CN106443742A - Precision indicating method, apparatus and vehicle based on inertia integrated navigation - Google Patents
Precision indicating method, apparatus and vehicle based on inertia integrated navigation Download PDFInfo
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- CN106443742A CN106443742A CN201610796823.9A CN201610796823A CN106443742A CN 106443742 A CN106443742 A CN 106443742A CN 201610796823 A CN201610796823 A CN 201610796823A CN 106443742 A CN106443742 A CN 106443742A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Navigation (AREA)
Abstract
The invention discloses a precision indicating method, apparatus and vehicle based on inertia integrated navigation. The method includes the following steps: S1. in a vehicle's travel, real-time acquiring the running speed, running posture and running time of the vehicle, and an inertia integrated navigation system of the vehicle computing a first position of the vehicle; S2. based on the running speed, running posture, running time and the first position, computing longitudinal errors and transverse errors of the first position with respect to a second position where the vehicle actually stays; and S3. outputting the first position, the longitudinal errors and the transverse errors. The method provides the longitudinal errors and the transverse errors when outputting the result of positioning, which provides precise reference for the positioning of the vehicle and increases positioning precision of the vehicle.
Description
Technical field
The invention belongs to field of navigation technology, and in particular to a kind of precision indicating means based on inertia combined navigation and dress
Put, vehicle.
Background technology
The measurement of vehicle movement parameter has in fields such as automatic driving, examination of driver automatic discriminations widely should
With.Kinematic parameter refer generally to automobile as the position of moving object, speed, attitude information measurement, typically realizing high accuracy
High accuracy Satellite Navigation Technique, i.e. RTK technology can be utilized under the scene of measurement.RTK (Real-time kinematic) carrier wave phase
Position differential technique, is the difference method of two survey station carrier phase observed quantities of real-time processing, by the carrier phase of base station collection
Receiver user is issued, carries out asking difference to resolve coordinate.
Inertial navigation system (INS, hereinafter referred to as inertial navigation) be one kind do not rely on external information, also not to outside radiation energy
The autonomic navigation system of amount.Its working environment not only include in the air, ground, can also be under water.The groundwork original of inertial navigation
Reason be based on Newton mechanics law, by measure carrier inertial reference system acceleration and angular velocity, will measurement original
Beginning information was integrated to the time, and it is transformed in navigational coordinate system, it becomes possible to obtain speed in navigational coordinate system,
The information such as attitude and position.Inertial navigation system includes Inertial Measurement Unit (IMU) and navigational computer composition.
General Satellite Navigation Technique precision configured information is used for characterizing the accuracy of satellite navigation positioning measurement.Satellite is led
Boat system according to principle, typically in output information comprising DOP value, state quantity measurement (CA DGPS RTK etc.) come flag bit for
Characterize the precision of positioning output.Wherein DOP value represents the geometry of moonscope, which represent the statistics of part positioning output
Error characteristics.CA positioning is i.e. using the pseudo-range information directly calculation One-Point Location of satellite, and general precision is in 5～10m；DGPS difference
Positioning, a kind of difference hi-Fix that is realized using the Differential corrections of base station, the precision which characterizes up to 0.1～
1m；RTK is positioned, and using the Differential positioning of carrier phase, is high-precision positioning states, and positioning precision is up to 1～2cm.
However, due to the precision of inertial navigation, the position error of inertial navigation was dissipated with the time, usual its site error
Precision index is related to the working time, therefore general not output accuracy normal bit in inertial navigation system work process.
Content of the invention
The technical problem to be solved is how to improve vehicle location precision, realizes being accurately positioned.
For this technical problem, the invention provides a kind of precision indicating means based on inertia combined navigation, including：
S1：In vehicle travel process, the speed of service, operation attitude and the run time of the vehicle are obtained in real time, with
And the primary importance of the calculated vehicle of inertia combined navigation system by the vehicle；
S2：The primary importance phase is calculated according to the speed of service, operation attitude, run time and the primary importance
For the longitudinal error between the second position at the actual place of the vehicle and lateral error；
S3：Export the primary importance, longitudinal error and lateral error；
Wherein, the longitudinal error is the error in the vehicle forward direction, and the lateral error is and the car
Error on the vertical direction of direction of advance.
Preferably, the inertia combined navigation system includes positioning unit and inertial navigation unit；
The longitudinal error and the lateral error are calculated by the inertial navigation unit.
Preferably, also include before step S1：
Whether positioning precision of the positioning unit at the vehicle present position is judged less than predetermined threshold value, if
It is, by the inertial navigation unit according to the positioning unit when the vehicle is higher than the predetermined threshold value in positioning precision
The position that vehicle described in the position calculation of positioning is presently in, using the primary importance as the vehicle.
Preferably, the positioning unit is positioned using carrier phase difference technology.
On the other hand, present invention also offers a kind of precision instruction device based on inertia combined navigation, including：
Acquisition module, in vehicle travel process, obtaining the speed of service, operation attitude and the fortune of the vehicle in real time
Row time, and the primary importance of the calculated vehicle of inertia combined navigation system by the vehicle；
Computing module, described in calculating according to the speed of service, operation attitude, run time and the primary importance
Longitudinal error and lateral error between the second position at primary importance place actual with respect to the vehicle；
Output module, for exporting the primary importance, longitudinal error and lateral error；
Wherein, the longitudinal error is the error in the vehicle forward direction, and the lateral error is and the car
Error on the vertical direction of direction of advance.
Preferably, the inertia combined navigation system includes positioning unit and inertial navigation unit；
The longitudinal error and the lateral error are calculated by the inertial navigation unit.
Preferably, also include judge module；
The judge module is used for judging that positioning precision of the positioning unit at the vehicle present position is
No less than predetermined threshold value, if so, by the inertial navigation unit, positioning precision is in the vehicle according to the positioning unit
The position that vehicle described in the position calculation for positioning during higher than the predetermined threshold value is presently in, using as first of the vehicle
Put.
Preferably, the positioning unit is positioned using carrier phase difference technology.
The third aspect, present invention also offers a kind of vehicle, indicates including the above-mentioned precision based on inertia combined navigation
Device.
In precision indicating means and device based on inertia combined navigation that the present invention is provided, inertial navigation and satellite are led
Boat is applied in combination, and is positioned for vehicle by satellite navigation, obtains the longitudinal error of vehicle location by inertial navigation system
And lateral error, when positioning result is exported, while exporting longitudinal error and lateral error, it is that the positioning of vehicle is provided more
Accurate reference value, improves the positioning precision of vehicle.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for technology description is had to be briefly described, it should be apparent that, drawings in the following description are these
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also root
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is that the flow process of the precision indicating means based on inertia combined navigation that one embodiment of the invention is provided is illustrated
Figure；
Fig. 2 is that the time relationship of each functional realiey during the inertia combined navigation of one embodiment of the invention offer is illustrated
Figure；
Fig. 3 is the longitudinal error of position of the vehicle that one embodiment of the invention is provided and the schematic diagram of lateral error；
Fig. 4 is the longitudinal error after the vehicle forward direction that one embodiment of the invention is provided changes and lateral error change
Schematic diagram；
Fig. 5 is the frame structure schematic diagram of the navigation results output that one embodiment of the invention is provided；
The specific precision instruction device structural representation based on inertia combined navigation that Fig. 6 one embodiment of the invention is provided
Figure.
Specific embodiment
Purpose, technical scheme and advantage for making the embodiment of the present invention is clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment for being obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Fig. 1 is the schematic flow sheet of the precision indicating means based on inertia combined navigation that the present embodiment is provided.Referring to figure
1, the method, including：
S1：In vehicle travel process, the speed of service, operation attitude and the run time of the vehicle are obtained in real time, with
And the primary importance of the calculated vehicle of inertia combined navigation system by the vehicle；
S2：The primary importance phase is calculated according to the speed of service, operation attitude, run time and the primary importance
For the longitudinal error between the second position at the actual place of the vehicle and lateral error；
S3：Export the primary importance, longitudinal error and lateral error；
Wherein, the longitudinal error is the error in the vehicle forward direction, and the lateral error is and the car
Error on the vertical direction of direction of advance.
Inertia combined navigation refers to the group of inertial navigation (MEMS inertial navigation) and satellite navigation (GNSS satellite navigation)
Close.Primary importance is calculated by the inertia combined navigation system of vehicle, for example, primary importance can be by inertia combined navigation
Alignment system in system is (for example, when road surface does not have shelter, directly by GNSS satellite navigation acquisition, or by GPS location
Obtain) obtain, or be calculated by inertial navigation (for example, have shelter or when vehicle is by tunnel on road surface
Or during bridge bottom).In the present embodiment, the precision of primary importance positioning is made up of longitudinal error and lateral error, as inertia is led
Boat and the speed of service of vehicle, to run attitude, run time relevant, so, longitudinal error and lateral error be by inertial navigation
System is carried out estimating obtaining to the error in machine and transverse direction of positioning precision by these parameters and primary importance.
The improvement of the present invention is to limit the precision for positioning from vertical and horizontal, improves the essence of positioning
Exactness.It should be understood that inertial navigation system how according to the vehicle speed of service, operation attitude, run time and first
It is prior art that position obtains Longitudinal precision and transverse precision, the improvement being not related in the present invention.
The time relationship schematic diagram of each functional realiey when Fig. 2 shows inertia combined navigation, for example, an inertia combination
Navigation includes high precision GNSS receiver, and for receiving location information of the satellite to vehicle, inertial navigation module, with output
The module of function.After high precision GNSS receiver receives location information, inertial navigation module is according to location information and vehicle
Other parameters information in motion, obtains primary importance, longitudinal error and the lateral error of vehicle, and by primary importance, longitudinal direction
Error and lateral error output.
The position (primary importance) of vehicle, the implication of longitudinal error and lateral error is as shown in figure 3, positioning region is one
Rectangular area, longitudinal error is the error in vehicle forward direction, and lateral error is perpendicular to the error in vehicle forward direction.
Method compared in traditional localization method, adopting the circle with anchor point as the center of circle to represent position error, the present embodiment is provided
Precision indicating means at least can improve lateral error estimation precision.
Certainly, when vehicle is through bend, lateral error and longitudinal error will also be adjusted correspondingly, for example, such as Fig. 4
Shown, after the direction that vehicle advances there occurs 90 ° of changes, the longitudinal error of vehicle and lateral error there occurs exchange.
The precision indicating means based on inertia combined navigation that the present embodiment is provided, inertial and satellite navigation is combined
Using, being positioned for vehicle by satellite navigation, the longitudinal error and laterally of vehicle location is obtained by inertial navigation system
Error, when positioning result is exported, while exporting longitudinal error and lateral error, is the positioning of vehicle there is provided more accurate
Reference value, improves the positioning precision of vehicle.
Further, the inertia combined navigation system includes positioning unit and inertial navigation unit；
The longitudinal error and the lateral error are calculated by the inertial navigation unit.
Further, also include before step S1：
Whether positioning precision of the positioning unit at the vehicle present position is judged less than predetermined threshold value, if
It is, by the inertial navigation unit according to the positioning unit when the vehicle is higher than the predetermined threshold value in positioning precision
The position that vehicle described in the position calculation of positioning is presently in, using the primary importance as the vehicle.
Depending on the pavement behavior of the positioning precision of positioning unit and positioning unit according to residing for Current vehicle, for example, work as road
Shelter on face is more or when under vehicle is through gap bridge, the positioning precision of the positioning unit for being positioned using satellite will under
Drop, or even cannot position, now, directly positioned using inertial navigation.
Further, the positioning unit is positioned using carrier phase difference technology.
For the output of navigation results, can be exported using frame structure as shown in Figure 5, first the position of output vehicle, speed
The information such as degree and attitude, indicates in output Longitudinal precision and transverse precision is indicated.
It should be noted that in vehicle-mounted inertia combined navigation, GNSS satellite navigation is easily blocked, multipath is done
The impact disturbed etc. and precise decreasing, GNSS in satellite navigation positioning available under the conditions of, its precision configured information can be led to
The flag bit for crossing correlation is given.The principle of satellite navigation determines that its precision configured information is uncorrelated to the direction of motion of vehicle, i.e.,
For vehicle, its longitudinal direction/horizontal error features is identical, precision configured information can and meanwhile not difference sign this
The error of both direction.
Tunnel etc. is entered in vehicle to block under environment, now position output is completed by inertial navigation, and now positioning is missed
Difference correlation is in the movement time of vehicle, forms of motion etc..Error of the inertial navigation under vehicle-mounted mode is related to vehicle motion, because
Determine for the forms of motion of automobile, i.e., standard indicates laterally there is larger difference with motion longitudinal direction in the motion of vehicle for precision
Not.Traditional inertial navigation product is not indicated to carrier movement longitudinal direction and the laterally precision of output differentiation, to system
Inconvenience is carried in application.
High-precision integrated navigation system is used for the differentiation of intelligent Driver examination system, in intelligent Driver examination system
In, vehicle-mounted high-precision integrated navigation system is used for position and the attitude of measuring vehicle, and system employs RTK technology, Ke Yishi
The Centimeter Level measurement (certainty of measurement is better than 2cm) of existing vehicle location.The position for being obtained using the measurement of high accuracy RTK, can be used for
Judge of examination of driver, such as line ball etc..As RTK system is affected by environment than larger, such as building, trees, overpass
Deng block very common in examination hall, bring difficulty to differentiation is carried out using RTK system.Existed using inertia combined navigation system
In the environment of RTK is interfered and blocks, auxiliary positioning is to lift the good method that examination differentiates availability and stability.
However, as the error characteristics of inertial navigation are related to the motion conditions of vehicle, run time etc., how to differentiate
In software, the error of the standard inertial navigation positioning of science is just particularly significant, before the characterizing method system applications well of science
Carry.This problem can preferably be solved using the system of the present invention, vehicle enter tunnel block environment after, inertial navigation
System starts, as inertial navigation system positioning precision is (horizontal with lateral in the error performance of vehicle traveling direction (longitudinal direction)
To) error performance difference larger, and lateral (horizontal) error is the key for differentiating, so using the related smart of the system
Degree configured information instructs subsequent software differentiation to seem particularly significant.
On the other hand, present invention also offers a kind of precision instruction device based on inertia combined navigation, including：
Acquisition module, in vehicle travel process, obtaining the speed of service, operation attitude and the fortune of the vehicle in real time
Row time, and the primary importance of the calculated vehicle of inertia combined navigation system by the vehicle；
Computing module, described in calculating according to the speed of service, operation attitude, run time and the primary importance
Longitudinal error and lateral error between the second position at primary importance place actual with respect to the vehicle；
Output module, for exporting the primary importance, longitudinal error and lateral error；
Wherein, the longitudinal error is the error in the vehicle forward direction, and the lateral error is and the car
Error on the vertical direction of direction of advance.
Further, the inertia combined navigation system includes positioning unit and inertial navigation unit；
The longitudinal error and the lateral error are calculated by the inertial navigation unit.
Further, also include judge module；
The judge module is used for judging that positioning precision of the positioning unit at the vehicle present position is
No less than predetermined threshold value, if so, by the inertial navigation unit, positioning precision is in the vehicle according to the positioning unit
The position that vehicle described in the position calculation for positioning during higher than the predetermined threshold value is presently in, using as first of the vehicle
Put.
Further, the positioning unit is positioned using carrier phase difference technology.
In the precision instruction device based on inertia combined navigation that the present invention is provided, inertial and satellite navigation is combined
Using, being positioned for vehicle by satellite navigation, the longitudinal error and laterally of vehicle location is obtained by inertial navigation system
Error, when positioning result is exported, while exporting longitudinal error and lateral error, is the positioning of vehicle there is provided more accurate
Reference value, improves the positioning precision of vehicle.
Fig. 6 shows the specific precision instruction device structural representation based on inertia combined navigation, and high-precision GNSS connects
Parameter in the vehicle travel process that the position of the vehicle for obtaining and light core measuring unit IMU are obtained by receipts machine carries out Kalman filter
Ripple integrated navigation is resolved, and obtains lateral error and the longitudinal error of vehicle, by vehicle is carried out positioning the vehicle for obtaining position,
The lateral error of vehicle and longitudinal error are exported comprising horizontal stroke after output information processes (for example, being labeled on map)
To the metrical information with Longitudinal precision configured information.
The third aspect, present embodiments provides a kind of vehicle, including the above-described precision based on inertia combined navigation
Instruction device.
The precision instruction device of the integrated navigation in the vehicle, inertial and satellite navigation is applied in combination, by defending
Star navigation is positioned for vehicle, obtains longitudinal error and the lateral error of vehicle location by inertial navigation system, in output
During positioning result, while longitudinal error and lateral error is exported, it is that the positioning of vehicle provides more accurate reference value, improves
The positioning precision of vehicle.
The preferred embodiments of the present invention are the foregoing is only, the present invention is not limited to, for the skill of this area
For art personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (9)
1. a kind of precision indicating means based on inertia combined navigation, it is characterised in that include：
S1：In vehicle travel process, the speed of service, operation attitude and the run time of the vehicle, Yi Jiyou are obtained in real time
The primary importance of the calculated vehicle of the inertia combined navigation system of the vehicle；
S2：According to the speed of service, operation attitude, run time and the primary importance calculate the primary importance with respect to
Longitudinal error and lateral error between the second position at the actual place of the vehicle；
S3：Export the primary importance, longitudinal error and lateral error；
Wherein, the longitudinal error is the error in the vehicle forward direction, the lateral error be with before the vehicle
The error that enters on the vertical direction in direction.
2. the method according to claim 1, it is characterised in that the inertia combined navigation system include positioning unit and
Inertial navigation unit；
The longitudinal error and the lateral error are calculated by the inertial navigation unit.
3. the method according to claim 2, it is characterised in that also include before step S1：
Judge whether positioning precision of the positioning unit at the vehicle present position is less than predetermined threshold value, if so,
Fixed when the vehicle is higher than the predetermined threshold value in positioning precision according to the positioning unit by the inertial navigation unit
The position that vehicle described in the position calculation of position is presently in, using the primary importance as the vehicle.
4. the method according to claim 2, it is characterised in that the positioning unit is entered using carrier phase difference technology
Row positioning.
5. a kind of precision instruction device based on inertia combined navigation, it is characterised in that include：
Acquisition module, during in vehicle travel process, obtaining the speed of service of the vehicle in real time, running attitude and operation
Between, and the primary importance of the calculated vehicle of inertia combined navigation system by the vehicle；
Computing module, for calculating described first according to the speed of service, operation attitude, run time and the primary importance
Longitudinal error and lateral error between the second position at position place actual with respect to the vehicle；
Output module, for exporting the primary importance, longitudinal error and lateral error；
Wherein, the longitudinal error is the error in the vehicle forward direction, the lateral error be with before the vehicle
The error that enters on the vertical direction in direction.
6. the device according to claim 5, it is characterised in that the inertia combined navigation system include positioning unit and
Inertial navigation unit；
The longitudinal error and the lateral error are calculated by the inertial navigation unit.
7. the device according to claim 6, it is characterised in that also include judge module；
The judge module is used for judging whether positioning precision of the positioning unit at the vehicle present position be low
In predetermined threshold value, if so, by the inertial navigation unit according to the positioning unit in the vehicle in positioning precision it is higher than
The position that vehicle described in the position calculation for positioning during the predetermined threshold value is presently in, using the primary importance as the vehicle.
8. the device according to claim 6, it is characterised in that the positioning unit is entered using carrier phase difference technology
Row positioning.
9. a kind of vehicle, it is characterised in that the essence based on inertia combined navigation any one of 5 to 8 will be gone including right
Degree instruction device.
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