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Vehicle Position Estimation Based on Magnetic Markers: Enhanced Accuracy by Compensation of Time Delays

机译：基于磁性标记的车辆位置估计：通过补偿时延提高准确性

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摘要

The real-time recognition of absolute (or relative) position and orientation on a network of roads is a core technology for fully automated or driving-assisted vehicles. This paper presents an empirical investigation of the design, implementation, and evaluation of a self-positioning system based on a magnetic marker reference sensing method for an autonomous vehicle. Specifically, the estimation accuracy of the magnetic sensing ruler (MSR) in the up-to-date estimation of the actual position was successfully enhanced by compensating for time delays in signal processing when detecting the vertical magnetic field (VMF) in an array of signals. In this study, the signal processing scheme was developed to minimize the effects of the distortion of measured signals when estimating the relative positional information based on magnetic signals obtained using the MSR. In other words, the center point in a 2D magnetic field contour plot corresponding to the actual position of magnetic markers was estimated by tracking the errors between pre-defined reference models and measured magnetic signals. The algorithm proposed in this study was validated by experimental measurements using a test vehicle on a pilot network of roads. From the results, the positioning error was found to be less than 0.04 m on average in an operational test.
机译：道路网络上绝对（或相对）位置和方向的实时识别是全自动或驾驶辅助车辆的一项核心技术。本文对基于自动驾驶汽车的磁性标记参考传感方法的自动定位系统的设计，实施和评估进行了实证研究。具体地说，通过补偿在检测信号阵列中的垂直磁场（VMF）时信号处理中的时间延迟，成功地提高了对实际位置的最新估计中的磁感应尺（MSR）的估计精度。在这项研究中，开发了一种信号处理方案，以在基于使用MSR获得的磁信号估计相对位置信息时，将测量信号失真的影响降至最低。换句话说，通过跟踪预定义参考模型和测得的磁信号之间的误差，可以估算2D磁场轮廓图中与磁标记实际位置相对应的中心点。这项研究中提出的算法已通过使用试验车辆在道路试点网络上进行的实验测量得到了验证。根据结果​​，在运行测试中发现定位误差平均小于0.04 m。

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