CN109855617A - A kind of vehicle positioning method, vehicle locating device and terminal device - Google Patents
A kind of vehicle positioning method, vehicle locating device and terminal device Download PDFInfo
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Abstract
This application discloses a kind of vehicle positioning method, vehicle locating device, terminal device and computer readable storage mediums, wherein, the vehicle positioning method includes: to obtain primary revised vehicle-state, wherein the vehicle-state includes speed, position, orientation and posture；The motion state of real-time detection vehicle；When detecting that the vehicle is in driving status, second-order correction is carried out to the primary revised vehicle-state based on virtual constraint amendment；When detecting that the vehicle remains static, second-order correction is carried out to the primary revised vehicle-state based on zero-velocity curve；The vehicle is positioned based on the vehicle-state after second-order correction.By application scheme, under the premise of being accurately judged to vehicle running state, the parameters such as the speed of vehicle, position, orientation and posture is accordingly corrected according to the different motion state of vehicle, the accuracy of vehicle location can be promoted.
Description
Technical field
The application belongs to technical field of vehicle navigation more particularly to a kind of vehicle positioning method, vehicle locating device, terminal
Equipment and computer readable storage medium.
Background technique
For the navigation system of vehicle during carrying out route guidance for vehicle, the whole world positioned for vehicle itself is fixed
Position system GPS needs to calculate the position and speed of vehicle according to the navigation satellite signal received, and above-mentioned navigation satellite is believed
Losing lock, and the interference vulnerable to outer signals are easy number under the special screnes such as tunnel, underground garage, tubular overhead bridge, so that
The navigation system of vehicle is difficult to provide the precise positioning of vehicle；And the navigation error of inertial navigation INS is then with the growth of time
And persistently accumulate, it is difficult to positioning accuracy when providing long.
Summary of the invention
It can in view of this, this application provides a kind of vehicle positioning method, vehicle locating device, terminal device and computers
Storage medium is read, to promote the accuracy of vehicle location.
The first aspect of the application provides a kind of vehicle positioning method, comprising:
Obtain primary revised vehicle-state, wherein above-mentioned vehicle-state includes speed, position, orientation and posture；
The motion state of real-time detection vehicle；
When detecting that above-mentioned vehicle is in driving status, based on virtual constraint amendment to above-mentioned primary revised vehicle
State carries out second-order correction；
When detecting that above-mentioned vehicle remains static, based on zero-velocity curve to above-mentioned primary revised vehicle-state
Carry out second-order correction；
Above-mentioned vehicle is positioned based on the vehicle-state after second-order correction.
Optionally, the primary revised vehicle-state of above-mentioned acquisition, comprising:
Under the stationary state of vehicle, on-line proving and error compensation are carried out to the inertial sensor of vehicle, it is used to realize
Property sensor in the output data of gyroscope and accelerometer real-time amendment, and complete above-mentioned gyroscope zero bias data just
Beginningization；
Under the straight travel state of vehicle, above-mentioned inertial sensor is initially aligned, to realize integrated navigation mould
The initialization of parameters in block；
According to the output data of real-time modified above-mentioned gyroscope and above-mentioned accelerometer, above-mentioned vehicle-state is carried out more
Newly, to obtain primary revised vehicle-state.
Optionally, the motion state of above-mentioned real-time detection vehicle, comprising:
The standard deviation for obtaining the output data of real-time modified above-mentioned gyroscope in preset time, is denoted as angular speed standard
Difference；
The standard deviation for obtaining the output data of real-time modified above-mentioned accelerometer in preset time, is denoted as acceleration standard
Difference；
Obtain engine speed and speed
It is real-time according to above-mentioned angular speed standard deviation, above-mentioned acceleration standard deviation, above-mentioned engine speed and/or above-mentioned speed
Detect the motion state of vehicle.
Optionally, above-mentioned according to above-mentioned angular speed standard deviation, above-mentioned acceleration standard deviation, above-mentioned engine speed and above-mentioned
The motion state of speed real-time detection vehicle, comprising:
If above-mentioned angular speed standard deviation is greater than preset first angular speed standard deviation threshold method, and above-mentioned acceleration standard deviation is big
In preset first acceleration standard deviation threshold method, and above-mentioned speed is greater than 0, it is determined that above-mentioned vehicle is in driving status.
Optionally, above-mentioned according to above-mentioned angular speed standard deviation, above-mentioned acceleration standard deviation, above-mentioned engine speed and above-mentioned
The motion state of speed real-time detection vehicle, comprising:
If above-mentioned angular speed standard deviation is not more than preset second angular speed standard deviation threshold method, and above-mentioned acceleration standard deviation
No more than preset second acceleration standard deviation threshold method, it is determined that above-mentioned vehicle remains static；
Alternatively, if above-mentioned angular speed standard deviation is not less than the second angular speed standard deviation threshold method and is not more than the first angular speed mark
Quasi- difference threshold value, and above-mentioned acceleration standard deviation not less than the second acceleration standard deviation threshold method and is not more than the first acceleration standard deviation
Threshold value, and above-mentioned speed is equal to 0, it is determined that above-mentioned vehicle remains static；
Alternatively, if above-mentioned engine speed be less than preset threshold engine speed, and above-mentioned speed be equal to 0 when, then really
Fixed above-mentioned vehicle remains static.
Optionally, the above-mentioned vehicle-state based on after second-order correction positions above-mentioned vehicle, comprising:
If being currently able to be connected to global position system GPS server, above-mentioned vehicle is obtained by above-mentioned GPS server
GPS positioning position, GPS three-dimensional velocity and the positioning accuracy factor；
Based on the vehicle shape after above-mentioned GPS positioning position, GPS three-dimensional velocity and the above-mentioned second-order correction of positioning accuracy factor pair
State is combined filtering；
Above-mentioned vehicle is positioned based on vehicle-state obtained after combined filter.
The second aspect of the application provides a kind of vehicle locating device, comprising:
Acquiring unit, for obtaining primary revised vehicle-state, wherein above-mentioned vehicle-state include speed, position,
Orientation and posture；
Detection unit, the motion state for real-time detection vehicle；
Virtual constraint amending unit, for being corrected based on virtual constraint when detecting that above-mentioned vehicle is in driving status
Second-order correction is carried out to above-mentioned primary revised vehicle-state；
Zero-velocity curve unit, for when detecting that above-mentioned vehicle remains static, being based on zero-velocity curve to above-mentioned one
Secondary revised vehicle-state carries out second-order correction；
Positioning unit, for being positioned based on the vehicle-state after second-order correction to above-mentioned vehicle.
Optionally, above-mentioned acquiring unit includes:
First initialization subelement, for being marked online to the inertial sensor of vehicle under the stationary state of vehicle
Fixed and error compensation to realize the real-time amendment of the output data of gyroscope and accelerometer in inertial sensor, and is completed
State the initialization of the zero bias data of gyroscope；
Second initialization subelement, for being carried out to above-mentioned inertial sensor initial under the straight travel state of vehicle
Alignment, to realize the initialization of the parameters in integrated navigation module；
Vehicle-state updates subelement, for the output number according to real-time modified above-mentioned gyroscope and above-mentioned accelerometer
According to being updated to above-mentioned vehicle-state, to obtain primary revised vehicle-state.
Optionally, above-mentioned detection unit includes:
Angular speed standard deviation obtains subelement, the output data for modified above-mentioned gyroscope real-time in preset time
Standard deviation is denoted as angular speed standard deviation；
Acceleration standard deviation obtains subelement, for obtaining the output of real-time modified above-mentioned accelerometer in preset time
The standard deviation of data is denoted as acceleration standard deviation；
Engine speed obtains subelement, for obtaining engine speed；
Speed obtains subelement, for obtaining speed；
Motion state detection subelement, for according to above-mentioned angular speed standard deviation, above-mentioned acceleration standard deviation, above-mentioned start
The motion state of machine revolving speed and/or above-mentioned speed real-time detection vehicle.
Optionally, above-mentioned motion state detection subelement includes:
Driving status determines subelement, if being greater than preset first angular speed standard deviation threshold for above-mentioned angular speed standard deviation
Value, and above-mentioned acceleration standard deviation is greater than preset first acceleration standard deviation threshold method, and above-mentioned speed is greater than 0, it is determined that on
It states vehicle and is in driving status.
Optionally, above-mentioned motion state detection subelement further include:
Stationary state determines subelement, if being not more than preset second angular speed standard deviation for above-mentioned angular speed standard deviation
Threshold value, and above-mentioned acceleration standard deviation is not more than preset second acceleration standard deviation threshold method, it is determined that above-mentioned vehicle is in quiet
Only state；Alternatively, if above-mentioned angular speed standard deviation is not less than the second angular speed standard deviation threshold method and is not more than the first angular speed mark
Quasi- difference threshold value, and above-mentioned acceleration standard deviation not less than the second acceleration standard deviation threshold method and is not more than the first acceleration standard deviation
Threshold value, and above-mentioned speed is equal to 0, it is determined that above-mentioned vehicle remains static；Alternatively, being preset if above-mentioned engine speed is less than
Threshold engine speed, and above-mentioned speed be equal to 0 when, it is determined that above-mentioned vehicle remains static.
Optionally, above-mentioned positioning unit includes:
GPS information obtains subelement, if for being currently able to be connected to global position system GPS server, by upper
State GPS positioning position, GPS three-dimensional velocity and the positioning accuracy factor that GPS server obtains above-mentioned vehicle；
Combined filter subelement, for being based on above-mentioned GPS positioning position, GPS three-dimensional velocity and positioning accuracy factor pair
Vehicle-state after stating second-order correction is combined filtering；
Vehicle location subelement, for being positioned based on obtained vehicle-state after combined filter to above-mentioned vehicle.
The third aspect of the application provides a kind of terminal device, above-mentioned terminal device include memory, processor and
It is stored in the computer program that can be run in above-mentioned memory and on above-mentioned processor, above-mentioned processor executes above-mentioned computer
The step of method of first aspect as above is realized when program.
The fourth aspect of the application provides a kind of computer readable storage medium, and above-mentioned computer readable storage medium is deposited
Computer program is contained, above-mentioned computer program realizes the side of first aspect as above and any optional way when being executed by processor
The step of method.
The 5th aspect of the application provides a kind of computer program product, and above-mentioned computer program product includes computer
Program is realized when above-mentioned computer program is executed by one or more processors such as above-mentioned first aspect and any optional way
The step of method.
Therefore by application scheme, primary revised vehicle-state is obtained first, wherein above-mentioned vehicle shape
State includes speed, position, orientation and posture, and then the motion state of real-time detection vehicle, goes when detecting that above-mentioned vehicle is in
When sailing state, second-order correction is carried out to above-mentioned primary revised vehicle-state based on virtual constraint amendment, it is above-mentioned when detecting
When vehicle remains static, second-order correction, last base are carried out to above-mentioned primary revised vehicle-state based on zero-velocity curve
Vehicle-state after second-order correction positions above-mentioned vehicle.By application scheme, it is being accurately judged to vehicle driving
Under the premise of state, the parameters such as the speed of vehicle, position, orientation and posture are carried out according to the different motion state of vehicle corresponding
Amendment, can promote the accuracy of vehicle location.
Detailed description of the invention
It in order to more clearly explain the technical solutions in the embodiments of the present application, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described.
Fig. 1 is the implementation process schematic diagram of vehicle positioning method provided by the embodiments of the present application；
Fig. 2 is the schematic diagram of coordinate conversion relation in vehicle positioning method provided by the embodiments of the present application；
Fig. 3 is the structural block diagram of vehicle locating device provided by the embodiments of the present application；
Fig. 4 is the schematic diagram of terminal device provided by the embodiments of the present application.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, so as to provide a thorough understanding of the present application embodiment.In other situations, omit to well-known system, device, circuit with
And the detailed description of method, so as not to obscure the description of the present application with unnecessary details.
In order to illustrate the above-mentioned technical solution of the application, the following is a description of specific embodiments.
Embodiment one
A kind of vehicle positioning method provided by the embodiments of the present application is described below.Referring to Fig. 1, the application is implemented
Example in vehicle positioning method include:
In a step 101, primary revised vehicle-state is obtained；
In the embodiment of the present application, vehicle is obtained first by primary revised vehicle-state, wherein above-mentioned vehicle shape
State includes speed, position, orientation and the posture of vehicle.Optionally, above-mentioned steps 101 include:
Step A1, under the stationary state of vehicle, on-line proving and error compensation are carried out to the inertial sensor of vehicle, with
It realizes the real-time amendment of the output data of gyroscope and accelerometer in inertial sensor, and completes the zero bias number of above-mentioned gyroscope
According to initialization；
Step A2, under the straight travel state of vehicle, above-mentioned inertial sensor is initially aligned, to realize combination
The initialization of parameters in navigation module；
Wherein, when vehicle is in straight travel state, if having received the effective position knot of global position system GPS return
Fruit, and the speed that GPS is returned is not less than the preset threshold value that tests the speed, then is initially aligned to above-mentioned inertial sensor, to realize
The initialization of parameters in GPS/INS integrated navigation module, the parameter for including in above-mentioned GPS/INS integrated navigation module
Have: position, speed, posture, the zero bias of gyroscope estimate and the estimation of the zero bias of accelerometer.Above-mentioned effective position result specifically may be used
Determined from the flag bit of the GPS data of return, the above-mentioned preset threshold value that tests the speed is an empirical value, for example, can be set
For 5m/s, other values can also be set to, are not construed as limiting herein.Specifically, concrete mode used by above-mentioned initial alignment
It is determined according to the type of above-mentioned inertial sensor, herein without limitation.
Step A3, according to the output data of real-time modified above-mentioned gyroscope and above-mentioned accelerometer, to above-mentioned vehicle shape
State is updated, to obtain primary revised vehicle-state.
In a step 102, the motion state of real-time detection vehicle；
In the embodiment of the present application, the motion state of above-mentioned vehicle includes driving status and stationary state.For vehicle
Different motion state will in different ways carry out primary revised vehicle-state obtained in above-mentioned steps 101
Second-order correction.Optionally, for the accuracy in detection of the motion state of support vehicles, above-mentioned steps 102 include:
Step B1, the standard deviation for obtaining the output data of real-time modified above-mentioned gyroscope in preset time is denoted as angle speed
Spend standard deviation；
Step B2, the standard deviation for obtaining the output data of real-time modified above-mentioned accelerometer in preset time, is denoted as and adds
Velocity standard is poor；
Wherein, above-mentioned preset time can be set to 1 second.Thus B1 and B2 through the above steps, it is available by 1 second
Interior angular speed standard deviation and the acceleration standard deviation in 1 second.Certainly, above-mentioned preset time can also be carried out by user or system
Change, is not construed as limiting herein.
Step B3, engine speed and speed are obtained；
Wherein, above-mentioned engine speed and speed can be obtained by vehicle diagnosing system OBD, alternatively, can also pass through
Instrument is controlled in vehicle to obtain, it is of course also possible to there are other acquisition modes, is not construed as limiting herein.
Step B4, according to above-mentioned angular speed standard deviation, above-mentioned acceleration standard deviation, above-mentioned engine speed and/or above-mentioned
The motion state of speed real-time detection vehicle.
In the embodiment of the present application, the motion state of above-mentioned vehicle is judged no longer simple by speed；It is practical
On, to reduce inertial sensor output noise, engine shakes influence to motion state judging result, in the embodiment of the present application
The limitation of speed and engine speed is increased, that is, passing through above-mentioned angular speed standard deviation, above-mentioned acceleration standard deviation, above-mentioned
Engine speed and/or above-mentioned speed realize the real-time detection to the motion state of vehicle.Specifically, it is indicated with std_Gyro
Angular speed standard deviation indicates acceleration standard deviation with std_Acc, indicates engine speed with rpm, indicates speed with vel, then
The judgement of the motion state of vehicle is as shown in the table:
Wherein, above-mentioned GyroThre1 is the first angular speed standard deviation threshold method, and above-mentioned GyroThre2 is the second angular speed mark
Quasi- difference threshold value, above-mentioned AccThre1 are the first acceleration standard deviation threshold method, and above-mentioned AccThre2 is the second acceleration standard deviation threshold
Value；Then upper table can be expressed as:
If above-mentioned angular speed standard deviation is greater than preset first angular speed standard deviation threshold method, and above-mentioned acceleration standard deviation is big
In preset first acceleration standard deviation threshold method, and above-mentioned speed is greater than 0, it is determined that above-mentioned vehicle is in driving status；
If above-mentioned angular speed standard deviation is not more than preset second angular speed standard deviation threshold method, and above-mentioned acceleration standard deviation
No more than preset second acceleration standard deviation threshold method, it is determined that above-mentioned vehicle remains static；Alternatively, if above-mentioned angular speed
Standard deviation is not less than the second angular speed standard deviation threshold method and is not more than the first angular speed standard deviation threshold method, and above-mentioned acceleration standard
Difference is not less than the second acceleration standard deviation threshold method and is not more than the first acceleration standard deviation threshold method, and above-mentioned speed is equal to 0, then really
Fixed above-mentioned vehicle remains static；Alternatively, if above-mentioned engine speed is less than preset threshold engine speed, and above-mentioned vehicle
When speed is equal to 0, it is determined that above-mentioned vehicle remains static.
Optionally, above-mentioned first angular speed standard deviation threshold method, the second angular speed standard deviation threshold method, the first acceleration standard deviation
Threshold value, the second acceleration standard deviation threshold method can suitably relax, to increase the accuracy of judgement degree of the motion state of vehicle.It is above-mentioned each
The value of threshold value additionally depends on the type of the output of the application scenarios of inertial sensor, inertial sensor itself, inertial sensor
And the manufacturing process of inertial sensor.Specifically, for consuming level micro electromechanical system (Micro-Electro-Mechanical
System, MEMS) 6 axis or 9 axis inertial sensors, need the output data of three axis of gyroscope and accelerometer to be all satisfied
The decision condition in table is stated, can just determine the motion state of vehicle.
Optionally, although above-mentioned first angular speed standard deviation threshold method, the second angular speed standard deviation threshold method, first accelerates scale
Quasi- difference threshold value, the second acceleration standard deviation threshold method is the threshold value preset, still, in order to enable aforementioned four threshold value energy
Enough meet actual application scenarios, thus in the step A1 carried out before, can first obtain current vehicle it is static when it is used
Property sensor each output data, namely obtain current vehicle it is static when accelerometer acceleration standard deviation and gyroscope
Angular speed standard deviation, and be compared with the decision condition in above table, if discovery has unmatched situation, to not
The matched associated threshold value of decision condition is adjusted, so that the value of above-mentioned each threshold value can satisfy the accurate of judgement
Degree.
In step 103, when detecting that above-mentioned vehicle is in driving status, based on virtual constraint amendment to above-mentioned primary
Revised vehicle-state carries out second-order correction；
At step 104, when detecting that above-mentioned vehicle remains static, based on zero-velocity curve to above-mentioned primary amendment
Vehicle-state afterwards carries out second-order correction；
In step 105, above-mentioned vehicle is positioned based on the vehicle-state after second-order correction.
In the embodiment of the present application, after the vehicle-state after above-mentioned second-order correction is compared to the primary amendment in step 101
Vehicle-state, precision has certain promotion, therefore, it is possible to be carried out based on the vehicle-state after second-order correction to above-mentioned vehicle
Positioning.Optionally, due to being carried out using the parameter of vehicle interior in the makeover process of above-mentioned primary amendment and second-order correction
Amendment, thus its correction result still can have some evaluated errors.Therefore, it is possible to introduce parameter relevant to external environment
Eliminate these evaluated errors.Based on this, above-mentioned steps 105 may include:
Step C1, whether detection can currently be connected with global position system GPS server；
If step C2, being currently able to be connected to above-mentioned GPS server, above-mentioned vehicle is obtained by above-mentioned GPS server
GPS positioning position, GPS three-dimensional velocity and the positioning accuracy factor；
Step C3, based on after above-mentioned GPS positioning position, GPS three-dimensional velocity and the above-mentioned second-order correction of positioning accuracy factor pair
Vehicle-state be combined filtering；
Step C4, above-mentioned vehicle is positioned based on vehicle-state obtained after combined filter.
Wherein it is possible to obtain the GPS information of vehicle by above-mentioned GPS server.Since above-mentioned GPS information is to pass through satellite
Parameter that is obtained, and being not belonging to vehicle interior is positioned, thus by introducing GPS positioning position, GPS three-dimensional velocity and positioning
The GPS informations such as dilution of precision can eliminate the evaluated error left after primary amendment before and second-order correction to a certain extent.When
So, when vehicle cannot connect to GPS server, for example, vehicle drive into tunnel, inferior environment when, often can not be with GPS
Server is attached, and at these, can also be carried out only according to vehicle-state obtained after second-order correction to vehicle
Positioning operation in short-term.
Specifically, steps are as follows for the modified realization of virtual constraint in above-mentioned steps 103:
D1, GPS/INS integrated navigation system error is modeled, above-mentioned GPS/INS integrated navigation system is equipped on
In GPS/INS integrated navigation module, can chosen position, speed, posture, azimuth, gyroscope constant value zero bias and accelerometer it is normal
Value zero is used as state variable partially, wherein above-mentioned position includes latitude, longitude and elevation, and above-mentioned speed includes north orientation speed, east orientation
Speed and vertical velocity, above-mentioned posture include roll angle and pitch angle, and above-mentioned gyroscope constant value zero bias include north gyro instrument zero
Partially, east orientation gyroscope zero bias and vertical gyroscope zero bias, above-mentioned accelerometer constant value zero bias include north orientation accelerometer bias, east
To accelerometer bias and vertical acceleration meter zero bias.In other words, above-mentioned state variable includes 15 kinds of states altogether, is respectively
Latitude, longitude, elevation, north orientation speed, east orientation speed, vertical velocity, roll angle, pitch angle, azimuth, north gyro instrument zero
Partially, east orientation gyroscope zero bias, vertical gyroscope zero bias, north orientation accelerometer bias, east orientation accelerometer bias, vertical acceleration
Count zero bias.After obtaining above-mentioned state variable, the position of the INS inertial navigation system in GPS/INS integrated navigation system, speed
Degree, posture renewal equation such as following formula:
In above formula (1), rn、vnRespectively position, velocity vector are in navigational coordinate system O-xnynznNamely east northeast ground (North
East Down, NED) projection under coordinate system；For carrier coordinate system O-xbybzbTo navigational coordinate system O-xnynznCoordinate become
Change matrix；fbIt is exported for the output of the accelerometer in inertial sensor namely specific force For
ECEF coordinate system O-xeyezeRelative to inertial coodinate system O-xiyiziThe projection being rotated under navigational coordinate system, i.e. the earth
Projection of the rotation angular speed under navigational coordinate system, specifically,Its
InFor earth rotation angular speed,For geographic latitude；For navigational coordinate system being rotated in relative to terrestrial coordinate system
Projection under navigational coordinate system,H is height above sea level；gnFor earth weight
Projection of the power acceleration under navigational coordinate system, gn=[0 0 gc]T, gcFor the acceleration of gravity of current vehicle present position；It is exported for the output of the gyroscope in inertial sensor namely angular speed To lead
The projection that is rotated in carrier coordinate system under of the boat coordinate system relative to inertial coodinate system,In above formula
D specifically:
Wherein, Rm radius of curvature of meridian, Rn are radius of curvature in prime vertical.
D2, perturbation analysis is carried out to c system, and omits the above higher order term of second order, obtain GPS/INS integrated navigation system error
The state equation of model such as following formula:
Wherein, δ rc、δvcRespectively location error vector and velocity error vector, ψ are attitude error,For carrier seat
Mark system arrives the transformation matrix of coordinates of platform coordinate system, specifically,
D3, when vehicle is in driving status,
In above formula (3), vb、vnVelocity vector respectively under vehicle carrier coordinate system and under navigational coordinate system,Respectively vehicle carrier coordinate system is lateral and ground to speed output；Perturbation analysis is done to above formula (3), void can be established
The quasi- modified observation model of constraint；
In above formula (4), (En×) it is by εn=[εN εE εD]TThe multiplication cross antisymmetric matrix of composition, speciallyWherein εN、εE、εDFor attitude error, above formula (4) is omitted into second order event, can be obtained:
It choosesAs observed quantity, then corresponding observation model are as follows:
Wherein, CijForThe i-th row j column element, vN、vE、vDFor north orientation under vehicle carrier navigational coordinate system, east orientation,
It is exported to speed；
D4, Kalman filtering processing is carried out to the model that above-mentioned D2 and D3 are obtained, and state error estimated value is carried out in fact
When feed back, that is, GPS/INS integrated navigation system horizontal position and the azimuthal diverging of carrier can be effectively suppressed.
In above-mentioned steps D1 into step D4, Kalman filtering, state feedback modifiers and platform coordinate system p have been related to it
System, navigational coordinate system n system, the correlation between c system, coordinates computed system.For clearer explanation above-mentioned steps D1 to step
D4 is below illustrated relationship, Kalman filtering and the state feedback modifiers between coordinate system:
For platform coordinate system p system, navigational coordinate system n system, c system, coordinates computed system, the correlation between three is for example attached
Shown in Fig. 2:
In fig 2,AndSimilarly,Omit it
In second order event, can approximation obtain: φ ≈ ψ+δ θ
For Kalman filtering, the time is updated to:
It, which is measured, updates are as follows:
Wherein,For k moment status predication estimated value, Φk,k-1For the k-1 moment to the state-transition matrix at k moment,
Pk,k-1For k moment state covariance battle array predicted value, Qk-1For the covariance matrix of k-1 moment system noise, KkFor the increasing at k moment
Beneficial matrix, RkFor the measurement noise covariance matrix at k moment, zkFor the measuring value at k moment,For the filtering estimated value at k moment,
PkEstimated value is filtered for the state covariance matrix at k moment.When GPS/INS integrated navigation system chooses δ rn、δvn、δεnFor state
When variable, after above-mentioned Kalman filtering, state can be exported with Real-time Feedback to strap-down inertial, state estimation
It will be cleared, then above formula can simplify are as follows:
For state feedback modifiers, position feedback are as follows:
Its velocity feedback are as follows:
Its gesture feedback are as follows:
Wherein,It is by εn=[εN εE εD]TThe multiplication cross antisymmetric matrix of composition.
Therefore the hair got is passed through after obtaining primary revised vehicle-state by the embodiment of the present application
Motivation revolving speed, speed, the output data of the gyroscope of inertial sensor and acceleration carry out the motion state of real-time detection vehicle, with
The accuracy of vehicle movement judgement is improved, and when detecting that above-mentioned vehicle is in driving status, based on virtual constraint amendment pair
Above-mentioned primary revised vehicle-state carries out second-order correction, when detecting that above-mentioned vehicle remains static, is based on zero-speed
Amendment carries out second-order correction to above-mentioned primary revised vehicle-state, finally based on the vehicle-state after second-order correction to above-mentioned
Vehicle is positioned.The above-mentioned modified process of virtual constraint combines the kinetic characteristic of vehicle carrier, while having ignored the earth certainly
The influence that corner rate exports gyroscope can effectively inhibit integrated navigation system in the case where underground garage, tunnel etc. cover environment
The positioning drift of system.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present application constitutes any limit
It is fixed.
Embodiment two
The embodiment of the present application provides a kind of vehicle locating device, as shown in figure 3, the vehicle location in the embodiment of the present application fills
Setting 300 includes:
Acquiring unit 301, for obtaining primary revised vehicle-state, wherein above-mentioned vehicle-state includes speed, position
It sets, orientation and posture；
Detection unit 302, the motion state for real-time detection vehicle；
Virtual constraint amending unit 303, for being repaired based on virtual constraint when detecting that above-mentioned vehicle is in driving status
The above-mentioned primary revised vehicle-state of face carries out second-order correction；
Zero-velocity curve unit 304, for when detecting that above-mentioned vehicle remains static, being based on zero-velocity curve to above-mentioned
Primary revised vehicle-state carries out second-order correction；
Positioning unit 305, for being positioned based on the vehicle-state after second-order correction to above-mentioned vehicle.
Optionally, above-mentioned acquiring unit 301 includes:
First initialization subelement, for being marked online to the inertial sensor of vehicle under the stationary state of vehicle
Fixed and error compensation to realize the real-time amendment of the output data of gyroscope and accelerometer in inertial sensor, and is completed
State the initialization of the zero bias data of gyroscope；
Second initialization subelement, for being carried out to above-mentioned inertial sensor initial under the straight travel state of vehicle
Alignment, to realize the initialization of the parameters in integrated navigation module；
Vehicle-state updates subelement, for the output number according to real-time modified above-mentioned gyroscope and above-mentioned accelerometer
According to being updated to above-mentioned vehicle-state, to obtain primary revised vehicle-state.
Optionally, above-mentioned detection unit 302 includes:
Angular speed standard deviation obtains subelement, the output data for modified above-mentioned gyroscope real-time in preset time
Standard deviation is denoted as angular speed standard deviation；
Acceleration standard deviation obtains subelement, for obtaining the output of real-time modified above-mentioned accelerometer in preset time
The standard deviation of data is denoted as acceleration standard deviation；
Engine speed obtains subelement, for obtaining engine speed；
Speed obtains subelement, for obtaining speed；
Motion state detection subelement, for according to above-mentioned angular speed standard deviation, above-mentioned acceleration standard deviation, above-mentioned start
The motion state of machine revolving speed and/or above-mentioned speed real-time detection vehicle.
Optionally, above-mentioned motion state detection subelement includes:
Driving status determines subelement, if being greater than preset first angular speed standard deviation threshold for above-mentioned angular speed standard deviation
Value, and above-mentioned acceleration standard deviation is greater than preset first acceleration standard deviation threshold method, and above-mentioned speed is greater than 0, it is determined that on
It states vehicle and is in driving status.
Optionally, above-mentioned motion state detection subelement further include:
Stationary state determines subelement, if being not more than preset second angular speed standard deviation for above-mentioned angular speed standard deviation
Threshold value, and above-mentioned acceleration standard deviation is not more than preset second acceleration standard deviation threshold method, it is determined that above-mentioned vehicle is in quiet
Only state；Alternatively, if above-mentioned angular speed standard deviation is not less than the second angular speed standard deviation threshold method and is not more than the first angular speed mark
Quasi- difference threshold value, and above-mentioned acceleration standard deviation not less than the second acceleration standard deviation threshold method and is not more than the first acceleration standard deviation
Threshold value, and above-mentioned speed is equal to 0, it is determined that above-mentioned vehicle remains static；Alternatively, being preset if above-mentioned engine speed is less than
Threshold engine speed, and above-mentioned speed be equal to 0 when, it is determined that above-mentioned vehicle remains static.
Optionally, above-mentioned positioning unit 305 includes:
GPS information obtains subelement, if for being currently able to be connected to global position system GPS server, by upper
State GPS positioning position, GPS three-dimensional velocity and the positioning accuracy factor that GPS server obtains above-mentioned vehicle；
Combined filter subelement, for being based on above-mentioned GPS positioning position, GPS three-dimensional velocity and positioning accuracy factor pair
Vehicle-state after stating second-order correction is combined filtering；
Vehicle location subelement, for being positioned based on obtained vehicle-state after combined filter to above-mentioned vehicle.
Therefore by the embodiment of the present application, vehicle locating device leads to after obtaining primary revised vehicle-state
The output data for crossing the engine speed got, speed, the gyroscope of inertial sensor and acceleration carrys out real-time detection vehicle
Motion state, to improve the accuracy of vehicle movement judgement, and when detecting that above-mentioned vehicle be in driving status, based on empty
Quasi- constraint amendment carries out second-order correction to above-mentioned primary revised vehicle-state, is detecting that above-mentioned vehicle remains static
When, second-order correction is carried out to above-mentioned primary revised vehicle-state based on zero-velocity curve, finally based on the vehicle after second-order correction
State positions above-mentioned vehicle.The above-mentioned modified process of virtual constraint combines the kinetic characteristic of vehicle carrier, simultaneously
The influence that earth rotation angular speed exports gyroscope is had ignored, can effectively be pressed down in the case where underground garage, tunnel etc. cover environment
The positioning drift of integrated navigation system processed.
Embodiment three
Fig. 4 shows the embodiment of the present application and provides a kind of structural schematic diagram of terminal device, the terminal device 4 of the embodiment
Include: processor 40, memory 41 and is stored in the calculating that can be run in above-mentioned memory 41 and on above-mentioned processor 40
Machine program 42, such as the vehicle location program in vehicle positioning method.When above-mentioned processor 40 executes above-mentioned computer program 42
Realize the step in above-mentioned each vehicle positioning method embodiment, such as step S101 to 105 shown in FIG. 1.
Above-mentioned terminal device 4 may include, but be not limited only to, processor 40, memory 41.Those skilled in the art can manage
Solution, Fig. 4 is only the example of terminal device 4, does not constitute the restriction to terminal device 4, may include more or more than illustrating
Few component perhaps combines certain components or different components, such as above-mentioned terminal device 4 can also include network insertion
Equipment etc..
Above-mentioned processor 40 can be central processing module (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
Above-mentioned memory 41 can be the storage inside module of above-mentioned terminal device 4, such as the hard disk or interior of terminal device 4
It deposits.Above-mentioned memory 41 is also possible to the External memory equipment of above-mentioned terminal device 4, such as be equipped on above-mentioned terminal device 4
Plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card dodge
Deposit card (Flash Card) etc..Further, above-mentioned memory 41 can also both include the storage inside mould of above-mentioned terminal device 4
Block also includes External memory equipment.Above-mentioned memory 41 is for storing needed for above-mentioned computer program and above-mentioned terminal device 4
Other programs and data.Above-mentioned memory 41 can be also used for temporarily storing the data that has exported or will export.
Illustratively, when above-mentioned terminal device 4 carries out vehicle location, processor 40 is stored in memory 41 by operation
It is performed the steps of when above-mentioned computer program
Obtain primary revised vehicle-state, wherein above-mentioned vehicle-state includes speed, position, orientation and posture；
The motion state of real-time detection vehicle；
When detecting that above-mentioned vehicle is in driving status, based on virtual constraint amendment to above-mentioned primary revised vehicle
State carries out second-order correction；
When detecting that above-mentioned vehicle remains static, based on zero-velocity curve to above-mentioned primary revised vehicle-state
Carry out second-order correction；
Above-mentioned vehicle is positioned based on the vehicle-state after second-order correction.
Optionally, the primary revised vehicle-state of above-mentioned acquisition, comprising:
Under the stationary state of vehicle, on-line proving and error compensation are carried out to the inertial sensor of vehicle, it is used to realize
Property sensor in the output data of gyroscope and accelerometer real-time amendment, and complete above-mentioned gyroscope zero bias data just
Beginningization；
Under the straight travel state of vehicle, above-mentioned inertial sensor is initially aligned, to realize integrated navigation mould
The initialization of parameters in block；
According to the output data of real-time modified above-mentioned gyroscope and above-mentioned accelerometer, above-mentioned vehicle-state is carried out more
Newly, to obtain primary revised vehicle-state.
Optionally, the motion state of above-mentioned real-time detection vehicle, comprising:
The standard deviation for obtaining the output data of real-time modified above-mentioned gyroscope in preset time, is denoted as angular speed standard
Difference；
The standard deviation for obtaining the output data of real-time modified above-mentioned accelerometer in preset time, is denoted as acceleration standard
Difference；
Obtain engine speed and speed；
It is real-time according to above-mentioned angular speed standard deviation, above-mentioned acceleration standard deviation, above-mentioned engine speed and/or above-mentioned speed
Detect the motion state of vehicle.
Optionally, above-mentioned according to above-mentioned angular speed standard deviation, above-mentioned acceleration standard deviation, above-mentioned engine speed and above-mentioned
The motion state of speed real-time detection vehicle, comprising:
If above-mentioned angular speed standard deviation is greater than preset first angular speed standard deviation threshold method, and above-mentioned acceleration standard deviation is big
In preset first acceleration standard deviation threshold method, and above-mentioned speed is greater than 0, it is determined that above-mentioned vehicle is in driving status.
Optionally, above-mentioned according to above-mentioned angular speed standard deviation, above-mentioned acceleration standard deviation, above-mentioned engine speed and above-mentioned
The motion state of speed real-time detection vehicle, comprising:
If above-mentioned angular speed standard deviation is not more than preset second angular speed standard deviation threshold method, and above-mentioned acceleration standard deviation
No more than preset second acceleration standard deviation threshold method, it is determined that above-mentioned vehicle remains static；
Alternatively, if above-mentioned angular speed standard deviation is not less than the second angular speed standard deviation threshold method and is not more than the first angular speed mark
Quasi- difference threshold value, and above-mentioned acceleration standard deviation not less than the second acceleration standard deviation threshold method and is not more than the first acceleration standard deviation
Threshold value, and above-mentioned speed is equal to 0, it is determined that above-mentioned vehicle remains static；
Alternatively, if above-mentioned engine speed be less than preset threshold engine speed, and above-mentioned speed be equal to 0 when, then really
Fixed above-mentioned vehicle remains static.
Optionally, the above-mentioned vehicle-state based on after second-order correction positions above-mentioned vehicle, comprising:
If being currently able to be connected to global position system GPS server, above-mentioned vehicle is obtained by above-mentioned GPS server
GPS positioning position, GPS three-dimensional velocity and the positioning accuracy factor；
Based on the vehicle shape after above-mentioned GPS positioning position, GPS three-dimensional velocity and the above-mentioned second-order correction of positioning accuracy factor pair
State is combined filtering；
Above-mentioned vehicle is positioned based on vehicle-state obtained after combined filter.
Illustratively, above-mentioned computer program 42 can be divided into one or more units, said one or multiple
Unit is stored in above-mentioned memory 41, and is executed by above-mentioned processor 40, to complete the application.
Therefore by the embodiment of the present application, terminal device is after obtaining primary revised vehicle-state, by obtaining
The output data of engine speed, speed, the gyroscope of inertial sensor and the acceleration got carrys out the fortune of real-time detection vehicle
Dynamic state is based on virtually about to improve the accuracy of vehicle movement judgement, and when detecting that above-mentioned vehicle is in driving status
Shu Xiuzheng carries out second-order correction to above-mentioned primary revised vehicle-state, when detecting that above-mentioned vehicle remains static,
Second-order correction is carried out to above-mentioned primary revised vehicle-state based on zero-velocity curve, finally based on the vehicle shape after second-order correction
State positions above-mentioned vehicle.The above-mentioned modified process of virtual constraint combines the kinetic characteristic of vehicle carrier, ignores simultaneously
The influence that earth rotation angular speed exports gyroscope, can in the case where underground garage, tunnel etc. cover environment effective inhibition group
Close the positioning drift of navigation system.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
Scope of the present application.
In embodiment provided herein, it should be understood that disclosed device/terminal device and method, it can be with
It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, on
The division of module or unit is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as
Multiple units or components can be combined or can be integrated into another system, or some features can be ignored or not executed.Separately
A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device
Or the INDIRECT COUPLING or communication connection of unit, it can be electrical property, mechanical or other forms.
Above-mentioned unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If above-mentioned integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the application realizes above-described embodiment side
All or part of the process in method can also instruct relevant hardware to complete, above-mentioned computer by computer program
Program can be stored in a computer readable storage medium, and the computer program is when being executed by processor, it can be achieved that above-mentioned each
The step of a embodiment of the method.Wherein, above-mentioned computer program includes computer program code, above-mentioned computer program code
It can be source code form, object identification code form, executable file or certain intermediate forms etc..Above-mentioned computer-readable medium can
With include: can carry above-mentioned computer program code any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disk,
CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random
Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that above-mentioned computer
The content that readable medium includes can carry out increase and decrease appropriate according to the requirement made laws in jurisdiction with patent practice, such as
In certain jurisdictions, according to legislation and patent practice, computer-readable medium do not include be electric carrier signal and telecommunications letter
Number.
Embodiment described above is only to illustrate the technical solution of the application, rather than its limitations；Although referring to aforementioned reality
Example is applied the application is described in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution should all
Comprising within the scope of protection of this application.
Claims (10)
1. a kind of vehicle positioning method characterized by comprising
Obtain primary revised vehicle-state, wherein the vehicle-state includes speed, position, orientation and posture；
The motion state of real-time detection vehicle；
When detecting that the vehicle is in driving status, based on virtual constraint amendment to the primary revised vehicle-state
Carry out second-order correction；
When detecting that the vehicle remains static, the primary revised vehicle-state is carried out based on zero-velocity curve
Second-order correction；
The vehicle is positioned based on the vehicle-state after second-order correction.
2. vehicle positioning method as described in claim 1, which is characterized in that it is described to obtain primary revised vehicle-state,
Include:
Under the stationary state of vehicle, on-line proving and error compensation are carried out to the inertial sensor of vehicle, to realize that inertia passes
The real-time amendment of the output data of gyroscope and accelerometer in sensor, and complete the gyroscope zero bias data it is initial
Change；
Under the straight travel state of vehicle, the inertial sensor is initially aligned, to realize in integrated navigation module
Parameters initialization；
According to the output data of the real-time modified gyroscope and the accelerometer, the vehicle-state is updated,
To obtain primary revised vehicle-state.
3. vehicle positioning method as claimed in claim 2, which is characterized in that the motion state of the real-time detection vehicle, packet
It includes:
The standard deviation for obtaining the output data of the real-time modified gyroscope in preset time, is denoted as angular speed standard deviation；
The standard deviation for obtaining the output data of the real-time modified accelerometer in preset time, is denoted as acceleration standard deviation；
Obtain engine speed and speed；
According to the angular speed standard deviation, the acceleration standard deviation, the engine speed and/or the speed real-time detection
The motion state of vehicle.
4. vehicle positioning method as claimed in claim 3, which is characterized in that it is described according to the angular speed standard deviation, it is described
The motion state of acceleration standard deviation, the engine speed and the speed real-time detection vehicle, comprising:
If the angular speed standard deviation is greater than preset first angular speed standard deviation threshold method, and the acceleration standard deviation is greater than in advance
If the first acceleration standard deviation threshold method, and the speed be greater than 0, it is determined that the vehicle is in driving status.
5. vehicle positioning method as claimed in claim 3, which is characterized in that it is described according to the angular speed standard deviation, it is described
The motion state of acceleration standard deviation, the engine speed and the speed real-time detection vehicle, comprising:
If the angular speed standard deviation is not more than preset second angular speed standard deviation threshold method, and the acceleration standard deviation is little
In preset second acceleration standard deviation threshold method, it is determined that the vehicle remains static；
Alternatively, if the angular speed standard deviation is not less than the second angular speed standard deviation threshold method and is not more than the first angular speed standard deviation
Threshold value, and the acceleration standard deviation not less than the second acceleration standard deviation threshold method and is not more than the first acceleration standard deviation threshold
Value, and the speed is equal to 0, it is determined that the vehicle remains static；
Alternatively, if the engine speed be less than preset threshold engine speed, and the speed be equal to 0 when, it is determined that institute
Vehicle is stated to remain static.
6. vehicle positioning method as described in claim 1, which is characterized in that the vehicle-state pair based on after second-order correction
The vehicle is positioned, comprising:
If being currently able to be connected to global position system GPS server, the vehicle is obtained by the GPS server
GPS positioning position, GPS three-dimensional velocity and the positioning accuracy factor；
Based on the vehicle-state after second-order correction described in the GPS positioning position, GPS three-dimensional velocity and positioning accuracy factor pair into
Row combined filter；
The vehicle is positioned based on vehicle-state obtained after combined filter.
7. a kind of vehicle locating device characterized by comprising
Acquiring unit, for obtaining primary revised vehicle-state, wherein the vehicle-state includes speed, position, orientation
And posture；
Detection unit, the motion state for real-time detection vehicle；
Virtual constraint amending unit, for being corrected to institute based on virtual constraint when detecting that the vehicle is in driving status
It states primary revised vehicle-state and carries out second-order correction；
Zero-velocity curve unit, for once being repaired to described based on zero-velocity curve when detecting that the vehicle remains static
Vehicle-state after just carries out second-order correction；
Positioning unit, for being positioned based on the vehicle-state after second-order correction to the vehicle.
8. vehicle locating device as claimed in claim 7, which is characterized in that the positioning unit includes:
GPS information obtains subelement, if passing through the GPS for being currently able to be connected to global position system GPS server
Server obtains GPS positioning position, GPS three-dimensional velocity and the positioning accuracy factor of the vehicle；
Combined filter subelement, for based on described in the GPS positioning position, GPS three-dimensional velocity and positioning accuracy factor pair two
Secondary revised vehicle-state is combined filtering；
Vehicle location subelement, for being positioned based on obtained vehicle-state after combined filter to the vehicle.
9. a kind of terminal device, including memory, processor and storage are in the memory and can be on the processor
The computer program of operation, which is characterized in that the processor realizes such as claim 1 to 6 when executing the computer program
The step of any one the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 6 of realization the method.
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| CN114071350A (en) * | 2021-10-25 | 2022-02-18 | 摩拜(北京)信息技术有限公司 | Vehicle positioning method and device and readable storage medium |
| CN114071350B (en) * | 2021-10-25 | 2023-09-05 | 摩拜(北京)信息技术有限公司 | Vehicle positioning method, device and readable storage medium |
| CN113911138A (en) * | 2021-11-12 | 2022-01-11 | 董昊天 | Initiative vehicle intelligence direction driver assistance system based on wireless location |
| CN113911138B (en) * | 2021-11-12 | 2024-02-13 | 董昊天 | Intelligent guiding auxiliary driving system of initiative vehicle based on wireless positioning |
| WO2023142652A1 (en) * | 2022-01-29 | 2023-08-03 | 华为技术有限公司 | Method, apparatus and device for positioning and attitude determination |
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