TY - GEN
T1 - A vehicle autonomous positioning technology based on terrain relative navigation
AU - Chen, Jiabin
AU - Zhang, Qin
AU - Pan, Jingrun
AU - Liang, Junyu
N1 - Publisher Copyright:
© 2021 IEEE
PY - 2021
Y1 - 2021
N2 - Considering the characteristics of satellite navigation signals that are vulnerable to occlusion, interference and deception, and the situation that satellite navigation signals cannot be received in complex environments, this paper proposes a vehicle autonomous positioning method based on terrain relative navigation. This method matches the terrain data collected by the vehicle during driving with the pre-established topographic map, so as to estimate the position of the vehicle in the topographic map and realize the positioning of the vehicle on the structured road. The positioning process does not rely on GNSS, and is less affected by other factors due to the main use of road terrain information. This paper uses the constructed topographic map and sampling data to realize the vehicle positioning on the road, and the positioning error is less than 1 meter.
AB - Considering the characteristics of satellite navigation signals that are vulnerable to occlusion, interference and deception, and the situation that satellite navigation signals cannot be received in complex environments, this paper proposes a vehicle autonomous positioning method based on terrain relative navigation. This method matches the terrain data collected by the vehicle during driving with the pre-established topographic map, so as to estimate the position of the vehicle in the topographic map and realize the positioning of the vehicle on the structured road. The positioning process does not rely on GNSS, and is less affected by other factors due to the main use of road terrain information. This paper uses the constructed topographic map and sampling data to realize the vehicle positioning on the road, and the positioning error is less than 1 meter.
KW - Particle filter
KW - Terrain relative navigation
KW - Topographic map
UR - http://www.scopus.com/inward/record.url?scp=85128063745&partnerID=8YFLogxK
U2 - 10.1109/CAC53003.2021.9727251
DO - 10.1109/CAC53003.2021.9727251
M3 - Conference contribution
AN - SCOPUS:85128063745
T3 - Proceeding - 2021 China Automation Congress, CAC 2021
SP - 6737
EP - 6740
BT - Proceeding - 2021 China Automation Congress, CAC 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 China Automation Congress, CAC 2021
Y2 - 22 October 2021 through 24 October 2021
ER -