Precise cooperative positioning for vehicles with GNSS and INS integration

doi:10.11947/j.AGCS.2022.20210471

Abstract

Abstract: Autonomous driving and intelligent transportation require not only the high-precision positioning of vehicles,but also the high-precision cooperative control between vehicles.The current research idea of relying on purely adding sensors to improve the accuracy of vehicle positioning still cannot effectively solve the complex situation of satellite signals losing lock for a long time.This paper proposes a vehicle-based cooperative high-precision positioning method based on GNSS/INS combined sensors.It imposes the spatial relative position constraints between vehicles by sharing their observations,thereby improving the positioning accuracy and reliability.The experimental results show that the GNSS/INS cooperative positioning mode can significantly improve the positioning accuracy in the harsh environment compared to the traditional standalone positioning mode.

Key words: GNSS, INS, integrated combination, cooperative positioning

CLC Number:

P228

LI Bofeng, CHEN Guang'e. Precise cooperative positioning for vehicles with GNSS and INS integration[J]. Acta Geodaetica et Cartographica Sinica, 2022, 51(8): 1708-1716.

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