Car Positioning Research Based On Information Fusion Technology

With the development of automobile,the modern people's demand for cars are higher and higher,also to develop in the direction of intelligent,automated car.Car is a blend of the crystallization of the modern human technology,automotive multimedia,electronic and intelligent level is higher and higher.Car positioning research has always been the hot spot of the auto industry development,because with the improvement of vehicle positioning accuracy,it could be able to solve the more and more problems of reality.Such as unmanned,networking,intelligent obstacle avoidance of car etc.This thesis' probe is multiple sensor fusion positioning algorithm.This paper first introduces the various limitations of a single location,as well as the mathematical model of position error.Established on the basis of a based on GPS/INS added DR navigation positioning,then using kalman filtering system model of information fusion.The purpose is to achieve real-time vehicle positioning,especially GPS signal is obscured,through the use of vehicle ABS wheel speed signal,solve alone INS positioning error increases quickly with time,the problem of INS and DR navigation calculation ways to meet the requirements of vehicle real-time positioning accuracy.In order to verify the validity of the algorithm,this paper mainly use the Carsim software to export vehicle model,through the joint simulation model is set up in Matlab/Simulink.Get real location information by GPS module at the same time,through the electronic gyroscope simulation module INS information,verify the authenticity of this algorithm is improved.Multi-sensor fusion vehicle positioning algorithm fusion satellite positioning,and navigation calculation of inertial navigation system,and realized the high frequency of vehicle positioning full-time.For fusion algorithm in air contains a part according to the same conditions of the simulation and experiment,relative only inertial navigation system,fusion navigation calculation algorithm of positioning promotion effect.Finally in this paper,through the study of positioning is proposed using a combination of positioning information to process the crossing obstacle avoidance problem under complex conditions,in the middle of the floor of mouth add will transfer control platform,bits of data to accept as a "smart traffic police",greatly improved the security of the unmanned in the intersection.