城市环境下车辆高容错多模型融合定位技术研究

项目名称： 城市环境下车辆高容错多模型融合定位技术研究

项目编号： No.61273236

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 自动化技术、计算机技术

项目作者： 李旭

作者单位： 东南大学

项目金额： 80万元

中文摘要： 车辆准确可靠的定位是智能交通系统ITS功能有效发挥的一个重要基础。但日益复杂的城市环境常会造成目前广泛应用的GPS定位持续几分钟的较长时间失效。基于多传感器融合的组合定位成为近年来的研究热点，然而，现有研究对于城市环境下GPS的较长时间失效，在定位准确性和可靠性上仍存在明显的不足，主要是由于在车辆运行模型准确性、辅助观测信息有效性以及融合算法容错性等方面还存在问题。针对这些问题，本项目首先研究建立城市环境下车辆的高机动运行模型；然后，设计车体运动辅助观测信息的两级估计策略，以便在融合前获取更为有效的辅助观测信息；最后，在交互式多模型融合算法中研究建立联合解析冗余和时序冗余的系统级传感器故障诊断机制，以提出高容错的车辆多模型融合定位算法，并通过实车试验验证。本项目较为全面、系统地考虑了影响定位的关键因素，将有效解决复杂城市环境下车辆难以准确可靠定位这一ITS难题，具有重要的理论和应用价值。

中文关键词： 城市环境；车辆定位；高容错；多模型融合；辅助观测信息

英文摘要： Accurate and reliable vehicle positioning is one of the most important foundations that can influence the function effectiveness of Intelligent Transportation Systems (ITS). However, with the increasing complexity of urban traffic environment, it often causes the several-minute failure of GPS used widely in current vehicle positioning. In this context, the integrated positioning technology based on multi-sensor fusion has become the research hotspot in recent years. Unfortunately, in the existing research, there are still obvious deficiencies in the positioning accuracy and reliability when GPS fails for several minutes in the complex urban environment. The main reason is that in the existing research, there are still problems in the accuracy of the vehicle state model, the validity of the auxiliary observation information, and the fault tolerance of fusion algorithm, etc. To solve such problems effectively, the highly-maneuvering state model of a vehicle running in the urban environment will firstly be established in this project. Then, the two-stage estimation strategy will be designed to obtain more accurate auxiliary observation information about the vehicle-body motion before it is fused. Thirdly, based on the interacting multiple-model fusion architecture, a system-level sensor fault diagnosis mechanism co

英文关键词： urban environment；vehicle positioning；high fault tolerance；multiple-model fusion；auxiliary observations