WO2023116797A3 - In-vehicle multi-sensor fusion positioning method, computer device and storage medium - Google Patents

In-vehicle multi-sensor fusion positioning method, computer device and storage medium Download PDF

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Publication number
WO2023116797A3
WO2023116797A3 PCT/CN2022/140863 CN2022140863W WO2023116797A3 WO 2023116797 A3 WO2023116797 A3 WO 2023116797A3 CN 2022140863 W CN2022140863 W CN 2022140863W WO 2023116797 A3 WO2023116797 A3 WO 2023116797A3
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WO
WIPO (PCT)
Prior art keywords
data
imu
mileage
odo
lidar
Prior art date
Application number
PCT/CN2022/140863
Other languages
French (fr)
Chinese (zh)
Other versions
WO2023116797A2 (en
Inventor
刘现款
陈国芳
Original Assignee
比亚迪股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 比亚迪股份有限公司 filed Critical 比亚迪股份有限公司
Publication of WO2023116797A2 publication Critical patent/WO2023116797A2/en
Publication of WO2023116797A3 publication Critical patent/WO2023116797A3/en

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    • 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
    • G01C21/165—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 combined with non-inertial navigation instruments
    • G01C21/1652—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 combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
    • 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
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)

Abstract

An in-vehicle multi-sensor fusion positioning method, a computer device and a storage medium. The method comprises: acquiring IMU data, ODO data, Lidar data and combined navigation data, and integrating the IMU data and the ODO data, so as to obtain IMU mileage data and fused IMU and ODO mileage data (S101); performing iterative optimization on IMU mileage data and fused IMU and ODO mileage data (S102); acquiring Lidar posture data according to the optimized IMU mileage data, the optimized fused IMU and ODO mileage data, and the Lidar data (S103); and performing joint optimization and fusion by means of a sliding window, so as to obtain a final positioning result (S104). By means of the method, the noise is smaller compared with directly using integrated mileage after a relatively simple coordinate alignment. The corrected IMU data can ensure the subsequent integral mileage accuracy, and can ensure the initial point positioning accuracy during the optimization and fusion by means of a sliding window, reduce the optimizing iteration cycle, improve the calculation speed. Meanwhile, the calculation accuracy is improved, the system stability is high, and the vehicle safety is improved.
PCT/CN2022/140863 2021-12-22 2022-12-22 In-vehicle multi-sensor fusion positioning method, computer device and storage medium WO2023116797A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202111579011.6A CN113970330B (en) 2021-12-22 2021-12-22 Vehicle-mounted multi-sensor fusion positioning method, computer equipment and storage medium
CN202111579011.6 2021-12-22

Publications (2)

Publication Number Publication Date
WO2023116797A2 WO2023116797A2 (en) 2023-06-29
WO2023116797A3 true WO2023116797A3 (en) 2023-08-17

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WO (1) WO2023116797A2 (en)

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* Cited by examiner, † Cited by third party
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CN113970330B (en) * 2021-12-22 2022-04-19 比亚迪股份有限公司 Vehicle-mounted multi-sensor fusion positioning method, computer equipment and storage medium
CN115790618B (en) * 2022-11-03 2023-09-01 中科天极(新疆)空天信息有限公司 SLAM positioning method, system and storage medium based on laser radar
CN117473455B (en) * 2023-12-27 2024-03-29 合众新能源汽车股份有限公司 Fusion method and device of multi-source positioning data and electronic equipment
CN117848332B (en) * 2024-03-07 2024-05-03 北京理工大学前沿技术研究院 IMU noise elimination method for vehicle-mounted multi-source fusion high-precision positioning system

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Publication number Publication date
CN113970330A (en) 2022-01-25
WO2023116797A2 (en) 2023-06-29
CN113970330B (en) 2022-04-19

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