Three-dimensional laser radar assisted high-precision satellite positioning method

Abstract

The invention discloses a high-precision satellite positioning method assisted by a three-dimensional laser radar. The invention provides a method for supporting vehicle positioning by using a satellite positioning system. The method includes: generating a sliding window map (SWM) in real-time based on a 3D point cloud from a 3DLiDAR sensor and an attitude heading reference system (AHRS), where the SWM provides an environmental description for detection and NLOS reception; accumulating a 3D point cloud from a previous frame into the SWM to enhance the field of view of the 3D LiDAR sensor; receiving, by the GNSS receiver, GNSS measurements from the satellite; detecting the NLOS reception from the GNSS measurements using the SWM; when a reflection point is not found in the SWM, correcting the NLOS reception by NLOS reconstruction; and estimating GNSS positioning through a least square algorithm. The invention aims to provide a method for relieving NLOS caused by static buildings and dynamic objects. 一种三维激光雷达辅助的高精度卫星定位方法。本申请提供了一种使用卫星定位系统支持车辆定位的方法。该方法包括：基于来自3DLiDAR传感器和姿态航向参考系统(AHRS)的3D点云实时地生成滑动窗口地图(SWM)，其中，所述SWM提供用于检测和NLOS接收的环境描述；将来自先前帧的3D点云累积到所述SWM中，以增强所述3D LiDAR传感器的视场；通过GNSS接收器接收来自卫星的GNSS测量值；使用所述SWM从所述GNSS测量值中检测所述NLOS接收；当在所述SWM中找不到反射点时，通过NLOS重构来校正所述NLOS接收；以及通过最小二乘算法估计GNSS定位。本申请的目的在于提供一种缓解由静态建筑物和动态对象引起的NLOS的方法。