METHOD FOR VEHICLE SPEED ESTIMATION USING MULTIPLE GEOMAGNETIC SENSORS

-19 The present disclosure provides a method for vehicle speed estimation using multiple geomagnetic sensors, and mainly solves the problem of low accuracy of vehicle speed estimation in existing single-geomagnetic, dual-geomagnetic and multi-geomagnetic scenarios. 5 There are M vehicle detection modules (1), and the vehicle detection modules are deployed along a roadside at equal intervals and configured to detect processes that a vehicle approaches and leaves a detection point, record the time when the vehicle approaches the detection point and send time data to a data processing module (2). In order to avoid the situation that the vehicle detection modules do not detect the vehicle and may not perform vehicle speed 10 estimation, the data processing module (2) performs matching of data association on the time data uploaded by all the vehicle detection modules by using standard deviations of vehicle position estimation and speed estimation, and performs multiple Kalman filter iterations on the matched time data and the positions of the vehicle detection modules, so as to obtain a precise vehicle speed. The present disclosure improves the accuracy of vehicle speed 15 estimation, and may be used for intelligent transportation management. -1/2 Start GPS submodule acquires real time All vehicle detection modules are synchronized in time No Do vehicle detection modules detect vehicle Yes Vehicle detection modules send time data to data processing module Data processing module performs data cleaning and data association on time data Data processing module performs vehicle speed estimation using Kalman filtering End