基于测距与GNSS信息融合的车联网协同定位技术  

Cooperative positioning in vehicular networks based onfusion of ranging and GNSS information

作　　者：屈小媚 王世法 谭屈山 黄海峰 焦育威 魏川棣 Qu Xiaomei;Wang Shifa;Tan Qushan;Huang Haifeng;Jiao Yuwei;Wei Chuandi(College of Computer Science&Engineering,Southwest Minzu University,Chengdu 610041,China;Sichuan Chengmian Cangba Expressway Co.,Ltd.,Mianyang Sichuan 621000,China;Sichuan Digital Transportation Technology Co.,Ltd.,Chengdu 610000,China)

机构地区：[1]西南民族大学计算机科学与工程学院,成都610041 [2]四川成绵苍巴高速公路有限责任公司,四川绵阳621000 [3]四川数字交通科技股份有限公司,成都610000

出　　处：《计算机应用研究》2024年第6期1722-1727,共6页Application Research of Computers

基　　金：国家自然科学基金面上项目(61873217);新一代人工智能国家科技重大专项(2022ZD0115600)。

摘　　要：为了提高车联网中车辆定位的精度,提出了基于车载雷达测距信息与全球卫星导航系统(global navigation satellite system,GNSS)信息融合的车联网协同定位方法。该方法使用极大似然估计策略建立数学模型,其本质是一个非线性优化问题。将其化简为具有多个二次等式约束的二次规划问题,并给出一种半正定松弛方法,可以高效地近似求解原问题,最后通过特征值分解法进一步改进该近似解。仿真结果表明,该信息融合方法得到的协同定位比线性化加权最小二乘方法的定位精度有显著提高;且能达到基于较大数据集的BP(back propagation)神经网络定位方法的定位精度,但无须事先训练模型,可实现高精度实时定位。In order to enhance the accuracy of vehicle positioning in the Internet of Vehicles,this paper proposed a collaborative positioning method for the Internet of Vehicles based on fusing vehicle-mounted radar ranging information with GNSS information.This method established a mathematical model using the maximum likelihood estimation strategy,which essentially solved a nonlinear optimization problem.It simplified the problem as a quadratic programming problem with multiple quadratic constraints,presented a semi-definite relaxation method to efficiently approximate the original problem,and used the eigenva-lue decomposition method to further improve the approximate solution.Simulation results demonstrate that the accuracy of the collaborative positioning achieved by this information fusion method significantly improves compared to the linearized weighted least squares method.It can also achieve the positioning accuracy of BP(back propagation)neural network localization method based on a large dataset,without the need for pre-training the model,enabling high-precision real-time positioning.

关 键 词：车联网 协同定位 车载雷达测距 半正定松弛 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]