CN112285754A - Vehicle multidimensional tracking and positioning method and system - Google Patents
Vehicle multidimensional tracking and positioning method and system Download PDFInfo
- Publication number
- CN112285754A CN112285754A CN202011107270.4A CN202011107270A CN112285754A CN 112285754 A CN112285754 A CN 112285754A CN 202011107270 A CN202011107270 A CN 202011107270A CN 112285754 A CN112285754 A CN 112285754A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- position information
- positioning
- road surface
- mark
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000005259 measurement Methods 0.000 claims abstract description 21
- 230000008569 process Effects 0.000 claims description 19
- 238000009825 accumulation Methods 0.000 claims description 4
- 230000009466 transformation Effects 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 229910000831 Steel Inorganic materials 0.000 description 7
- 239000010959 steel Substances 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect 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
Images
Classifications
-
- 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
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
The invention provides a vehicle multidimensional tracking and positioning method and a system, comprising the following steps: carrying out differential positioning through vehicle-mounted GNSS positioning equipment to obtain first position information of a vehicle; acquiring second position information of a vehicle through vehicle-mounted inertial measurement equipment, and predicting the position information of the vehicle according to the first position information and the second position information; presetting a plurality of road surface positioning marks, and correcting the current position information of the vehicle through the position information corresponding to the arrived road surface positioning mark when the vehicle travels to one of the road surface positioning marks; the invention can effectively improve the positioning precision, and is beneficial to improving the vehicle operation safety and the capability of handling emergencies.
Description
Technical Field
The invention relates to the field of mobile positioning, in particular to a vehicle multi-dimensional tracking and positioning method and system.
Background
With the continuous improvement of equipment technology and management level, higher requirements are put forward on ground operation and control management, and the intelligent level of the ground operation and control management gradually becomes a bottleneck for restricting the production efficiency to be improved again.
The high-precision positioning technology is one of the bases of unmanned and automatic application scene operation control management. However, the positioning technology commonly used in the current market has the problems of insufficient positioning precision, easy strong magnetic interference and the like.
Disclosure of Invention
In view of the problems in the prior art, the invention provides a vehicle multi-dimensional tracking and positioning method and system, which mainly solve the problem of low positioning accuracy in the prior art.
In order to achieve the above and other objects, the present invention adopts the following technical solutions.
A vehicle multi-dimensional tracking and positioning method comprises the following steps:
carrying out differential positioning through vehicle-mounted GNSS positioning equipment to obtain first position information of a vehicle;
acquiring second position information of a vehicle through vehicle-mounted inertial measurement equipment, and predicting the position information of the vehicle according to the first position information and the second position information;
presetting a plurality of road surface positioning marks, and when the vehicle travels to one of the road surface positioning marks, correcting the current position information of the vehicle through the position information corresponding to the arrived road surface positioning mark, and updating the current position information of the vehicle.
Optionally, predicting the location information of the vehicle according to the first location information and the second location information includes:
and performing weighting processing on the first position information and the second position information, and taking the weighting processing result as the position information of the vehicle.
Optionally, the frequency of predicting the position information of the vehicle is an integer multiple of the GNSS positioning apparatus position refresh frequency.
Alternatively, the prediction weight of the weighting process is set by a standard deviation of the first position information and a standard deviation of the second position information.
Optionally, the correcting the current position information of the vehicle according to the position information corresponding to the arriving road surface positioning mark includes:
and when the vehicle travels to one road surface positioning mark, clearing the error accumulation of the vehicle-mounted inertia measurement equipment before the current position information of the vehicle.
Optionally, the first position information and the second position information are converted to a spatial geodetic coordinate system by coordinate transformation before the weighting processing is performed.
Optionally, the vehicle position information is updated in a manner that:
wherein,
predicting the position information of the jth vehicle for the qth time in the process from the jth-1 road surface positioning mark to the pth road surface positioning mark for the jth vehicle;
w is the prediction weight.
Optionally, the prediction weight is calculated in the following manner:
wherein,
in the process from the No. p-1 road surface positioning mark to the No. p road surface positioning mark for the jth vehicle, carrying out inertial measurement on standard deviations of a plurality of second positions;
Optionally, the road surface positioning mark is used for calibrating an absolute coordinate value, wherein the road surface positioning mark includes an RFID mark, a two-dimensional code, a magnetic nail, and the like.
A vehicle multi-dimensional tracking and positioning system, comprising:
the GNSS positioning module is arranged on the vehicle and used for carrying out differential positioning and acquiring first position information of the vehicle;
the inertia measurement module is arranged on the vehicle and used for acquiring second position information of the vehicle and predicting the position information of the vehicle according to the first position information and the second position information;
and when the vehicle travels to one of the road surface positioning marks, the current position information of the vehicle is corrected by reading the position information corresponding to the reached road surface positioning mark.
Optionally, a base station is provided, and the GNSS positioning module performs differential positioning according to an observation satellite and the base station.
As described above, the vehicle multidimensional tracking and positioning method and system of the present invention have the following advantages.
By setting the GNSS positioning, the inertial measurement and the road surface positioning identification, the positioning is carried out by fusing a multidimensional positioning mode, and the positioning and tracking precision can be effectively improved, so that more accurate space position information is provided, and the safety of application scene personnel is guaranteed.
Drawings
FIG. 1 is a flowchart illustrating a vehicle multidimensional tracking and positioning method according to an embodiment of the present invention.
FIG. 2 is a block diagram of a vehicle multi-dimensional tracking and positioning system according to an embodiment of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Referring to FIG. 1, the present invention provides a multi-dimensional tracking and positioning method for a vehicle, which includes steps S01-S03.
In step S01, performing differential positioning by using an on-vehicle GNSS positioning apparatus to obtain first position information of a vehicle;
in an embodiment, the positioning method provided by the present invention may be applied to mobile positioning of unmanned vehicles in complex environments such as mines, logistics, steel scrap yards, etc., taking a steel scrap yard vehicle steel grabbing scene as an example, GNSS positioning equipment may be installed on a vehicle for steel grabbing, and a base station may be set up or called, where the base station location may be selected according to practical applications, and is not limited herein. In the vehicle advancing process, the vehicle-mounted GNSS positioning equipment can acquire a satellite observation position by utilizing global navigation satellite positioning systems such as a GPS (global positioning system), a Beidou and the like, and meanwhile, the GNSS positioning equipment receives positioning information of a base station, corrects the satellite observation position, and forms differential positioning information through the satellite observation position and the base station positioning information, so that more accurate first position information is obtained.
In step S02, acquiring second position information of the vehicle by the vehicle-mounted inertial measurement unit, and predicting the position information of the vehicle based on the first position information and the second position information;
in one embodiment, an Inertial Measurement Unit (IMU) may be mounted on a steel-grabbing vehicle, the IMU typically including a three-axis gyroscope and a three-axis accelerometer, the gyroscope being capable of measuring X, Y, Z the angular velocities of three axes. The accelerometer can calculate the acceleration of three axes, and the second position information of the vehicle can be obtained through the gyroscope and the accelerometer.
In one embodiment, the position information of the vehicle may be predicted by weighting the first position information and the second position information with a filter of the IMU.
In step S03, a plurality of road surface positioning marks are preset, and when the vehicle travels to one of the road surface positioning marks, the current position information of the vehicle is corrected by the position information corresponding to the arriving road surface positioning mark, and the current position information of the vehicle is updated.
In one embodiment, road surface positioning marks can be respectively arranged on an entrance and an exit of a site where scrap steel is accumulated and a feasible route in the site, wherein the road surface positioning marks can adopt RFID, fixed position information can be stored in the RFID, and when a vehicle travels to a corresponding RFID label, the RFID is activated, the position information is read, and the current position information of the vehicle is corrected. For example, when a first vehicle enters the garage, the RFID at the entrance is activated, and the vehicle reads the coordinates of the RFID at the entrance guard
At the moment, the positioning coordinate point of the vehicle-mounted GNSS and the differential GNSS coordinate obtained by the fixed reference station
After the vehicle enters a waste accumulation field, the vehicle-mounted GNSS positioning equipment updates position information in real time according to a preset refreshing frequency, meanwhile, the IMU performs position updating through inertial measurement, weighting processing is performed through the GNSS positioning and the inertial measurement, and the real-time position of the updated vehicle is predicted.
In one embodiment, since the position information obtained by the GNSS positioning apparatus is latitude and longitude, before the position prediction update is performed, the position information updated by the GNSS positioning apparatus and the position information obtained by inertial measurement of the IMU may be transformed into the same coordinate system through coordinate transformation, for example, the WGS-84 coordinate system may be used. The specific conversion formula is as follows:
wherein X, Y, Z represents the component of the satellite observation position on the next coordinate axis of the space geodetic coordinate system; b is longitude of the satellite observation position, L is latitude of the satellite observation position, and H is elevation of the satellite observation position;
n is the curvature radius of the prime circle of the ellipsoid, and a is the long semi-axis of the ellipsoid;
In one embodiment, the frequency of updating the real-time position of the vehicle may be set to be an integer multiple of the GNSS positioning device refresh frequency.
The vehicle position update calculation formula can be expressed as:
wherein,
predicting the position information of the jth vehicle for the qth time in the process from the jth-1 road surface positioning mark to the pth road surface positioning mark for the jth vehicle;
w is the prediction weight.
The calculation of the prediction weight w can be expressed as:
wherein,
in the process from the No. p-1 road surface positioning mark to the No. p road surface positioning mark for the jth vehicle, carrying out inertial measurement on standard deviations of a plurality of second positions;
the error can be obtained by accumulating errors between two RFIDs of the IMU, and the errors are physical characteristics of the IMU and are not described in detail herein.
In one embodiment, when the vehicle reaches one of the road surface positioning marks, for example, when the vehicle travels from the p-1 th road surface positioning mark to the p-th road surface positioning mark, the position of the vehicle is forcibly corrected according to the position information of the p-th road surface positioning mark, and the error accumulation of the IMU is directly cleared to zero, so that absolutely accurate position information is obtained. And continuously updating the first position information and the second position information in the process that the vehicle moves to the next road surface positioning mark, and predicting the position information of the vehicle according to the first position information and the second position information. The position information of the vehicle can be tracked and positioned in real time, so that the position of the vehicle in a scrap steel storage yard can be known in real time, whether the vehicle deviates from a preset route or not can be known, real-time adjustment can be conveniently carried out according to the predicted position information, and the automatic warehousing and ex-warehouse actions of the vehicle can be realized.
Referring to fig. 2, the present embodiment further provides a vehicle multidimensional tracking and positioning system, which is used for implementing the vehicle multidimensional tracking and positioning method in the foregoing method embodiments. Since the technical principle of the system embodiment is similar to that of the method embodiment, repeated description of the same technical details is omitted.
In one embodiment, the vehicle multidimensional tracking and positioning system comprises a GNSS positioning module 10, an inertial measurement module 11 and a plurality of road surface positioning markers 12, wherein the GNSS positioning module 10 is configured to assist in performing step S01 described in the foregoing method embodiment; the inertial measurement module 11 and the plurality of road surface location markers 12 are used to assist in performing steps S02 and S03 described in the foregoing method embodiments.
In an embodiment, a base station is further provided, and the GNSS positioning module performs differential positioning according to the observation satellite and the base station.
In conclusion, the multidimensional tracking and positioning method and system for the vehicle can effectively improve the positioning precision, thereby providing more accurate spatial information, improving equipment experience, guaranteeing the property safety of personnel in various industries and improving the production and operation efficiency of enterprises; through accurate positioning and tracking, the accident rate of unmanned driving can be avoided or reduced, the running safety of vehicles and the capability of handling emergencies are greatly improved, and the management efficiency is effectively improved while the safety of personnel is ensured; the fine industrial safety management and the production process management and control are realized, the production efficiency is further improved, the safety of the production order is maintained, and the waste steel yard management and the production efficiency are improved. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (11)
1. A vehicle multi-dimensional tracking and positioning method is characterized by comprising the following steps:
carrying out differential positioning through vehicle-mounted GNSS positioning equipment to obtain first position information of a vehicle;
acquiring second position information of a vehicle through vehicle-mounted inertial measurement equipment, and predicting the position information of the vehicle according to the first position information and the second position information;
presetting a plurality of road surface positioning marks, and when the vehicle travels to one of the road surface positioning marks, correcting the current position information of the vehicle through the position information corresponding to the arrived road surface positioning mark, and updating the current position information of the vehicle.
2. The vehicle multidimensional tracking and positioning method according to claim 1, wherein predicting the position information of the vehicle from the first position information and the second position information comprises:
and performing weighting processing on the first position information and the second position information, and taking the weighting processing result as the position information of the vehicle.
3. The vehicle multi-dimensional tracking and positioning method according to claim 1, wherein the frequency of predicting the position information of the vehicle is an integer multiple of the position refresh frequency of the GNSS positioning apparatus.
4. The vehicle multidimensional tracking and positioning method according to claim 2, wherein the prediction weight of the weighting process is set by a standard deviation of the first position information and a standard deviation of the second position information.
5. The vehicle multidimensional tracking and positioning method according to claim 1, wherein the correcting the current position information of the vehicle by the position information corresponding to the arriving road surface positioning mark comprises:
and when the vehicle travels to one road surface positioning mark, clearing the error accumulation of the vehicle-mounted inertia measurement equipment before the current position information of the vehicle.
6. The vehicle multidimensional tracking and positioning method according to claim 2, wherein the first position information and the second position information are converted into a space-geodetic coordinate system by coordinate transformation before the weighting processing is performed.
7. The vehicle multidimensional tracking and positioning method according to any one of claims 2 or 4, wherein the vehicle position information is updated in a manner that:
wherein,
predicting the position information of the jth vehicle for the qth time in the process from the jth-1 road surface positioning mark to the pth road surface positioning mark for the jth vehicle;
w is the prediction weight.
8. The vehicle multidimensional tracking and positioning method according to claim 4, wherein the prediction weight is calculated in a manner that:
wherein,
in the process from the No. p-1 road surface positioning mark to the No. p road surface positioning mark for the jth vehicle, carrying out inertial measurement on standard deviations of a plurality of second positions;
9. The vehicle multidimensional tracking and positioning method according to claim 4, wherein the road surface positioning mark is used for calibrating absolute coordinate values, wherein the road surface positioning mark comprises an RFID mark, a two-dimensional code, a magnetic nail and the like.
10. A vehicle multi-dimensional tracking and positioning system, comprising:
the GNSS positioning module is arranged on the vehicle and used for carrying out differential positioning and acquiring first position information of the vehicle;
the inertia measurement module is arranged on the vehicle and used for acquiring second position information of the vehicle and predicting the position information of the vehicle according to the first position information and the second position information;
and when the vehicle travels to one of the road surface positioning marks, the current position information of the vehicle is corrected by reading the position information corresponding to the reached road surface positioning mark.
11. The multi-dimensional tracking and positioning system for vehicles according to claim 10, wherein a base station is provided, and the GNSS positioning module performs differential positioning based on the observed satellite and the base station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011107270.4A CN112285754B (en) | 2020-10-16 | 2020-10-16 | Vehicle multidimensional tracking and positioning method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011107270.4A CN112285754B (en) | 2020-10-16 | 2020-10-16 | Vehicle multidimensional tracking and positioning method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112285754A true CN112285754A (en) | 2021-01-29 |
| CN112285754B CN112285754B (en) | 2022-10-25 |
Family
ID=74496346
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011107270.4A Active CN112285754B (en) | 2020-10-16 | 2020-10-16 | Vehicle multidimensional tracking and positioning method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112285754B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117949976A (en) * | 2024-03-26 | 2024-04-30 | 山西省交通运输运行监测与应急处置中心(山西省交通运输厅新闻中心) | Real-time positioning method and system for highway transport vehicle for transporting yellow phosphorus |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090093959A1 (en) * | 2007-10-04 | 2009-04-09 | Trimble Navigation Limited | Real-time high accuracy position and orientation system |
| US8996310B1 (en) * | 2012-03-08 | 2015-03-31 | Moog, Inc. | Vehicle heading validation using inertial measurement unit |
| US20150269845A1 (en) * | 2014-03-21 | 2015-09-24 | Thales | Driving vehicles in convoy |
| US20150369923A1 (en) * | 2014-06-19 | 2015-12-24 | Novatel Inc. | Method for using partially occluded images for navigation and positioning |
| CN109407672A (en) * | 2018-12-11 | 2019-03-01 | 新乡市中誉鼎力软件科技股份有限公司 | Intelligent dumper control method and intelligent haul vehicle control |
| CN109978087A (en) * | 2017-12-28 | 2019-07-05 | 航天信息股份有限公司 | A kind of vehicle identification method, device and relevant device |
| US20190277638A1 (en) * | 2018-03-08 | 2019-09-12 | Northrop Grumman Systems Corporation | Magnetic-inertial global positioning system |
-
2020
- 2020-10-16 CN CN202011107270.4A patent/CN112285754B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090093959A1 (en) * | 2007-10-04 | 2009-04-09 | Trimble Navigation Limited | Real-time high accuracy position and orientation system |
| US8996310B1 (en) * | 2012-03-08 | 2015-03-31 | Moog, Inc. | Vehicle heading validation using inertial measurement unit |
| US20150269845A1 (en) * | 2014-03-21 | 2015-09-24 | Thales | Driving vehicles in convoy |
| US20150369923A1 (en) * | 2014-06-19 | 2015-12-24 | Novatel Inc. | Method for using partially occluded images for navigation and positioning |
| CN109978087A (en) * | 2017-12-28 | 2019-07-05 | 航天信息股份有限公司 | A kind of vehicle identification method, device and relevant device |
| US20190277638A1 (en) * | 2018-03-08 | 2019-09-12 | Northrop Grumman Systems Corporation | Magnetic-inertial global positioning system |
| CN109407672A (en) * | 2018-12-11 | 2019-03-01 | 新乡市中誉鼎力软件科技股份有限公司 | Intelligent dumper control method and intelligent haul vehicle control |
Non-Patent Citations (2)
| Title |
|---|
| D.K.KUAN ET.AL: "《Adaptive Noise Smoothing Filter for Images with Signal-Dependent Noise》", 《IEEE TRANSAETION ON PATTERN ANALYSIS AND MAEHINE INTELLIGENCE》 * |
| 杨儒锆 等: "《人工智能在移动机器人导航中的应用与研究》", 《机械工程师》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117949976A (en) * | 2024-03-26 | 2024-04-30 | 山西省交通运输运行监测与应急处置中心(山西省交通运输厅新闻中心) | Real-time positioning method and system for highway transport vehicle for transporting yellow phosphorus |
| CN117949976B (en) * | 2024-03-26 | 2024-06-11 | 山西省交通运输运行监测与应急处置中心(山西省交通运输厅新闻中心) | Real-time positioning method and system for highway transport vehicle for transporting yellow phosphorus |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112285754B (en) | 2022-10-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105937912B (en) | The map data processing device of vehicle | |
| CN106249736B (en) | Automatic guided vehicle based on magnetic nail map navigation | |
| US6580978B1 (en) | Path following using bounded beacon-aided inertial navigation | |
| CN109086278B (en) | Map construction method, system, mobile terminal and storage medium for eliminating errors | |
| CN107179079A (en) | The indoor orientation method merged based on PDR with earth magnetism | |
| US20200124422A1 (en) | Localization using dynamic landmarks | |
| US20220373335A1 (en) | Position recognition method and position recognition system for vehicle | |
| CN111221020A (en) | Indoor and outdoor positioning method, device and system | |
| CN112285754B (en) | Vehicle multidimensional tracking and positioning method and system | |
| CN107764273B (en) | Vehicle navigation positioning method and system | |
| CN109917439A (en) | Automated guided vehicle and combinations thereof positioning navigation method and device | |
| CN101545781B (en) | Method for determining pulse equivalent of speedometer in on-board integrated navigation | |
| CN118092451A (en) | Position compensation method for factory robot target searching process | |
| CN112525207B (en) | Unmanned vehicle positioning method based on vehicle pitch angle map matching | |
| WO2021253054A1 (en) | System and method for intelligent infrastructure calibration | |
| CN107462242A (en) | Vehicle speed measuring method and its device | |
| CN117570958A (en) | Lubang positioning method applying unstructured environment | |
| CN113822944A (en) | External parameter calibration method and device, electronic equipment and storage medium | |
| CN116360449A (en) | Self-moving equipment and return control method | |
| CN111352139B (en) | Scanning equipment autonomous guiding method and device and scanning equipment | |
| CN114166218A (en) | Indoor positioning navigation system and method based on multi-positioning fusion | |
| CN113670318A (en) | Cooperative positioning method and positioning system | |
| CN112484740B (en) | Automatic map building and automatic map updating system for port unmanned logistics vehicle | |
| Abdallah et al. | Real-Time Vehicle Localization Using Steering Wheel Angle in Urban Cities | |
| CN114608564B (en) | Combined positioning method based on night moonlight polarization-starlight information fusion |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |