CN116500302A - Method and device for calibrating and correcting vehicle wheel speed meter on line - Google Patents
Method and device for calibrating and correcting vehicle wheel speed meter on line Download PDFInfo
- Publication number
- CN116500302A CN116500302A CN202310363605.6A CN202310363605A CN116500302A CN 116500302 A CN116500302 A CN 116500302A CN 202310363605 A CN202310363605 A CN 202310363605A CN 116500302 A CN116500302 A CN 116500302A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- track
- distance
- wheel speed
- speed meter
- 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 33
- 230000033001 locomotion Effects 0.000 claims abstract description 24
- 230000009897 systematic effect Effects 0.000 claims abstract description 6
- 238000012887 quadratic function Methods 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 238000005259 measurement Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
- G01P21/02—Testing or calibrating of apparatus or devices covered by the preceding groups of speedometers
-
- 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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Measurement Of Distances Traversed On The Ground (AREA)
Abstract
The invention relates to a method and a device for calibrating and correcting a vehicle wheel speed meter on line, wherein the method comprises the following steps: acquiring a running track of a vehicle in an open non-shielding zone based on satellite positioning, respectively acquiring a starting point position coordinate of a starting point and an ending point position coordinate of an ending point of the running track, and obtaining a vehicle running distance of the running track based on a wheel speed meter of the vehicle; judging whether a first distance between the starting point and the end point is larger than a first preset value or not based on the starting point position coordinates and the end point position coordinates; judging whether the running track is a linear track or not based on continuous satellite positioning coordinates between the starting point position coordinates and the end point position coordinates; if the first distance is larger than a first preset value and the running track is a linear track, taking the first distance as the track linear distance of the running track; calibrating a systematic error parameter of the wheel speed meter by utilizing the linear track distance and the vehicle running distance; and correcting the original movement speed or distance information of the vehicle output by the wheel speed meter by using the system error parameter.
Description
Technical Field
The invention relates to the field of navigation, in particular to a method and a device for calibrating and correcting a vehicle wheel speed meter on line.
Background
Satellite navigation (Satellite navigation) refers to a technique for navigating and positioning ground, sea, air and space users using navigation satellites. Currently, there are four global satellite navigation systems (Global navigation satellite system, GNSS) in the world, which are the national beidou satellite navigation system (BeiDou satellite navigation system, BDS), the united states global satellite positioning system (Global positioning system, GPS), the european Galileo system (Galileo) and the russian GLONASS system (GLONASS). Their basic principle is that a satellite orbiting the earth emits a coded modulated continuous wave radio signal to the earth's surface, the signal being encoded with the exact time of transmission of the satellite signal, and the exact position (ephemeris) of the satellite in space at different times.
Wheel speed meters are sensors used to measure the rotational speed of the wheels of an automobile. The wheel speed information is indispensable to modern automobiles, and has the characteristics of simple structure, low cost, no dirt resistance and the like, and the wheel speed information is required by an automobile dynamic control system (Vehicle dynamics control, VDC), an automobile electronic stability program (Electronic stability program, ESP), an anti-lock brake system (Antilock brake system, ABS), an automatic transmission control system and the like. The basic principle of the wheel speed meter is that the wheel gear ring rotates to cause magnetic field change, a pulse signal is generated after each tooth passes through, and the frequency of the pulse reflects the speed of the vehicle. Taking a 240 gear speed sensor as an example, 240 pulses are generated by one wheel rotation, and each time a pulse is generated, the corresponding driving distance l of the vehicle is:
where l is the distance travelled by the vehicle and r is the radius of the wheel.
In the field of vehicle navigation, a vehicle wheel speed meter is an important supplement to satellite navigation. When satellite signals are blocked by high buildings, trees, tunnels and the like to cause unlocking and positioning failure, the vehicle can carry out Dead Reckoning (Dead Reckoning) by depending on the output data of the wheel speed meter, so that the continuous positioning capability is maintained. However, due to the machining deviation of the wheels and the continuous variation of tire pressure, the radius parameter r of the wheels is generally difficult to accurately determine; meanwhile, due to factors such as road bump and the like, errors can be caused to measurement of the wheel speed meter, and accuracy of output data is affected. Therefore, if the wheel speed meter output information is used for positioning, a large accumulated error exists, and the high-precision positioning requirement of the vehicle cannot be met.
Disclosure of Invention
The invention aims to provide a method and a device for calibrating and correcting a vehicle wheel speed meter on line, which improve the speed or position measurement accuracy of the vehicle wheel speed meter.
In order to achieve the above object, the present invention provides a method for calibrating and correcting a wheel speed meter of a vehicle on line, comprising:
s1, acquiring a running track of a vehicle in an open non-shielding zone based on satellite positioning, respectively acquiring a starting point position coordinate of a starting point of the running track and an ending point position coordinate of an ending point of the running track, and acquiring a vehicle running distance of the running track based on a wheel speed meter of the vehicle;
s2, judging whether a first distance between the starting point and the end point is larger than a first preset value or not based on the starting point position coordinate and the end point position coordinate;
s3, judging whether the running track is a linear track or not based on continuous satellite positioning coordinates between the starting point position coordinates and the ending point position coordinates;
s4, if the first distance is larger than the first preset value and the running track is a straight line track, taking the first distance as a track straight line distance of the running track;
s5, calibrating a system error parameter of the wheel speed meter by utilizing the track linear distance and the vehicle running distance;
s6, correcting the original movement speed or distance information of the vehicle output by the wheel speed meter by utilizing the system error parameter.
According to one aspect of the present invention, in step S3, the step of determining whether the travel track is a straight track based on the continuous satellite positioning coordinates between the start position coordinates and the end position coordinates includes:
s31, extracting two-dimensional position coordinate points of at least three satellite positioning between a starting point and an ending point of the running track;
s32, fitting the running track by using a quadratic function based on the two-dimensional position coordinate points, wherein the fitting is expressed as follows:
in (x) i ,y i ) For two-dimensional position coordinates of the vehicle obtained by satellite positioning, (a) 1 ,a 2 ,a 3 ) Fitting coefficients for a quadratic function;
alternatively, the running rail is determined by calculating and comparing the change in slope between the two-dimensional position coordinate points
Whether the trace is a straight line, which is expressed as:
in the method, in the process of the invention,m 1 ,m 2 ,…,m i-1 a slope between the two-dimensional position coordinate points;
S33when coefficient a 1 Is smaller than a preset threshold value, and is smaller than the preset threshold value,or alternativelym 1 ,m 2 ,…,m i-1 The difference between them is less than a preset threshold,and judging the running track to be a straight track.
According to one aspect of the present invention, in the step S5, in the step of calibrating a system error parameter of the wheel speed meter using the trajectory straight line distance and the vehicle running distance, the system error parameter is expressed as:
wherein,,represents the linear distance of the track, L AB Indicating the distance travelled by the vehicle.
According to one aspect of the present invention, in the step of correcting the original movement speed or distance information of the vehicle output by the wheel speed meter by using the systematic error parameter, if the original movement speed of the vehicle is corrected, the method is expressed as:
wherein,,representing the corrected original movement speed of the vehicle, and v represents the original movement speed of the vehicle;
if the distance information is corrected, the distance information is expressed as:
wherein,,the corrected distance information is indicated, and l indicates the distance information.
According to one aspect of the present invention, in step S1, in the step of obtaining the travel track of the vehicle in the open unobstructed area based on satellite positioning, the satellite positioning adopts at least one of standard single-point positioning, real-time dynamic carrier phase differential positioning, precise single-point positioning, and satellite-based enhanced positioning.
In order to achieve the above object, the present invention provides a device for calibrating and correcting a wheel speed meter of a vehicle on line, comprising:
the wheel speed meter is used for measuring and outputting the original movement speed or distance information of the vehicle;
a satellite positioning receiver for measuring and obtaining position coordinates of the vehicle;
a processor;
a memory comprising processor-executable program instructions which, when executed by the processor, cause the apparatus to perform the method described previously.
According to the scheme of the invention, the proper applicable conditions can be automatically judged and selected through satellite positioning, and the system error parameters of the vehicle wheel speed meter can be dynamically calibrated and corrected, so that the speed and position measurement accuracy of the vehicle wheel speed meter can be effectively improved.
According to the scheme of the invention, the method and the device for calibrating and correcting the vehicle wheel speed meter on line can be used for automatically judging and selecting proper applicable conditions by combining satellite positioning, and calibrating the system error parameters of the vehicle wheel speed meter. The whole calibration process can be dynamically and online completed in the running process of the vehicle without human intervention or special progress, and the calibration method is convenient, fast and efficient to use. Through the calibration and correction of the systematic error of the wheel speed meter of the vehicle, the speed and position measurement precision of the wheel speed meter of the vehicle and the performance of vehicle positioning and combined positioning can be effectively improved.
Drawings
FIG. 1 is a block diagram of steps of a method of calibrating and correcting a vehicle wheel speed meter online according to one embodiment of the invention;
FIG. 2 is a schematic representation of a method for online calibration and correction of a vehicle wheel speed meter using a quadratic function to fit a travel trajectory in accordance with one embodiment of the invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments will be briefly described below.
As shown in fig. 1, according to an embodiment of the present invention, a method for calibrating and correcting a wheel speed meter of a vehicle on line according to the present invention includes:
s1, acquiring a running track of a vehicle in an open non-shielding zone based on satellite positioning, respectively acquiring a starting point position coordinate of a starting point and an ending point position coordinate of an ending point of the running track, and acquiring a vehicle running distance of the running track based on a wheel speed meter of the vehicle;
s2, judging whether a first distance between the starting point and the end point is larger than a first preset value or not based on the starting point position coordinates and the end point position coordinates;
s3, judging whether the running track is a linear track or not based on continuous satellite positioning coordinates between the starting point position coordinates and the ending point position coordinates;
s4, if the first distance is larger than a first preset value and the running track is a linear track, taking the first distance as the track linear distance of the running track;
s5, calibrating a system error parameter of the wheel speed meter by utilizing the linear track distance and the vehicle running distance;
s6, correcting the original movement speed or distance information of the vehicle output by the wheel speed meter by utilizing the system error parameters.
According to one embodiment of the present invention, in step S1, when the vehicle is running in a certain open unobstructed area, the starting point position coordinates of the vehicle at the starting point a and the ending point position coordinates of the ending point B are obtained by satellite positioning. In this embodiment, whether the vehicle is traveling in an open unobstructed area may be determined by whether the satellite positioning device is normally positioning the output, or whether the RTK positioning solution is fixed.
According to one embodiment of the present invention, in the step of determining whether the first distance between the start point and the end point is greater than the first preset value based on the start point position coordinates and the end point position coordinates, the relative error of satellite positioning can be effectively reduced by determining whether the first distance is greater than the first preset value. As the linear movement distance of the vehicle is longer,the more accurate the correction of the wheel speed meter system error parameters will be. For example, the first preset value is set to 100m or 200m or the like.
As shown in fig. 1 and 2, according to an embodiment of the present invention, in the step S3, the step of determining whether the travel track is a straight track based on the continuous satellite positioning coordinates between the start position coordinates and the end position coordinates includes:
s31, extracting two-dimensional position coordinate points of at least three satellite positioning between a starting point and an end point of a running track; in this embodiment, a number of satellite positioning two-dimensional position coordinates may be used which is far more than three. For example, tens or even tens of can be used, thereby improving the accuracy of the fitting function calculation.
S32, fitting a running track by using a quadratic function based on two-dimensional position coordinate points, wherein the fitting is expressed as follows:
in (x) i ,y i ) For two-dimensional position coordinates of the vehicle obtained by satellite positioning, (a) 1 ,a 2 ,a 3 ) Fitting coefficients for a quadratic function;
S33when coefficient a 1 And if the driving track is smaller than the preset threshold value, judging that the driving track is a straight track. In the present embodiment, the coefficient a 1 The smaller the value of (c), the closer the vehicle travel track is to a straight line. For example, the preset threshold may be set to 0.001 or less.
Through the arrangement, the mode of determining whether the running track is a straight track is adopted, so that the measuring distance of the running track is more accurately close to the real running distance of the vehicle, and further, the error parameter correction of the wheel speed meter system of the vehicle by satellite positioning is more accurate.
According to another embodiment of the present invention, in step S3, the start point position coordinates and the end point position coordinates are based on
The step of determining whether the running track is a straight track according to the continuous satellite positioning coordinates comprises the following steps:
s31, extracting two-dimensional position coordinate points of at least three satellite positioning between a starting point and an end point of a running track; at the position of
In this embodiment, a number of two-dimensional position coordinates of satellite positioning can be used. For example, it is possible to use a dozen,
even tens of such, thereby improving the accuracy of the fitting function calculation.
S32, judging the running track by calculating and comparing the change of the slope between the two-dimensional position coordinate points
Whether or not it is a straight line, expressed as:
in the method, in the process of the invention,m 1 ,m 2 ,…,m i-1 is the slope between the two-dimensional position points;
s33, when the slope ism 1 ,m 2 ,…,m i-1 If the difference between the two is smaller than a preset threshold value, judging that the running track is a straight line A track.
According to an embodiment of the present invention, in the step S5, in the step of calibrating the systematic error parameter of the wheel speed meter using the trajectory straight-line distance and the vehicle travel distance, the vehicle travel distance L has been obtained by the wheel speed meter of the vehicle in the foregoing step AB The method comprises the steps of carrying out a first treatment on the surface of the And, the straight-line travel distance of the vehicle is obtained by satellite positioningBecause the satellite positioning can reach very high positioning precision in an open and non-shielding environment and even can reach centimeter-level precision under the enhancement of RTK, the satellite positioning device can pass ∈>And L is equal to AB And (3) estimating a system error parameter of the vehicle wheel speed meter according to the proportional relation, wherein the system error parameter is expressed as:
wherein,,represents the linear distance of the track, L AB Indicating the distance travelled by the vehicle.
According to an embodiment of the present invention, in step S6, in the step of correcting the original movement speed or distance information of the vehicle output from the wheel speed meter by using the systematic error parameter, if the original movement speed of the vehicle is corrected, it is expressed as:
wherein,,representing the corrected original movement speed of the vehicle, and v represents the original movement speed of the vehicle;
when the distance information is corrected, the method is expressed as:
wherein,,the corrected distance information is indicated, and l indicates the distance information.
According to an embodiment of the present invention, in step S1, in the step of obtaining the running track of the vehicle in the open unobstructed area based on satellite positioning, the satellite positioning adopts at least one of standard single-point positioning, real-time dynamic carrier phase differential positioning, precise single-point positioning, and satellite-based enhanced positioning.
According to the invention, whether the movement track of the vehicle is a straight line or not can be automatically detected, and the wheel speed meter of the vehicle can be corrected accordingly. The vehicle wheel speed meter is subjected to error correction based on the linear motion track, vehicle motion azimuth information is not needed, complicated operation and adverse effects on wheel speed correction caused by vehicle motion direction angle change are avoided, accurate and reliable correction results can be obtained rapidly and efficiently, and vehicle navigation positioning accuracy performance is effectively improved.
According to one embodiment of the present invention, an apparatus for on-line calibration and correction of a wheel speed meter for a vehicle of the present invention comprises:
the wheel speed meter is used for measuring and outputting the original movement speed or distance information of the vehicle;
the satellite positioning receiver is used for measuring and obtaining the position coordinates of the vehicle;
a processor;
a memory comprising processor-executable program instructions that, when executed by a processor, cause an apparatus to perform the aforementioned method.
The foregoing is merely exemplary of embodiments of the invention and, as regards devices and arrangements not explicitly described in this disclosure, it should be understood that this can be done by general purpose devices and methods known in the art.
The above description is only one embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A method for calibrating and correcting a wheel speed meter of a vehicle on line, comprising:
s1, acquiring a running track of a vehicle in an open non-shielding zone based on satellite positioning, respectively acquiring a starting point position coordinate of a starting point of the running track and an ending point position coordinate of an ending point of the running track, and acquiring a vehicle running distance of the running track based on a wheel speed meter of the vehicle;
s2, judging whether a first distance between the starting point and the end point is larger than a first preset value or not based on the starting point position coordinate and the end point position coordinate;
s3, judging whether the running track is a linear track or not based on continuous satellite positioning coordinates between the starting point position coordinates and the ending point position coordinates;
s4, if the first distance is larger than the first preset value and the running track is a straight line track, taking the first distance as a track straight line distance of the running track;
s5, calibrating a system error parameter of the wheel speed meter by utilizing the track linear distance and the vehicle running distance;
s6, correcting the original movement speed or distance information of the vehicle output by the wheel speed meter by utilizing the system error parameter.
2. The method according to claim 1, wherein in the step S3, the step of determining whether the travel track is a straight track based on continuous satellite positioning coordinates between the start position coordinates and the end position coordinates includes:
s31, extracting two-dimensional position coordinate points of at least three satellite positioning between a starting point and an ending point of the running track;
s32, fitting the running track by using a quadratic function based on the two-dimensional position coordinate points, wherein the fitting is expressed as follows:
in (x) i ,y i ) For two-dimensional position coordinates of the vehicle obtained by satellite positioning, (a) 1 ,a 2 ,a 3 ) Fitting coefficients for a quadratic function;
alternatively, the travel locus is determined by calculating and comparing the change in slope between the two-dimensional position coordinate points
Whether or not is a straight line, which is expressed as:
in the method, in the process of the invention,m 1 ,m 2 ,…,m i-1 a slope between the two-dimensional position coordinate points;
S33. 1 when the coefficient a is smaller than the preset threshold, orm 1 ,m 2 ,…,m i-1 If the difference is smaller than a preset threshold value, judging the The travel track is a straight track.
3. The method according to claim 2, wherein in the step S5, in the step of calibrating a system error parameter of the wheel speed meter using the trajectory straight line distance and the vehicle running distance, the system error parameter is expressed as:
wherein,,represents the linear distance of the track, L AB Indicating the distance travelled by the vehicle.
4. The method according to claim 3, wherein in the step of correcting the vehicle original movement speed or distance information output from the wheel speed meter using the systematic error parameter, if the vehicle original movement speed is corrected, it is expressed as:
wherein,,representing the corrected original movement speed of the vehicle, and v represents the original movement speed of the vehicle;
if the distance information is corrected, the distance information is expressed as:
wherein,,the corrected distance information is indicated, and l indicates the distance information.
5. The method according to claim 4, wherein in step S1, in the step of acquiring the travel track of the vehicle in the open unobstructed area based on satellite positioning, the satellite positioning adopts at least one of standard single point positioning, real-time dynamic carrier phase differential positioning, precise single point positioning, and satellite-based enhanced positioning.
6. An apparatus for on-line calibration and correction of a vehicle wheel speed meter, comprising:
the wheel speed meter is used for measuring and outputting the original movement speed or distance information of the vehicle;
a satellite positioning receiver for measuring and obtaining position coordinates of the vehicle;
a processor;
a memory comprising processor-executable program instructions that, when executed by the processor, cause the apparatus to perform the method of any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310363605.6A CN116500302A (en) | 2023-04-07 | 2023-04-07 | Method and device for calibrating and correcting vehicle wheel speed meter on line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310363605.6A CN116500302A (en) | 2023-04-07 | 2023-04-07 | Method and device for calibrating and correcting vehicle wheel speed meter on line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116500302A true CN116500302A (en) | 2023-07-28 |
Family
ID=87329485
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310363605.6A Pending CN116500302A (en) | 2023-04-07 | 2023-04-07 | Method and device for calibrating and correcting vehicle wheel speed meter on line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116500302A (en) |
-
2023
- 2023-04-07 CN CN202310363605.6A patent/CN116500302A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10877059B2 (en) | Positioning apparatus comprising an inertial sensor and inertial sensor temperature compensation method | |
| CN109343095B (en) | Vehicle-mounted navigation vehicle combined positioning device and combined positioning method thereof | |
| US10234292B2 (en) | Positioning apparatus and global navigation satellite system, method of detecting satellite signals | |
| US9488480B2 (en) | Method and apparatus for improved navigation of a moving platform | |
| CN101476894B (en) | Vehicle-mounted SINS/GPS combined navigation system performance reinforcement method | |
| EP0763713B1 (en) | Method and apparatus for calibration of a distance sensor in a vehicle navigation system | |
| EP2519803B1 (en) | Technique for calibrating dead reckoning positioning data | |
| US8374783B2 (en) | Systems and methods for improved position determination of vehicles | |
| CN101334294A (en) | Gps-based in-vehicle sensor calibration algorithm | |
| WO2014002211A1 (en) | Positioning device | |
| JP2000502803A (en) | Zero motion detection system for improved vehicle navigation system | |
| CN108345021B (en) | Doppler radar assisted GPS/INS vehicle speed measurement method | |
| US20180246217A1 (en) | Method for calibrating a GNSS antenna of a vehicle | |
| CN110133695B (en) | Dual-antenna GNSS (Global navigation satellite System) position delay time dynamic estimation system and method | |
| CN115060257B (en) | Vehicle lane change detection method based on civil-grade inertia measurement unit | |
| US20100299059A1 (en) | Method for operating a navigation system and a navigation system | |
| CN112229422A (en) | Speedometer quick calibration method and system based on FPGA time synchronization | |
| CN106403999A (en) | GNSS-based real-time compensation method for inertial navigation accelerometer drifting | |
| EP0934506A2 (en) | Methods for gyro bias estimation using gps | |
| CN116500302A (en) | Method and device for calibrating and correcting vehicle wheel speed meter on line | |
| US5928295A (en) | Method and apparatus for automatic calibration of the wheel track of a movable vehicle | |
| KR100448054B1 (en) | Method for Preparing Geographical Information System Employing the Amended Value as Road Data | |
| Andersson et al. | Vehicle positioning with map matching using integration of a dead reckoning system and GPS | |
| CN112088319A (en) | Method for determining a vehicle position as a function of vehicle speed | |
| US12019171B2 (en) | Method for determining the position of a vehicle as a function of the vehicle velocity |
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 |