Study On High Precision Positioning Technology For Vehicles By Fusing Mapping And Image Navigation

How to effectively overcome the failure of positioning and navigation under the bad satellite signals,realize the autonomous and high-precision navigation of the motion carrier,and enhance the operation ability of the motion carrier,is a hotspot in the field of navigation research.Aiming at the requirement of special vehicle navigation performance,this paper studies the integration technology of surveying,mapping and navigation based on RTK mapping and image matching positioning from the perspective of surveying,mapping and navigation to improve vehicle navigation performance.Firstly,according to the requirement of high-precision navigation of vehicle image and the characteristics of RTK high-precision geolocation,this paper proposes an image navigation scheme based on map mapping,integrates map mapping and image navigation modules,proposes a complete integrated technology scheme of map mapping and image navigation functions,and carries out image tag extraction and retrieval method in this technical scheme.Secondly,this paper studies the method of navigation map mapping under geographic location labeling,designs a navigation map mapping algorithm based on similarity transformation parameter estimation according to the relationship between visual local coordinate system and geographic global coordinate system,and mosaics multiple local sub-maps by using the constraints of geographic location geometric relationship to solve the problem of multi-sub-map fusion,which effectively enhance the scope of mapping map.Thirdly,based on the least square coordinate transformation parameter estimation algorithm,the image navigation location algorithm under the reference map is proposed.On the basis of the above global coordinate estimation algorithm,the high-precision image navigation location algorithm under the local neighborhood transformation estimation is proposed,which improves the geographic positioning accuracy of the navigation system.Finally,the paper designs and builds a set of hardware platform for the integrated system of surveying,mapping and navigation.The hardware platform can collect the image data and geographic coordinate data of the real scene.The common data set and the data set acquired by this platform are used to test the designed navigation positioning algorithm.It is clear that the navigation method studied in this paper can provide autonomous and high-precision navigation results and meet the navigation requirements of special vehicles.