In order to meet the needs of high precision, high availability and high safety positioning for automatic driving, aiming at the technical difficulties of automatic driving positioning in the complex urban environment, an inertial navigation model suitable for the dynamic characteristics of vehicles is established, and a tight combination method of Beidou / inertial high precision positioning is proposed, which solves the problem of rapid accumulation of positioning errors in the weak signal environment of Beidou. The results show that when the Beidou signal is completely interrupted and the INS is combined tightly, the positioning accuracy and continuity are improved significantly, and the maximum error is less than 0.5m, which can realize the automatic driving high-precision continuous navigation and positioning in the complex urban environment.
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