CN108627864A - Localization method and system, pilotless automobile system based on automobile key - Google Patents
Localization method and system, pilotless automobile system based on automobile key Download PDFInfo
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- CN108627864A CN108627864A CN201710182616.9A CN201710182616A CN108627864A CN 108627864 A CN108627864 A CN 108627864A CN 201710182616 A CN201710182616 A CN 201710182616A CN 108627864 A CN108627864 A CN 108627864A
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- current location
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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
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- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention provides a kind of localization method based on automobile key and system, pilotless automobile system, is included in automobile key and GPS device and inertial nevigation apparatus is arranged；Obtain current GPS signal strength；If current GPS signal strength is more than first threshold, current location information is obtained using the GPS device；If current GPS signal strength obtains current location information between the first threshold and second threshold, using the GPS device, and corrects the current location information acquired in the inertial nevigation apparatus using the current location information acquired in the GPS device；The second threshold is less than the first threshold；If current GPS signal strength is less than the second threshold, current location information is obtained using the inertial nevigation apparatus.The mode that the localization method based on automobile key and system, pilotless automobile system of the present invention is blended on automobile key based on GPS positioning and inertial navigation positioning, which is realized, to be accurately positioned, to provide accurate location information for pilotless automobile.
Description
Technical field
The present invention relates to a kind of localization method and systems, more particularly to a kind of localization method based on automobile key and are
System, pilotless automobile system.
Background technology
Since the 1970s, the developed countries such as the U.S., Britain, Germany proceed by grinding for pilotless automobile
Study carefully, all made breakthrough progress in terms of feasibility and functionization.China proceeds by nobody from the 1980s and drives
The research of automobile is sailed, and successfully developed the pilotless automobile of first, China truly in 1992.
Pilotless automobile is to perceive road environment by vehicle-mounted sensor-based system, and according to perceiving obtained road, vehicle
Position and obstacle information, automatic planning travelling line and steering and the speed for controlling vehicle, and eventually arrive at predeterminated target
Intelligent automobile.
In practical application scene, car owner sends itself current location information to pilotless automobile, unmanned vapour
Vehicle is then at automatic running to occupant position.With the rapid development of mobile communication, smart mobile phone has been deep into people's life
Every aspect.Since smart mobile phone itself has positioning and wireless communication function, therefore in the prior art, usually pass through smart mobile phone
The current location information of car owner is sent to pilotless automobile.But the above method has the following deficiencies：
(1) smart mobile phone must be carried.In the case of no smart mobile phone, can not immediately with pilotless automobile
Communication has certain limitation；
(2) in the case where either wireless signal is poor for no wireless signal, smart mobile phone can not be positioned or be determined
Position is inaccurate, causes pilotless automobile that cannot travel to desired position, user experience is poor.
Invention content
In view of the foregoing deficiencies of prior art, the purpose of the present invention is to provide a kind of positioning based on automobile key
Method and system, pilotless automobile system position the side blended on automobile key based on GPS positioning and inertial navigation
Formula realizes being accurately positioned for car owner, to provide accurate location information for pilotless automobile.
In order to achieve the above objects and other related objects, the present invention provides a kind of localization method based on automobile key, packet
Include following steps：GPS device and inertial nevigation apparatus are set in automobile key；Obtain current GPS signal strength；If current
GPS signal strength is more than first threshold, and current location information is obtained using the GPS device；If current GPS signal strength exists
Between the first threshold and second threshold, current location information is obtained using the GPS device, and utilize the GPS device
Acquired current location information corrects the current location information acquired in the inertial nevigation apparatus；The second threshold is less than described
First threshold；If current GPS signal strength is less than the second threshold, obtained using the inertial nevigation apparatus when prelocalization is believed
Breath.
In one embodiment of the invention, the second threshold is the critical letter that the GPS device can obtain location information
Number intensity value.
In one embodiment of the invention, the first threshold is by being manually set.
In one embodiment of the invention, the second threshold is by being manually set.
Meanwhile the present invention also provides a kind of positioning systems based on automobile key, including GPS device, inertial nevigation apparatus and place
Manage device；The GPS device, the inertial nevigation apparatus and the processing unit are arranged on automobile key；
The GPS device is used to, when GPS signal strength is more than first threshold, obtain current location information in real time；
The inertial nevigation apparatus works as the GPS signal strength in first threshold for obtaining current location information in real time
Value second threshold between when, based on the GPS device obtain current location information come correct itself acquisition work as prelocalization
Information, the second threshold are more than the first threshold；
The processing module is not less than institute for obtaining current GPS signal strength in real time, and in the GPS signal strength
When stating first threshold, select the location information that the GPS device obtains as current location information；When the GPS signal strength
When less than the first threshold, select the location information that the inertial nevigation apparatus obtains as current location information.
In one embodiment of the invention, the first threshold is the critical letter that the GPS device can obtain location information
Number intensity value.
In one embodiment of the invention, the first threshold is by being manually set.
In one embodiment of the invention, the second threshold is by being manually set.
In one embodiment of the invention, the processing unit is additionally operable to send the current location information of acquisition.
In addition, the present invention also provides a kind of pilotless automobile system, including the above-mentioned positioning system based on automobile key
System and pilotless automobile；
The positioning system based on automobile key is sent to the unmanned vapour for obtaining current location information
Vehicle；
The pilotless automobile is used to receive the current location information, and as traveling destination.
As described above, the present invention the localization method and system, pilotless automobile system based on automobile key, have with
Lower advantageous effect：
(1) on automobile key, realize that car owner's is accurate fixed based on the mode that GPS positioning and inertial navigation positioning blend
Position, to provide accurate location information for pilotless automobile；
(2) it is not necessarily to additionally carry other positioning devices, user experience is good；
(3) can indoors, between outdoor, building, provide accurate location information, applicability under inferior various environment
By force.
Description of the drawings
Fig. 1 is shown as the flow chart of the localization method based on automobile key of the present invention；
Fig. 2 is shown as the structural schematic diagram of the positioning system based on automobile key of the present invention；
Fig. 3 is shown as the structural schematic diagram of the pilotless automobile system of the present invention.
Component label instructions
1 GPS device
2 inertial nevigation apparatus
3 processing units
10 pilotless automobile systems
101 positioning systems based on automobile key
102 pilotless automobiles
Specific implementation mode
Illustrate that embodiments of the present invention, those skilled in the art can be by this specification below by way of specific specific example
Disclosed content understands other advantages and effect of the present invention easily.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also be based on different viewpoints with application, without departing from
Various modifications or alterations are carried out under the spirit of the present invention.It should be noted that in the absence of conflict, following embodiment and implementation
Feature in example can be combined with each other.
It should be noted that the diagram provided in following embodiment only illustrates the basic structure of the present invention in a schematic way
Think, component count, shape and size when only display is with related component in the present invention rather than according to actual implementation in schema then
Draw, when actual implementation kenel, quantity and the ratio of each component can be a kind of random change, and its assembly layout kenel
It is likely more complexity.
The localization method based on automobile key and system, pilotless automobile system of the present invention integrates on automobile key
GPS device and inertial nevigation apparatus, the mode to be blended based on GPS positioning technology and inertial navigation location technology realize car owner's
It is accurately positioned, provides accurate location information for pilotless automobile, do not limited by external environment, it is additional without carrying
Equipment, have good applicability.
Referring to Fig.1, the localization method of the invention based on automobile key includes the following steps：
GPS device and inertial nevigation apparatus are set step S1, in automobile key.
GPS (Global Positioning System) i.e. global positioning systems are led by the satellite that the U.S. establishes
Boat positioning system.Round-the-clock, continuous, real-time three-dimensional navigation positioning can be realized in the world using the system and is surveyed
Speed, and carry out high-precision Time Transmission and high-precision precision positioning.GPS positioning is combined with GPS technology, wireless communication
Technology (GSM/GPRS/CDMA), the location technology of image processing techniques and GIS technology, be mainly used for mobile people, pet,
Vehicle and equipment carry out long-range real-time locating and monitoring.
Inertial navigation system (Inertial Navigation System, INS) is also referred to as inertial reference system, is a kind of
Independent of external information, also not to the autonomic navigation system of external radiation energy (as radionavigation), with ox
Pause based on mechanics law, by measuring carrier in the acceleration of inertial reference system, it integrates the time, and it is become
It changes in navigational coordinate system, it will be able to obtain the information such as speed, yaw angle and the position in navigational coordinate system.Inertial navigation system
The working environment of system includes not only aerial, ground, can also be under water.Specifically, inertial navigation system, which belongs to, calculates navigation side
Formula goes out the position of its subsequent point from the position of a known point according to the heading of moving vehicle angle continuously measured and speed calculation, because
And it can continuously measure the current location of movable body.Gyroscope in inertial navigation system is used for forming a navigational coordinate system, makes
The measurement axis of accelerometer is stablized in the coordinate system, and provides course and attitude angle；Accelerometer is used for measuring movable body
Acceleration obtains speed by the primary integral to the time, and speed can be obtained displacement using the primary integral to the time.
Therefore, the GPS device based on GPS technology can realize positioning under wireless communications environment；Based on inertial navigation technology
Inertial nevigation apparatus can realize autonomous positioning in any environment.
For car owner, when it is needed using automobile, automobile key is necessarily carried.Therefore in the present invention
In, GPS device and inertial nevigation apparatus are arranged in automobile key, the equipment without increasing additional can be realized whenever and wherever possible
Positioning to car owner.
Step S2, current GPS signal strength is obtained.
Since GPS device could work normally under wireless communications environment, therefore need to detect current GPS signal in real time strong
Degree.
If step S3, current GPS signal strength is more than first threshold, current location information is obtained using GPS device.
Specifically, when GPS signal strength is more than first threshold, it must ensure that GPS device can be obtained quickly and accurately and work as
Prelocalization information.Wherein, first threshold can artificially be set according to actual conditions.
In general, when in field, GPS signal strength is relatively large, and GPS device can be realized accurate in real time fixed at this time
Position, the current location information that so there is no need to be obtained using inertial nevigation apparatus.
If step S4, current GPS signal strength between first threshold and second threshold, is worked as using GPS device acquisition
Prelocalization information, and correct the current location information acquired in inertial nevigation apparatus using the current location information acquired in GPS device；
The second threshold is less than the first threshold.
Preferably, second threshold is the critical signal strength value that GPS device can obtain location information.When GPS signal is strong
When degree is between first threshold and second threshold, GPS device can work normally, therefore obtain still with GPS device and currently determine
Position information；Meanwhile inertial nevigation apparatus also carries out the acquisition of current location information in real time, and it is current fixed acquired in utilization GPS device
Position information is modified, so that inertial nevigation apparatus can obtain more accurately current location information, to improve inertial nevigation apparatus list
The precision of acquired location information when solely being positioned.
In general, when between building, GPS signal strength is weakened compared to field, but still using GPS device
Obtain current location information.Wherein, second threshold can artificially be set according to actual conditions.
If step S5, current GPS signal strength is less than second threshold, current location information is obtained using inertial nevigation apparatus.
Specifically, when GPS signal strength is less than second threshold, GPS device can not carry out realization positioning, therefore utilize inertial navigation
Device obtains current location information.
In general, when in underground, GPS signal strength very little or do not have completely, is then worked as to obtain using inertial nevigation apparatus
Prelocalization information.Since during GPS signal gradually weakens, the location information based on GPS device acquisition is to inertial nevigation apparatus
Acquired location information is corrected, therefore individually when obtaining current location information, can also ensure institute by inertial nevigation apparatus
The accuracy of the current location information of acquisition.
It should be noted that in the localization method based on automobile key of the present invention, GPS device and inertial nevigation apparatus exist
In real time obtain location information, and the location information finally exported be then selected according to the size of GPS signal strength it is corresponding
Device, to ensure under any circumstance, can in real time, accurately obtain automobile key, that is, car owner believes when prelocalization
Breath.
With reference to Fig. 2, the positioning system of the invention based on automobile key includes GPS device 1, inertial nevigation apparatus 2 and processing dress
Set 3.Wherein, GPS device 1, inertial nevigation apparatus 2 and processing unit 3 are arranged on automobile key.For car owner, when it is needed
When using automobile, automobile key is necessarily carried.Therefore in the present invention, GPS device 1 and inertial nevigation apparatus 2 are arranged
In automobile key, the equipment without increasing additional can realize the positioning to car owner whenever and wherever possible.
GPS device 1 is used to, when GPS signal strength is more than first threshold, obtain current location information in real time.
GPS (Global Positioning System) i.e. global positioning systems are led by the satellite that the U.S. establishes
Boat positioning system.Round-the-clock, continuous, real-time three-dimensional navigation positioning can be realized in the world using the system and is surveyed
Speed, and carry out high-precision Time Transmission and high-precision precision positioning.GPS positioning is combined with GPS technology, wireless communication
Technology (GSM/GPRS/CDMA), the location technology of image processing techniques and GIS technology, be mainly used for mobile people, pet,
Vehicle and equipment carry out long-range real-time locating and monitoring.Therefore, GPS device 1 can obtain location information in real time based on wireless signal.
Preferably, first threshold is the critical signal strength value that GPS device 1 can obtain location information.When GPS signal is strong
When degree is more than first threshold, GPS device 1 can work normally.
Inertial nevigation apparatus 2 works as GPS signal strength in first threshold and second threshold for obtaining current location information in real time
Between when, based on GPS device 1 obtain current location information come correct itself acquisition current location information, second threshold
Value is more than the first threshold.
Inertial navigation system (Inertial Navigation System, INS) is also referred to as inertial reference system, is a kind of
Independent of external information, also not to the autonomic navigation system of external radiation energy (as radionavigation), with ox
Pause based on mechanics law, by measuring carrier in the acceleration of inertial reference system, it integrates the time, and it is become
It changes in navigational coordinate system, it will be able to obtain the information such as speed, yaw angle and the position in navigational coordinate system.Inertial navigation system
The working environment of system includes not only aerial, ground, can also be under water.Specifically, inertial navigation system, which belongs to, calculates navigation side
Formula goes out the position of its subsequent point from the position of a known point according to the heading of moving vehicle angle continuously measured and speed calculation, because
And it can continuously measure the current location of movable body.Gyroscope in inertial navigation system is used for forming a navigational coordinate system, makes
The measurement axis of accelerometer is stablized in the coordinate system, and provides course and attitude angle；Accelerometer is used for measuring movable body
Acceleration obtains speed by the primary integral to the time, and speed can be obtained displacement using the primary integral to the time.Cause
This, inertial nevigation apparatus 2 can realize autonomous positioning in any environment based on inertial navigation technology.
Specifically, when GPS signal strength is more than second threshold, GPS device 1 can quickly and accurately obtain current fixed
Position information.So when be modified without the current location information that is obtained to inertial nevigation apparatus 2.Wherein, first threshold and the second threshold
Value can artificially be set according to actual conditions.
Processing module 3 is connected with GPS device 1 and inertial nevigation apparatus 2, for obtaining current GPS signal strength in real time, and
When GPS signal strength is not less than first threshold, select the location information that GPS device 1 obtains as current location information；Work as GPS
When signal strength is less than first threshold, select the location information that inertial nevigation apparatus 2 obtains as current location information.
Since GPS device could work normally under wireless communications environment, therefore processing module needs to detect in real time currently
GPS signal strength obtains location information to select GPS device or inertial nevigation apparatus.
When GPS signal strength is more than second threshold, GPS device can work normally.Therefore selection GPS device is worked as to obtain
Prelocalization information.
When GPS signal strength is between first threshold and second threshold, GPS device can work normally, therefore still sharp
Current location information is obtained with GPS device；Meanwhile inertial nevigation apparatus also carries out the acquisition of location information in real time, and utilize GPS device
Acquired location information is modified, so that inertial nevigation apparatus can obtain more accurately current location information, to improve
The precision of acquired current location information when inertial nevigation apparatus is individually positioned.
When GPS signal strength is less than first threshold, GPS device can not carry out realization positioning, therefore be obtained using inertial nevigation apparatus
Take current location information.
In general, when in field, GPS signal strength is more than second threshold, and real-time essence can be realized in GPS device at this time
Determine position, the location information that so there is no need to be obtained using inertial nevigation apparatus.When between building, GPS signal strength is compared to spaciousness
Ground is weakened, i.e., between first threshold and second threshold, therefore still obtains current location information using GPS device.When
When in underground, GPS signal strength very little or do not have completely, then obtains current location information using inertial nevigation apparatus.Due to
During GPS signal gradually weakens, the location information based on GPS device acquisition is to the location information acquired in inertial nevigation apparatus
It is corrected, therefore the accurate of acquired location information when obtaining location information, can also individually be ensured by inertial nevigation apparatus
Degree.
It should be noted that in the positioning system based on automobile key of the present invention, GPS device and inertial nevigation apparatus exist
Location information is obtained in real time, and the location information that final process device is exported is selected according to the size of GPS signal strength
Select corresponding device, to ensure under any circumstance, can in real time, accurately obtain automobile key, that is, car owner determines
Position information.
Preferably, processing unit is additionally operable to send the current location information of acquisition.
As shown in figure 3, the present invention also provides a kind of pilotless automobile system 10, including above-mentioned determined based on automobile key
Position system 101 and pilotless automobile 102.
The positioning system 101 based on automobile key for obtaining current location information, and be sent to it is described nobody drive
Sail automobile.
The pilotless automobile 102 is used to receive the current location information, and as traveling destination.
Specifically, after pilotless automobile receives the current location information of car owner, you can by the current location information
As a purpose, from being currently located to travel master is picked up to current location information.Therefore, pilotless automobile of the invention
System realizes remote real_time control pilotless automobile, and without carrying additional equipment, simple and convenient, easily operated, uses
Family experience is good.
In conclusion the localization method based on automobile key and system, pilotless automobile system of the present invention are in automobile
On the key, the mode blended based on GPS positioning and inertial navigation positioning realizes being accurately positioned for car owner, to be unmanned
Automobile provides accurate location information；Without additionally carrying other positioning devices, user experience is good；Can indoors, it is outdoor,
Between building, provide accurate location information, strong applicability under inferior various environment.So the present invention effectively overcome it is existing
Various shortcoming in technology and have high industrial utilization.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology can all carry out modifications and changes to above-described embodiment without violating the spirit and scope of the present invention.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should by the present invention claim be covered.
Claims (10)
1. a kind of localization method based on automobile key, it is characterised in that：Include the following steps：
GPS device and inertial nevigation apparatus are set in automobile key；
Obtain current GPS signal strength；
If current GPS signal strength is more than first threshold, current location information is obtained using the GPS device；
If current GPS signal strength, between the first threshold and second threshold, it is current fixed to be obtained using the GPS device
Position information, and corrected using the current location information acquired in the GPS device and work as prelocalization acquired in the inertial nevigation apparatus
Information；The second threshold is less than the first threshold；
If current GPS signal strength is less than the second threshold, current location information is obtained using the inertial nevigation apparatus.
2. the localization method according to claim 1 based on automobile key, it is characterised in that：The second threshold is described
GPS device can obtain the critical signal strength value of location information.
3. the localization method according to claim 1 based on automobile key, it is characterised in that：The first threshold is by artificial
Setting.
4. the localization method according to claim 1 based on automobile key, it is characterised in that：The second threshold is by artificial
Setting.
5. a kind of positioning system based on automobile key, it is characterised in that：Including GPS device, inertial nevigation apparatus and processing unit；Institute
GPS device, the inertial nevigation apparatus and the processing unit is stated to be arranged on automobile key；
The GPS device is used to, when GPS signal strength is more than first threshold, obtain current location information in real time；
The inertial nevigation apparatus for obtaining current location information in real time, and when the GPS signal strength in the first threshold and
When between second threshold, the current location information of itself acquisition is corrected based on the current location information of GPS device acquisition,
The second threshold is more than the first threshold；
The processing module for obtaining current GPS signal strength in real time, and in the GPS signal strength not less than described the
When one threshold value, select the location information that the GPS device obtains as current location information；When the GPS signal strength is less than
When the first threshold, select the location information that the inertial nevigation apparatus obtains as current location information.
6. the positioning system according to claim 5 based on automobile key, it is characterised in that：The first threshold is described
GPS device can obtain the critical signal strength value of location information.
7. the positioning system according to claim 5 based on automobile key, it is characterised in that：The first threshold is by artificial
Setting.
8. the positioning system according to claim 5 based on automobile key, it is characterised in that：The second threshold is by artificial
Setting.
9. the positioning system based on automobile key according to one of claim 5-8, it is characterised in that：The processing unit
It is additionally operable to send the current location information of acquisition.
10. a kind of pilotless automobile system, it is characterised in that：Including the positioning based on automobile key described in claim 9
System and pilotless automobile；
The positioning system based on automobile key is sent to the pilotless automobile for obtaining current location information；
The pilotless automobile is used to receive the current location information, and as traveling destination.
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| CN201710182616.9A CN108627864B (en) | 2017-03-24 | 2017-03-24 | Positioning method and system based on automobile key and unmanned automobile system |
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