Abstract
Modern parking lots have gradually developed into underground garages to improve the efficient use of space. However, the complex design of parking lots also increases the demands on vehicle navigation. The traditional method of navigation switching only uses satellite signals. After the Position Dilution Of Precision (PDOP) of satellite signals is over the limit, vehicle navigation will enter indoor mode. It is not suitable for vehicles in underground garages to switch modes with a fast-response system. Therefore, this paper chooses satellite navigation, inertial navigation, and the car system to combine navigation. With the condition that the vehicle can freely travel through indoor and outdoor environments, high-precision outdoor environment navigation is used to provide the initial state of underground navigation. The position of the vehicle underground is calculated by the Dead Reckoning (DR) navigation system. This paper takes advantage of the Extended Kalman Filter (EKF) algorithm to provide two freely switchable navigation modes for vehicles in ground and underground garages. The continuity, robustness, fast response, and low cost of the indoor and outdoor switching navigation methods are verified in real-time systems.
Highlights
In recent years, as citizen living standard continues to rise, the number of citizens owning cars has increased year by year
Modern parking lots are gradually developing in the directions of multi-space, multi-function and intelligence [1], since above-ground parking lots have sufficient light and large space and are surrounded by many reference objects so can obtain high-precision position information by Global Navigation Satellite System (GNSS) satellites
The extended Kalman filter (EKF) is used to update the system state and establish the dynamic system model, the position and velocity of the six-Degree Of Freedom(DOF) rigid body expressed by the inertial coordinates [15]
Summary
As citizen living standard continues to rise, the number of citizens owning cars has increased year by year. The GNSS, can only be used in an outdoor open environment because the satellite signal will be blocked in an indoor environment [5,6] Some household equipment, such as laser scanners and infrared obstacle avoidance sensors, only support indoor navigation in a small area of closed space. They cannot take into account complex indoor and outdoor switching of scenes smoothly, such as when vehicles enter an underground garage. At the stage of a vehicle entering the garage entrance, the vehicle uses the multi-sensor compensation and GNSS heading pre-processing methods to quickly find the state switching point [14] It determines the accurate initial heading for the subsequent position estimation and improves the accuracy of the vehicle in underground navigation. The results illustrate the reliability and robustness of the system from a controllability and practicability point of view
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