Research on Beidou / GNSS wide area real-time positioning for automatic driving

摘要

In view of the technical problems of Beidou / GNSS multi-frequency multi-mode navigation signal compatibility and interoperability and wide area real-time high-precision Lane level positioning, the physical characteristics and difference characteristics of the new generation Beidou navigation satellite signal are analyzed, the deviation identification, modeling expression and correction compensation methods of Beidou/GNSS multi-frequency multi-mode signal are studied, and Beidou / GNSS is established Based on the real-time precise positioning model of wide area, the adaptive fusion and optimization of multi-source and heterogeneous constellation data are studied, and the solution of Beidou / GNSS rapid precise positioning aided by enhanced information of reference station network is proposed. The experimental results show that the scheme can improve the navigation and positioning in the complex urban environment, realize the real-time and fast decimeter level positioning, and the positioning accuracy in the open road is better than 10 cm.