CN109188486A - A kind of high-accuracy position system - Google Patents
A kind of high-accuracy position system Download PDFInfo
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- CN109188486A CN109188486A CN201810682271.8A CN201810682271A CN109188486A CN 109188486 A CN109188486 A CN 109188486A CN 201810682271 A CN201810682271 A CN 201810682271A CN 109188486 A CN109188486 A CN 109188486A
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- 238000009432 framing Methods 0.000 claims abstract description 38
- 230000004927 fusion Effects 0.000 claims abstract description 26
- 238000004088 simulation Methods 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 2
- 230000002123 temporal effect Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000010365 information processing Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- 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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
-
- 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
-
- 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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of high-accuracy position systems, including multimodality fusion locating module to obtain satellite positioning information for carrying out satellite positioning；Framing module obtains framing information for carrying out framing；Sub-controller obtains motor racing situation information for connecting the CAN transceiver of automotive interior；Inertial navigation locating module obtains inertial navigation location information for carrying out inertial navigation positioning；Touch sensitive display unit is shown for carrying out touch control and screen；Master controller obtains real-time positioning information for merging the information data of satellite positioning information, framing information and inertial navigation location information；The master controller is also used to control touch sensitive display unit progress screen and shows.A kind of high-accuracy position system provided by the invention with degree of precision can position, and when vehicle drives into high stored building group, tunnel or valley, can effectively be positioned, and reduced vehicle positioning to the dependence of environment, improved the precision of positioning.
Description
Technical field
The present invention relates to vehicle positioning technical fields, and in particular to a kind of high-accuracy position system.
Background technique
Vehicle positioning is often only positioned using GPS positioning module at present, goes back the locating module that some parts use GPS
The precision for being positioned with Beidou bimodulus locating module, improving positioning accuracy often through pseudo range difference technology, but positioned
Often can only achieve meter level, be only able to satisfy common navigation carry out using.The precision of this positioning often horizontal location is at present
10 meters or so, elevation location precision is 20 meters or so, and positioning accuracy is lower, can not carry out the positioning of degree of precision；And it is this
Positioning is also higher to environmental factor dependence, may be due to satellite when vehicle driving is in high stored building group, tunnel or valley
Signal is blocked, to influence capture of the receiver user to satellite-signal, eventually lead to the dropout of short time and can not
Positioning.It when vehicle driving is in high stored building group, tunnel or valley, may be blocked due to satellite-signal, to influence to use
Capture of the family receiver to satellite-signal, eventually leads to the dropout of short time and can not position.
Therefore, those skilled in the art is dedicated to studying a kind of high-accuracy position system, can be with the progress of degree of precision
Positioning, and when vehicle drives into high stored building group, tunnel or valley, it can effectively be positioned, reduce vehicle positioning
To the dependence of environment, the precision of positioning is improved.
Summary of the invention
For the defects in the prior art, the present invention provides a kind of high-accuracy position system, can be with the progress of degree of precision
Positioning, and when vehicle drives into high stored building group, tunnel or valley, it can effectively be positioned, reduce vehicle positioning
To the dependence of environment, the precision of positioning is improved.
To achieve the above object, the present invention provides a kind of high-accuracy position systems, including
Multimodality fusion locating module, the multimodality fusion locating module obtain satellite positioning information for carrying out satellite positioning.
Framing module, comprising: image acquisition unit, described image acquiring unit is for obtaining automobile external panorama sketch
Picture, described image acquiring unit include camera；Image storage unit, described image storage unit are also used to store locality
Panorama image information；Image processing unit, described image processing unit are used for the panorama image information and vapour of locality
Vehicle external panoramic images are compared, and obtain framing information.
Sub-controller, for connecting the CAN transceiver of automotive interior, obtaining motor racing situation information and tentatively being located
Reason, the motor racing situation information includes the steering angle information of automobile, velocity information.
Inertial navigation locating module according to the velocity information of automobile, turns to angle information and obtains preliminary inertial navigation location information, in conjunction with defending
Star location information or framing information carry out inertial navigation positioning, obtain inertial navigation location information.
Touch sensitive display unit, the touch sensitive display unit is used to carry out touch control and screen is shown.
Master controller, the master controller treated for obtaining sub-controller motor racing situation information, acquisition are defended
Star location information, framing information and inertial navigation location information, and satellite positioning information, framing information and inertial navigation are positioned
The information data of information is merged, and real-time positioning information is obtained；The master controller is also used to receive touch sensitive display unit
Touch information and control touch sensitive display unit carry out screen show.
Further, the multimodality fusion locating module, framing module and inertial navigation locating module pass through string respectively
Line interface is sent data in master controller.
Further, the multimodality fusion locating module includes GPS positioning unit, BDS positioning unit and GLONSS positioning
Unit, the GPS positioning unit, BDS positioning unit and GLONSS positioning unit are respectively used to obtain the real-time GPS positioning of vehicle
Information, BDS location information and GLONSS location information.
Further, three moulds, five frequency is carried out using the GPS positioning information, BDS location information and GLONSS location information
Positioning, obtains high accuracy positioning data.
Further, the touch sensitive display unit includes touch screen and display screen.
Further, when the inertial navigation locating module is also used to the velocity information according to automobile, turns to angle information and carry out
Between on integral, automobile is calculated along the speed and steering angle and continues track and its direction when driving；By the image of acquisition
Location information and satellite positioning information and automobile continue the track of traveling and its direction is believed with framing information and satellite positioning
Breath is compared respectively, determines the driving direction of automobile and the specific location of automobile, and carry out on the touch sensitive display unit
Display.
Further, the CAN transceiver is used to obtain the velocity information of automobile, and the velocity information includes real-time speed
Information, acceleration information.
Further, the master controller is also used to be positioned according to satellite positioning information, framing information and inertial navigation and believe
Breath carries out Information data fusion, simulation GPS positioning information is obtained, according to simulation GPS positioning information by running on master controller
Android system inside carry out APP calling.
The beneficial effects of the present invention are: the present invention provides a kind of high-accuracy position system, multimodality fusion locating module is utilized
It carries out satellite positioning and obtains satellite positioning information；Using framing module, framing is carried out, reduces this positioning system because defending
When star positions, because of the influence of peripheral vehicle environment, lead to not the case where effectively carrying out satellite positioning；It is received using sub-controller
The signal of automotive interior CAN transceiver, so as to effectively carry out inertial navigation positioning according to the travel situations of automobile；Utilize touch
Display unit can carry out screen touch and show；Data fusion and information processing are carried out using master controller, is positioned in real time
Information, and control touch sensitive display unit progress screen and show.A kind of high-accuracy position system provided by the invention, can be more high-precision
Degree position, and when vehicle drives into high stored building group, tunnel or valley, can effectively be positioned, and reduces
Vehicle positioning improves the precision of positioning to the dependence of environment.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of high-accuracy position system provided by the embodiment of the invention.
Fig. 2 is a kind of data transmission schematic diagram of high-accuracy position system provided by Fig. 1.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples:
As depicted in figs. 1 and 2, the present invention provides a kind of high-accuracy position systems, comprising:
Multimodality fusion locating module, multimodality fusion locating module obtain satellite positioning information for carrying out satellite positioning.Multimode is melted
Closing locating module includes GPS positioning unit, BDS positioning unit and GLONSS positioning unit, GPS positioning unit, BDS positioning unit
And GLONSS positioning unit is respectively used to obtain the real-time GPS positioning information of vehicle, BDS location information and GLONSS positioning letter
Breath.Preferably, three moulds five are carried out using GPS positioning information, BDS location information and GLONSS location information to position frequently, obtains height
Precision location data.Carrying out that three moulds five position frequently using GPS positioning unit, BDS positioning unit and GLONSS positioning unit can be with
The real time position of effective position automobile improves positioning accuracy, positions the data of bus location in real time, positioning accurate
Higher, effective position automobile position is spent, the situation for being less prone to positioning mistake of automobile is made.Multimodality fusion locating module includes
RTK multimodality fusion locating module is positioned using carrier phase difference technology.It should be understood that GPS is referred to entirely
Ball locating module；BDS positioning unit is the locating module of Chinese Beidou satellite navigation system, and GLONSS positioning unit is defended for the whole world
The locating module of star navigation system.It refers to utilizing global positioning module, Chinese Beidou it should be understood that three moulds five position frequently
A kind of positioning method of the locating module composition of the locating module and Global Satellite Navigation System of satellite navigation system, this positioning
Mode is that those skilled in the art is to understand, and details are not described herein.
Framing module, comprising: image acquisition unit, image acquisition unit are used to obtain automobile external panoramic picture,
Image acquisition unit includes camera, it should be appreciated that for obtain automobile external panoramic picture, camera be equipped with one or
Person is multiple, it is preferred that camera be equipped with it is multiple, multiple cameras are respectively facing the multiple directions of automobile external, thus effectively
The panoramic information of automobile external is obtained, a camera can also be used in other embodiments, towards a certain of automobile external
A direction obtains image, to reach identical beneficial effect；Image storage unit, image storage unit are also used to store specifically
The panorama image information of point, storage unit includes memory, the panorama image information of locality refer in certain region or
The image of all directions of certain special area, the case where according to user, direction, route of running car etc., locality it is complete
Scape image can be stored voluntarily；Image processing unit, image processing unit are used for the panorama image information of locality
It is compared with automobile external panoramic picture, obtains framing information, image processing unit, should for carrying out image comparison
What is understood is before comparison, can also be filtered to automobile external panoramic picture, except the processing such as make an uproar.
Sub-controller, for connecting the CAN transceiver of automotive interior, obtaining motor racing situation information and tentatively being located
Reason, motor racing situation information includes the steering angle information of automobile, velocity information.It should be understood that CAN transceiver is for searching
The Global Information signal for collecting automobile, is collected the motion conditions information of automobile CAN transceiver in a manner of CAN bus,
It can be with effectively save interface.Preferably, sub-controller selects MCU module, and MCU module refers to the controllers such as single-chip microcontroller.
Inertial navigation locating module according to the velocity information of automobile, turns to angle information and obtains preliminary inertial navigation location information, in conjunction with defending
Star location information or framing information carry out inertial navigation positioning, obtain inertial navigation location information.It should be understood that inertial navigation positioning
I.e. the positioning of inertial orientation Position Fixing Navigation System progress, this inertial orientation positioning system are well known to those skilled in the art
, details are not described herein.
Touch sensitive display unit, touch sensitive display unit is used to carry out touch control and screen is shown.
Master controller, master controller treated for obtaining sub-controller motor racing situation information, obtains satellite
Position information, framing information and inertial navigation location information, and by satellite positioning information, framing information and inertial navigation location information
Information data merged, Information data fusion including the use of by multiple location informations carry out elementary function operation, such as will
A variety of location informations sum and are averaged or are merged according to modes such as weight computing weighted averages, obtain in real time
Location information；Master controller is also used to receive the touch information of touch sensitive display unit and controls touch sensitive display unit progress screen and shows
Show.Master controller is preferably Android core board.Preferably, master controller is positioned by UART serial line interface and multimodality fusion
Module is attached, and master controller can also turn UART interface and framing module by USB interface and USB and inertial navigation positions
Module connection.The connection of master controller and sub-controller preferably selects UART serial ports to be attached.
Further, multimodality fusion locating module, framing module and inertial navigation locating module pass through serial interface respectively
Mouth is sent data in master controller.Serial line interface may be configured as synchronous serial interface and Asynchronous Serial Interface, serial line interface
Preferably UART Asynchronous Serial Interface.
Further, touch sensitive display unit includes touch screen and display screen, and touch screen and display screen can integrate same
On device, the touch sensitive display unit of an entirety is formed, can also be configured, be respectively set respectively in other embodiments
When, preferably master controller is connect by LVDS interface with display screen, and master controller passes through I2C bus is attached with touch screen,
To reach identical technical effect.
Further, inertial navigation locating module is also used to the velocity information according to automobile, turns to angle information and carry out on the time
Integral, automobile is calculated along the speed and steering angle and continues track and its direction when driving, in other embodiments
It can continue track and direction after traveling by conventional prediction algorithm, prediction automobile；By the framing information of acquisition and
Satellite positioning information continues the track travelled and its direction with automobile to carry out respectively with framing information and satellite positioning information
It compares, determines the driving direction of automobile and the specific location of automobile, and shown on touch sensitive display unit.
Further, CAN transceiver is used to obtain the velocity information of automobile, and velocity information includes real time speed information, adds
Velocity information.
Further, master controller be also used to according to satellite positioning information, framing information and inertial navigation location information into
Row information data fusion obtains simulation GPS positioning information, according to simulation GPS positioning information by running on master controller
APP calling is carried out inside android system.
It when work, is positioned using multimodality fusion locating module, obtains satellite positioning information；Framing module passes through image
Acquiring unit obtains the panoramic picture of automobile external, and image processing unit is used to store the panoramic picture of automobile external and image
The panoramic picture of the locality of unit storage is compared, and obtains framing information；Sub-controller receives CAN transceiver and receives
The motor racing situation information of collection, obtains corner information, the velocity information of motor racing, and inertial navigation locating module is by the speed of automobile
Information, corner information are integrated along the time, thus it is speculated that the location information that automobile will be driven out to obtains inertial navigation location information, master control
Device processed merges the information data of satellite positioning information, framing information and inertial navigation location information, is carrying out Information Number
When according to fusion, often because the intensity for the positioning signal that the variation of geographical location locating for automobile occurs is inconsistent, data are carried out
Real-time positioning information is obtained after fusion, thus high accuracy positioning, and in the enterprising display of touch sensitive display unit.
The present invention provides a kind of high-accuracy position system, carries out satellite positioning using multimodality fusion locating module and obtains satellite
Location information；Using framing module, framing is carried out, when reducing this positioning system because of satellite positioning, because of peripheral vehicle
The influence of environment leads to not the case where effectively carrying out satellite positioning；Automotive interior CAN transceiver is received using sub-controller
Signal carries out inertial navigation positioning so as to the travel situations of effective automobile；Screen touching can be carried out using touch sensitive display unit
Touch display；Data fusion and information processing are carried out using master controller, obtains real-time positioning information, and control touch sensitive display unit
Screen is carried out to show.A kind of high-accuracy position system provided by the invention with degree of precision can position, and in vehicle
It when driving into high stored building group, tunnel or valley, can effectively be positioned, reduce vehicle positioning to the dependence of environment,
Improve the precision of positioning.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be within the scope of protection determined by the claims.
Claims (8)
1. a kind of high-accuracy position system, it is characterized in that: including
Multimodality fusion locating module, the multimodality fusion locating module obtain satellite positioning information for carrying out satellite positioning；
Framing module, comprising: image acquisition unit, described image acquiring unit are used to obtain automobile external panoramic picture,
Described image acquiring unit includes camera；Image storage unit, described image storage unit are also used to store locality
Panorama image information；Image processing unit, described image processing unit are used for the panorama image information and automobile of locality
External panoramic images are compared, and obtain framing information；
Sub-controller, for connecting the CAN transceiver of automotive interior, obtaining motor racing situation information and carrying out preliminary treatment,
The motor racing situation information includes the steering angle information of automobile, velocity information；
Inertial navigation locating module obtains preliminary inertial navigation location information according to the velocity information of automobile, steering angle information, in conjunction with satellite
Position information or framing information carry out inertial navigation positioning, obtain inertial navigation location information；
Touch sensitive display unit, the touch sensitive display unit is used to carry out touch control and screen is shown；
Master controller, the master controller treated for obtaining sub-controller motor racing situation information, obtains satellite
Position information, framing information and inertial navigation location information, and by satellite positioning information, framing information and inertial navigation location information
Information data merged, obtain real-time positioning information；The master controller is also used to receive the touch of touch sensitive display unit
Information and control touch sensitive display unit carry out screen show.
2. high-accuracy position system as described in claim 1, it is characterized in that: the multimodality fusion locating module, framing
Module and inertial navigation locating module are sent data in master controller by serial line interface respectively.
3. high-accuracy position system as described in claim 1, it is characterized in that: the multimodality fusion locating module includes GPS fixed
Bit location, BDS positioning unit and GLONSS positioning unit, the GPS positioning unit, BDS positioning unit and GLONSS positioning are single
Member is respectively used to obtain the real-time GPS positioning information of vehicle, BDS location information and GLONSS location information.
4. high-accuracy position system as claimed in claim 3, it is characterized in that: utilizing the GPS positioning information, BDS positioning letter
Breath and GLONSS location information carry out three moulds five and position frequently, obtain high accuracy positioning data.
5. high-accuracy position system as described in claim 1, it is characterized in that: the touch sensitive display unit includes touch screen and shows
Display screen.
6. high-accuracy position system as described in claim 1, it is characterized in that: the inertial navigation locating module is also used to according to automobile
Velocity information, turn to angle information and carry out temporal integral, automobile is calculated and continues to travel along the speed and steering angle
When track and its direction；The framing information and satellite positioning information of acquisition and automobile are continued to the track and its side of traveling
It is compared respectively to framing information and satellite positioning information, determines the driving direction of automobile and the specific position of automobile
It sets, and is shown on the touch sensitive display unit.
7. high-accuracy position system as described in claim 1, it is characterized in that: the CAN transceiver is used to obtain the speed of automobile
Information is spent, the velocity information includes real time speed information, acceleration information.
8. high-accuracy position system as described in claim 1, it is characterized in that: the master controller is also used to according to satellite positioning
Information, framing information and inertial navigation location information carry out Information data fusion, simulation GPS positioning information are obtained, according to simulation
GPS positioning information carries out APP calling by the android system inside run on master controller.
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| CN201810682271.8A CN109188486A (en) | 2018-06-27 | 2018-06-27 | A kind of high-accuracy position system |
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| CN201810682271.8A CN109188486A (en) | 2018-06-27 | 2018-06-27 | A kind of high-accuracy position system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110597252A (en) * | 2019-09-03 | 2019-12-20 | 安徽江淮汽车集团股份有限公司 | Fusion positioning control method, device and equipment for automatic driving automobile and storage medium |
| CN111856540A (en) * | 2019-04-26 | 2020-10-30 | 联发科技股份有限公司 | Positioning method and related processing circuit |
| CN113534222A (en) * | 2020-04-17 | 2021-10-22 | 宝马股份公司 | Method for vehicle positioning, device for vehicle positioning and vehicle |
| CN113554890A (en) * | 2021-06-30 | 2021-10-26 | 东风汽车集团股份有限公司 | Navigation enhancement system and method based on 5G communication under tunnel working condition |
| CN116719070A (en) * | 2023-08-02 | 2023-09-08 | 北京金银建科技发展有限公司 | Taxi intelligent positioning system based on man-machine information interaction |
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Application publication date: 20190111 |