN 113063415A
- Authority
- CN
- China
- Prior art keywords
- navigation system
- inertial navigation
- vehicle
- information
- course angle
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 59
- 238000012937 correction Methods 0.000 title claims abstract description 29
- 230000008859 change Effects 0.000 claims description 19
- 238000005070 sampling Methods 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 11
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 238000003786 synthesis reaction Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000000605 extraction Methods 0.000 description 2
- 238000011835 investigation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000002194 synthesizing effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, 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)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
- Navigation (AREA)
Abstract
The invention discloses a vehicle and a navigation method thereof, a correction method of an inertial navigation system and a storage medium, wherein the correction method of the inertial navigation system comprises the following steps: acquiring position information of a crossing point of a driving path, and acquiring course angle information of a vehicle when the vehicle drives on the driving path through an inertial navigation system; matching according to the position information of the intersection and the course angle information to obtain matching information; and correcting the positioning error of the inertial navigation system according to the matching information. According to the correction method of the inertial navigation system, the long-time positioning accumulated error of the inertial navigation system can be corrected under the condition that other course acquisition auxiliary equipment is not added, so that the vehicle positioning precision of the inertial navigation system can be effectively improved, and the long-time, high-precision and low-cost positioning of the inertial navigation system is realized.
Description
Technical Field
The invention relates to the technical field of automobile navigation, in particular to a vehicle and a navigation method thereof, a correction method of an inertial navigation system, a storage medium and equipment.
Background
When the satellite positioning signal is not received, such as an indoor driving route, the inertial navigation technology is generally adopted for navigation. Compared with outdoor vehicle navigation, the indoor environment is complex, the positioning difficulty is high, and meanwhile, in the navigation resolving process, tiny errors of inertial devices can be rapidly accumulated in a cubic form.
Therefore, a method for obtaining feature points and performing feature point matching by obtaining an entity architectural diagram of a building, digitizing the entity architectural diagram, and obtaining an indoor electronic map of an underground parking lot and the like is proposed in the related art. However, some parking lots or indoor architectural drawings are not well acquired or even exist, so that the acquisition path of the architectural drawings is complicated. Moreover, a part of the building map has deviation from the actual scene, so that matching and error correction cannot be performed after the map is digitized, and deviation occurs in feature point extraction and matching.
In the related art, a method for correcting the pose by collecting indoor high-precision maps of underground parking lots and the like through a laser radar, extracting characteristic points and matching the characteristic points is also provided. Although the high-precision map is manufactured through the laser radar and the precision of extracting the relevant characteristic points is high, the data volume is large due to the fact that the laser radar is expensive. In addition, in parking lots and some indoor building scenes, all information in the high-precision map is not needed, but the high-precision map is needed to be added to perform error correction on the inertial navigation positioning system, which results in resource waste and cost increase.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, an object of the present invention is to provide a correction method for an inertial navigation system, so as to correct the accumulated error of the inertial navigation system without adding other additional devices, thereby improving the positioning accuracy of the inertial navigation system.
A second object of the present invention is to provide a navigation method for a vehicle.
It is a third object of the invention to propose a computer readable storage medium
A fourth object of the present invention is to provide an electronic device
A fifth object of the invention is to propose a vehicle.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a method for modifying an inertial navigation system, including the following steps: acquiring position information of a crossing point of a driving path, and acquiring course angle information of a vehicle when the vehicle drives on the driving path through an inertial navigation system; matching according to the position information of the intersection and the course angle information to obtain matching information; and correcting the positioning error of the inertial navigation system according to the matching information.
According to the correction method of the inertial navigation system, the position information and the course angle information of the intersection are matched, and the long-time positioning accumulated error of the inertial navigation system can be corrected under the condition that other course acquisition auxiliary equipment is not added, so that the vehicle positioning precision of the inertial navigation system can be effectively improved, and the long-time, high-precision and low-cost positioning of the inertial navigation system is realized.
In addition, the correction method of the inertial navigation system according to the embodiment of the invention may further have the following additional technical features:
according to an embodiment of the present invention, the acquiring the position information of the intersection of the travel route includes: constructing a feature point map; and acquiring the position information of the intersection point from the feature point map.
According to an embodiment of the present invention, the constructing the feature point map includes: acquiring sectional positioning data of the driving path; performing track straight line fitting according to the collected sectional positioning data to obtain a plurality of sections of fitting straight lines; detecting and extracting characteristic points of the multiple sections of fitting straight lines; carrying out positioning track synthesis on the detected and extracted feature points; and generating the feature point map according to the synthesized positioning track.
According to an embodiment of the present invention, the matching according to the position information of the intersection and the heading angle information includes: obtaining course angle change rate information according to the course angle information, and determining points at which the course angle change rate is greater than a preset value; and matching the points with the course angle change rate larger than the preset value with the intersection points.
According to one embodiment of the invention, the correction method of the inertial navigation system calculates the course angle change rate through the following formula:
wherein, thetanIs the course angular rate of change, yaw, of the nth sample pointnIs the heading angle, yaw, of the nth sample pointn-1Is the course angle, t, of the n-1 th sampling pointnIs the sampling time of the nth sample point, tn-1The sampling instant of the (n-1) th sampling point.
According to one embodiment of the invention, the travel path is an indoor travel path.
In order to achieve the above object, a second aspect of the present invention provides a method for navigating a vehicle, which uses the above method for correcting an inertial navigation system to correct a positioning error of the inertial navigation system; and navigating the vehicle through the corrected inertial navigation system.
To achieve the above object, a third aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, the computer program, when being executed by a processor, implementing the method for correcting the inertial navigation system or the method for navigating the vehicle.
In order to achieve the above object, a fourth aspect of the present invention provides an electronic device, including a memory, a processor, and a computer program stored on the memory, wherein the computer program, when executed by the processor, implements the method for modifying an inertial navigation system or the method for navigating a vehicle.
In order to achieve the above object, a fifth embodiment of the invention provides a vehicle including the electronic device.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a flow chart of a method of modifying an inertial navigation system in accordance with an embodiment of the present invention;
FIG. 2 is a modified flow diagram of an inertial navigation system in accordance with one embodiment of the invention;
FIG. 3 is a flow chart of the construction of a feature point map according to one embodiment of the present invention;
FIG. 4 is a flow chart of a method of navigating a vehicle in accordance with an embodiment of the present invention;
fig. 5 is a block diagram of the structure of the vehicle of the embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A vehicle and a navigation method thereof, a correction method of an inertial navigation system, a storage medium, and an apparatus of the present invention are described below with reference to the drawings.
Fig. 1 is a flowchart of a correction method of an inertial navigation system according to an embodiment of the present invention.
As shown in fig. 1, the method for correcting the inertial navigation system includes the following steps:
s101, acquiring position information of a crossing point of a driving path, and acquiring course angle information when the vehicle drives on the driving path through an inertial navigation system.
Wherein, the driving path is an indoor driving path, such as the path of an indoor parking lot.
Specifically, the position information of the intersection of the driving route can be acquired from the pre-constructed feature point map, and when the vehicle drives on the driving route, the vehicle can be navigated by the inertial navigation system, and the course angle information of the vehicle can be acquired. Wherein, the moving direction of the moving target such as vehicle or pedestrian may be changed at the intersection of the driving path, and the characteristic point map can be constructed by an inertial navigation system; the course angle information can be detected by sensors such as an Inertial Measurement Unit (IMU) of the vehicle Inertial navigation system or attitude sensing equipment such as a gyroscope to obtain the course angle information.
And S102, matching according to the position information and the course angle information of the intersection point to obtain matching information.
Specifically, the matching according to the position information and the heading angle information of the intersection may include: obtaining course angle change rate information according to the course angle information, and determining points at which the course angle change rate is greater than a preset value; and matching the points with the course angle change rate larger than the preset value with the intersection points.
Wherein, the course angle change rate can be calculated by the following formula:
wherein, thetanIs the course angular rate of change, yaw, of the nth sample pointnIs the heading angle, yaw, of the nth sample pointn-1Is the course angle, t, of the n-1 th sampling pointnIs the sampling time of the nth sample point, tn-1The sampling instant of the (n-1) th sampling point. When n is 1, theta1May be an initial heading angle.
Specifically, the course angle information can reflect the motion state of the vehicle to a certain extent, in an indoor scene, when a driver rotates a steering wheel of the vehicle, the steering angle of wheels is inevitably increased to a value gradually and then decreased to a value gradually, if the course angle change rate is greater than a certain value, the vehicle can be judged to turn at an intersection, and at the moment, the position corresponding to the course angle change rate can be regarded as the turning point of the vehicle. And then the turning point and the intersection point can be matched to obtain matching information.
And S103, correcting the positioning error of the inertial navigation system according to the matching information.
Specifically, as shown in fig. 2, map information of a travel route (including position information of an intersection of the travel route) is acquired from the feature point map, and information of a to-be-positioned track (including course angle information) is acquired by navigating a vehicle traveling on the travel route by an inertial navigation system. And then, processing the positioning track information and the map information through a preset map matching algorithm to obtain matching information, and transmitting the matching information to a positioning error correction module, wherein the positioning error correction module obtains the positioning information according to the matching information. The positioning error correction module can use the positioning information for vehicle navigation on one hand, and can feed the positioning information back to the inertial navigation system on the other hand, so that closed loop feedback control of a positioning track is formed, and correction of the positioning error of the inertial navigation system is realized. Therefore, the intersection points and the turning points in the vehicle movement process are fused and matched, so that the positioning error can be effectively corrected, the long-time positioning accumulated error of the inertial navigation system can be corrected, and the positioning precision can be improved.
In one embodiment of the present invention, acquiring the position information of the intersection of the travel route may include: constructing a feature point map; and acquiring the position information of the intersection point from the feature point map.
As a possible implementation, as shown in fig. 3, constructing the feature point map may include the following steps:
s301, carrying out sectional positioning data acquisition on the driving path.
And S302, performing track straight line fitting according to the collected sectional positioning data to obtain a plurality of sections of fitting straight lines.
And S303, detecting and extracting the characteristic points of the multiple sections of fitting straight lines.
S304, positioning track synthesis is carried out on the detected and extracted feature points.
And S305, generating a feature point map according to the synthesized positioning track.
In particular, prior to the acquisition of the sectional positioning data, a field scene investigation of the driving path can be performed. And then the vehicle can be driven to run on the running path according to the field scene investigation result, and positioning data can be acquired in a segmented mode through an inertial navigation system in the running process of the vehicle, namely, the running path is divided into a plurality of segments, and the positioning data of each segment is acquired. And performing track straight line fitting (such as least square straight line fitting) according to the acquired positioning data to obtain a plurality of sections of fitted straight lines, wherein the fitted straight lines are at certain angles (such as 90 degrees), and the intersection points or the intersection points of the extension lines can be cross points. Feature point detection and extraction can be carried out on the multi-section fitting straight line, and the feature points can be intersections of the driving paths; and then, synthesizing the detected and extracted feature points by using a positioning track, and generating a feature point map according to the synthesized positioning track.
In summary, the correction method of the inertial navigation system according to the embodiment of the present invention extracts the information point that can be matched with the intersection in the feature point map by processing the course angle change rate information of the vehicle, and further corrects the position error of the inertial navigation system according to the information point, thereby improving the vehicle positioning accuracy. In addition, the correction method can realize the long-time, high-precision and low-cost positioning of the inertial navigation system without adding other auxiliary equipment.
Fig. 4 is a flowchart of a navigation method of a vehicle according to an embodiment of the present invention.
As shown in fig. 4, the navigation method of the vehicle includes the steps of:
s401, correcting the positioning error of the inertial navigation system by adopting the correction method of the inertial navigation system.
And S402, navigating the vehicle through the corrected inertial navigation system.
Therefore, the navigation method of the vehicle can improve the positioning precision of the inertial navigation system of the vehicle and improve the navigation accuracy by adopting the correction method of the inertial navigation system.
Further, the present invention proposes a computer-readable storage medium.
In this embodiment, a computer program is stored on a computer-readable storage medium, and when executed by a processor, the computer program implements the correction method of the inertial navigation system described above or the navigation method of the vehicle described above.
The invention also provides the electronic equipment.
The electronic device according to an embodiment of the present invention includes a memory, a processor, and a computer program stored in the memory, and when the computer program is executed by the processor, the method for correcting the inertial navigation system or the method for navigating the vehicle described above is implemented.
Fig. 5 is a block diagram of the structure of the vehicle of the embodiment of the invention.
As shown in fig. 5, the vehicle 1000 includes the electronic apparatus 100 described above.
According to the vehicle provided by the embodiment of the invention, through the electronic equipment, the information points which can be matched with the intersection points in the feature point map are extracted through processing the course angle change rate information of the vehicle, and then the position error of the inertial navigation system is corrected according to the information points, so that the vehicle positioning precision can be improved. In addition, the correction method can realize the long-time, high-precision and low-cost positioning of the inertial navigation system without adding other auxiliary equipment.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A correction method of an inertial navigation system is characterized by comprising the following steps:
acquiring position information of a crossing point of a driving path, and acquiring course angle information of a vehicle when the vehicle drives on the driving path through an inertial navigation system;
matching according to the position information of the intersection and the course angle information to obtain matching information;
and correcting the positioning error of the inertial navigation system according to the matching information.
2. The method of correcting an inertial navigation system according to claim 1, wherein the acquiring of the position information of the intersection of the travel route includes:
constructing a feature point map;
and acquiring the position information of the intersection point from the feature point map.
3. The method of modifying an inertial navigation system according to claim 2, wherein said constructing a feature point map comprises:
acquiring sectional positioning data of the driving path;
performing track straight line fitting according to the collected sectional positioning data to obtain a plurality of sections of fitting straight lines;
detecting and extracting characteristic points of the multiple sections of fitting straight lines;
carrying out positioning track synthesis on the detected and extracted feature points;
and generating the feature point map according to the synthesized positioning track.
4. The inertial navigation system correction method of claim 1, wherein said matching based on the position information of the intersection and the heading angle information comprises:
obtaining course angle change rate information according to the course angle information, and determining points at which the course angle change rate is greater than a preset value;
and matching the points with the course angle change rate larger than the preset value with the intersection points.
5. The inertial navigation system correction method according to claim 4, characterized in that the course angle change rate is calculated by the following formula:
wherein, thetanIs the course angular rate of change, yaw, of the nth sample pointnIs the heading angle, yaw, of the nth sample pointn-1Is the course angle, t, of the n-1 th sampling pointnIs the sampling time of the nth sample point, tn-1The sampling instant of the (n-1) th sampling point.
6. The inertial navigation system correction method according to any one of claims 1 to 5, characterized in that the travel path is an indoor travel path.
7. A navigation method of a vehicle, characterized by comprising the steps of:
correcting the positioning error of the inertial navigation system by adopting the correction method of the inertial navigation system according to any one of claims 1-5;
and navigating the vehicle through the corrected inertial navigation system.
8. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method of modifying an inertial navigation system according to any one of claims 1 to 6, or a method of navigating a vehicle according to claim 7.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory, wherein the computer program, when executed by the processor, implements a method of modifying an inertial navigation system as claimed in any one of claims 1 to 6, or a method of navigating a vehicle as claimed in claim 7.
10. A vehicle characterized by comprising the electronic device of claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110357996.1A CN113063415A (en) | 2021-04-01 | 2021-04-01 | Vehicle, navigation method thereof, inertial navigation system correction method, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110357996.1A CN113063415A (en) | 2021-04-01 | 2021-04-01 | Vehicle, navigation method thereof, inertial navigation system correction method, and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113063415A true CN113063415A (en) | 2021-07-02 |
Family
ID=76565433
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110357996.1A Pending CN113063415A (en) | 2021-04-01 | 2021-04-01 | Vehicle, navigation method thereof, inertial navigation system correction method, and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113063415A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113532430A (en) * | 2021-07-14 | 2021-10-22 | 中煤科工集团重庆研究院有限公司 | Autonomous positioning method for established path in underground space |
| CN113923774A (en) * | 2021-12-09 | 2022-01-11 | 腾讯科技（深圳）有限公司 | Target terminal position determining method and device, storage medium and electronic equipment |
| CN114323009A (en) * | 2021-12-31 | 2022-04-12 | 南京四维智联科技有限公司 | Inertial navigation track correction method and device, storage medium and electronic equipment |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101936737A (en) * | 2009-06-30 | 2011-01-05 | 凹凸电子（武汉）有限公司 | Inertial navigation system and navigation method |
| CN102147262A (en) * | 2011-01-11 | 2011-08-10 | 北京理工大学 | Method for correcting navigation deviation and navigation display adopting same |
| US8010308B1 (en) * | 2007-11-23 | 2011-08-30 | Microstrain, Inc. | Inertial measurement system with self correction |
| CN107167130A (en) * | 2017-05-18 | 2017-09-15 | 上海谦尊升网络科技有限公司 | Map match localization method and system |
| CN108020813A (en) * | 2016-11-04 | 2018-05-11 | 富士通株式会社 | Localization method, positioner and electronic equipment |
| CN111982115A (en) * | 2020-08-12 | 2020-11-24 | 北京汽车研究总院有限公司 | Feature point map construction method, device and medium based on inertial navigation system |
-
2021
- 2021-04-01 CN CN202110357996.1A patent/CN113063415A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8010308B1 (en) * | 2007-11-23 | 2011-08-30 | Microstrain, Inc. | Inertial measurement system with self correction |
| CN101936737A (en) * | 2009-06-30 | 2011-01-05 | 凹凸电子（武汉）有限公司 | Inertial navigation system and navigation method |
| CN102147262A (en) * | 2011-01-11 | 2011-08-10 | 北京理工大学 | Method for correcting navigation deviation and navigation display adopting same |
| CN108020813A (en) * | 2016-11-04 | 2018-05-11 | 富士通株式会社 | Localization method, positioner and electronic equipment |
| CN107167130A (en) * | 2017-05-18 | 2017-09-15 | 上海谦尊升网络科技有限公司 | Map match localization method and system |
| CN111982115A (en) * | 2020-08-12 | 2020-11-24 | 北京汽车研究总院有限公司 | Feature point map construction method, device and medium based on inertial navigation system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113532430A (en) * | 2021-07-14 | 2021-10-22 | 中煤科工集团重庆研究院有限公司 | Autonomous positioning method for established path in underground space |
| CN113923774A (en) * | 2021-12-09 | 2022-01-11 | 腾讯科技（深圳）有限公司 | Target terminal position determining method and device, storage medium and electronic equipment |
| CN114323009A (en) * | 2021-12-31 | 2022-04-12 | 南京四维智联科技有限公司 | Inertial navigation track correction method and device, storage medium and electronic equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105270410B (en) | Exact curvature algorithm for estimating for the path planning of autonomous land vehicle | |
| US8558679B2 (en) | Method of analyzing the surroundings of a vehicle | |
| CN113063415A (en) | Vehicle, navigation method thereof, inertial navigation system correction method, and storage medium | |
| EP2715281B1 (en) | Combined radar and gps localization system | |
| US11525682B2 (en) | Host vehicle position estimation device | |
| JP4643436B2 (en) | Own vehicle position determination device | |
| US20220270358A1 (en) | Vehicular sensor system calibration | |
| CN110914639B (en) | Data generation method for generating and updating a topological map of at least one space of at least one building | |
| US20190331499A1 (en) | Method and device for updating a digital map | |
| JPH0792388B2 (en) | Position detector | |
| US20170082454A1 (en) | Method and Device for Operating a Vehicle and Driver Assistance System | |
| CN111176270B (en) | Positioning using dynamic landmarks | |
| JP2007309757A (en) | Object recognizer | |
| CN104517283A (en) | System, vehicle and method for online calibration of a camera on a vehicle | |
| WO2018212292A1 (en) | Information processing device, control method, program and storage medium | |
| EP3872454A1 (en) | Measurement accuracy calculation device, host position estimation device, control method, program, and storage medium | |
| CN113405555B (en) | Automatic driving positioning sensing method, system and device | |
| Valldorf et al. | Advanced Microsystems for Automotive Applications 2007 | |
| CN112433531A (en) | Trajectory tracking method and device for automatic driving vehicle and computer equipment | |
| WO2020209144A1 (en) | Position estimating device, estimating device, control method, program, and storage medium | |
| CN114670840A (en) | Dead angle estimation device, vehicle travel system, and dead angle estimation method | |
| CN115456898A (en) | Method and device for building image of parking lot, vehicle and storage medium | |
| CN113566817B (en) | Vehicle positioning method and device | |
| JP2023078138A (en) | Output device, control method, program, and storage medium | |
| JP7462738B2 (en) | Vehicle Cluster Tracking System |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210702 |
|
| RJ01 | Rejection of invention patent application after publication |