METHOD OF DETERMINING THE POSITION OF A LAND VEHICLE

• Main Authors: SHIPITKO, Oleg Sergeevich, KABAKOV, Anatolii Evgenevich, KIBALOV, Vladislav Igorevich
• Format: Patent
• Language: English; French; German
• Published: 27.03.2024
• Subjects: CALCULATING; COMPUTING; COUNTING; GYROSCOPIC INSTRUMENTS; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention relates to the field of navigation, namely methods of autonomous positioning of ground vehicles (GV), including automated mobile systems.The proposed method of determining the position of a land vehicle includes the following steps: a map is formed in the form of images with linear objects located in the plane of the road along which the vehicle is moving, the specified map is loaded into the memory of the vehicle's onboard computer, images from cameras placed on the vehicle are sent to the onboard computer, the received images are processed images with the selection of environmental objects, evaluate the movements and orientation in the vehicle space in time based on information received from onboard sensors, evaluate the current position of the vehicle in space using the implementation of a particle filter algorithm based on the formation of a set of particle hypotheses about the position of the vehicle with the possibility of their subsequent movements, compare the selected environmental objects the media on the images from cameras with a map loaded into the onboard computer, considering the position of each hypothesis particle, assess the probability of each hypothesis particle, and then resample them.