CN111735473A - Beidou navigation system capable of uploading navigation information - Google Patents
Beidou navigation system capable of uploading navigation information Download PDFInfo
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- CN111735473A CN111735473A CN202010642912.4A CN202010642912A CN111735473A CN 111735473 A CN111735473 A CN 111735473A CN 202010642912 A CN202010642912 A CN 202010642912A CN 111735473 A CN111735473 A CN 111735473A
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- 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
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3647—Guidance involving output of stored or live camera images or video streams
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- 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
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Abstract
The invention discloses a Beidou navigation system capable of uploading navigation information, which is characterized in that a navigation scene uploading mode is added, a user can record a navigation scene and upload the navigation scene to a server, the technical problem that a resident can not find a corresponding position correctly when the visitor drives to enter an underground garage at present and needs to go to a large portal to receive the visitor at present is solved, great convenience is brought to the user, and user experience is improved.
Description
Technical Field
The invention relates to a Beidou navigation system, in particular to a Beidou navigation system capable of uploading navigation information.
Background
At present, most of vehicle-mounted navigation systems are based on GPS navigation, and the vehicle-mounted navigation systems perform navigation on a wide road surface in clear sky, so that the navigation accuracy is better, but in rainy and snowy weather, tunnels, overpasses, high mountains and canyons and other terrains, the navigation device can not receive satellite signals due to the influence of the terrains and the weather, and a part of drivers only drive according to the navigation without paying attention to the road condition, so that navigation errors occur, and even traffic accidents occur. In the prior art, although the above factors are considered comprehensively for navigation, the navigation is generally a general algorithm adopted after comprehensive balance, and the general algorithm is necessarily chosen, so that the navigation precision is not high for a special scene. In the prior art, a method for automatically uploading a navigation scene by a user is not available. For example, when a friend drives to visit a basement, the corresponding position cannot be found correctly, so that the owner needs to go to a large doorway to receive the friend to navigate the basement manually, which causes great inconvenience.
The invention is further improved on the basis of another patent application of the Beidou navigation system of the inventor, and the uploading mode of the navigation scene is increased, so that the user experience of the navigation system is further improved.
Disclosure of Invention
The invention provides a Beidou navigation system capable of uploading navigation information, which comprises a speedometer, an accelerometer, a camera, an image processing unit, a CPU unit, a timing unit, a map unit, a display unit, a Beidou baseband unit, an alarm unit, an auxiliary navigation algorithm database, a storage unit, a laser ranging radar, a wireless module (not shown), a working mode setting unit and a recording unit, wherein the speedometer is connected with the accelerometer, the camera is connected with the image processing unit through the image processing unit;
the CPU unit is connected with the map server through a wireless module; the working mode setting unit is used for setting the Beidou navigation system into a normal navigation mode and a navigation scene uploading mode;
the image processing unit is an AI processing unit;
the Beidou navigation system can set a navigation scene uploading mode;
when a user sets the Beidou navigation system as a navigation scene uploading mode and a recording unit starts to record a navigation scene, the CPU calls a navigation calibration algorithm from the auxiliary navigation algorithm database, acquires initial position information from a map unit according to the navigation calibration algorithm, and simultaneously acquires vehicle speed, acceleration and corresponding time from the vehicle speedometer, the accelerometer and the timing unit and calculates the vehicle running distance and state;
the camera comprises a first camera group arranged in front of the vehicle head, a second camera group arranged on the side of the vehicle and a third camera group arranged on the tail of the vehicle;
the AI processing unit acquires video image information from a first camera group in front of the vehicle head and correspondingly stores the vehicle running distance and the vehicle running state calculated by the CPU unit and the video image acquired by the first camera group. When the user selects to finish the navigation scene recording calibration, the AI processing unit takes the recorded video end scene mark as a destination, sets a destination mark in a video image, uploads the recorded navigation scene video to the map server through a wireless module, the map server stores the recorded navigation scene video in a database, marks fine navigation information at a position corresponding to the map, sets a corresponding password and returns the fine navigation information to the navigation scene uploading user.
When other users visit, the password is obtained from the user uploading the navigation scene, the password is input into the navigation system, the navigation system obtains the position information of the vehicle in the map, and when the position information of the visiting user is the same as the initial position information calibrated by the user uploading the scene, the navigation system obtains the uploaded navigation video, the vehicle speed, the acceleration and the running time information to navigate the visiting user.
The navigation system further acquires the uploaded navigation video, and the navigation video can be acquired in advance before the visiting user reaches the destination.
Has the advantages that: the navigation system is further improved, a navigation scene uploading mode is added, a user can record the navigation scene and upload the navigation scene to the server, the technical problem that a resident needs to go to a large portal to receive the visitor as the corresponding position cannot be found correctly when the visitor drives to enter the underground garage at present is solved, great convenience is brought to the user, and user experience is improved.
Drawings
FIG. 1 is a schematic diagram of a Beidou navigation system of the invention.
Fig. 2 is a schematic diagram of measuring a distance using a camera according to the present invention.
Detailed Description
The invention provides a Beidou navigation system capable of uploading navigation information, which comprises a speedometer, an accelerometer, a camera, an image processing unit, a CPU unit, a timing unit, a map unit, a display unit, a Beidou baseband unit, an alarm unit, an auxiliary navigation algorithm database, a storage unit, a laser ranging radar, a wireless module (not shown), a working mode setting unit and a recording unit, wherein the image processing unit, the CPU unit, the timing unit, the map unit, the display unit, the Beidou baseband unit and the alarm unit are arranged in the Beidou navigation system;
the CPU unit is connected with the map server through a wireless module;
the working mode setting unit is used for setting the Beidou navigation system into a normal navigation mode and a navigation scene uploading mode
The image processing unit is an AI processing unit;
the recording unit is used for recording navigation scenes;
when a user sets the Beidou navigation system as a navigation scene uploading mode and a recording unit starts to record a navigation scene, the CPU calls a navigation calibration algorithm from the auxiliary navigation algorithm database, acquires initial position information from a map unit according to the navigation calibration algorithm, and simultaneously acquires vehicle speed, acceleration and corresponding time from the vehicle speedometer, the accelerometer and the timing unit and calculates the vehicle running distance and state; the running state of the vehicle comprises the turning state and the backing state of the vehicle;
the navigation calibration algorithm is further stored in the auxiliary navigation algorithm database by downloading the Beidou navigation system from the map server in advance.
The camera comprises a first camera group arranged in front of the vehicle head, a second camera group arranged on the side of the vehicle and a third camera group arranged on the rear of the vehicle.
The AI processing unit acquires video image information from a first camera group in front of the vehicle head and correspondingly stores the vehicle running distance and the vehicle running state calculated by the CPU unit and the video image acquired by the first camera group. When the user selects to finish the navigation scene recording calibration, the AI processing unit takes the recorded video end scene mark as a destination, sets a destination mark in a video image, uploads the recorded navigation scene video to the map server through a wireless module, the map server stores the recorded navigation scene video in a database, marks fine navigation information at a position corresponding to the map, sets a corresponding password and returns the fine navigation information to the navigation scene uploading user.
Further, when the navigation system is not connected with a network or the network has no signal, the navigation system stores the recorded scene navigation video in a local storage unit, and when the navigation system is connected with the network, the navigation video is uploaded to the map server.
Further, when the navigation system is not connected with a network or the network has no signal and the storage space of the local storage unit is small, the navigation system stops recording, marks an abnormal end point in a video, uploads the recorded video to the map server when the network is connected, only keeps a video segment marked with the abnormal end point, clears other video segments, and uses the reserved video segment marked with the abnormal end point to align with the vehicle video for subsequent recording when recording next time.
In the underground garage of the same cell, a plurality of users can record navigation scenes respectively and upload the navigation scenes to the map server, the map server combines the navigation scene videos recorded by the users, gives each uploading user an independent navigation path and a corresponding password, and sends the password to the corresponding uploading user.
The map server merges the navigation scene videos recorded by the multiple users specifically, if the navigation scenes of the users are overlapped, for example, the navigation of the same unit resident of the same building is from a cell warehouse to a unit door warehouse port, the paths of the navigation scenes are completely overlapped, only the navigation scene video recorded by the first person is reserved at the moment, or only the most clear navigation scene video is reserved, and only one password is allocated to each uploading user.
If the navigation scenes of users are partially overlapped, for example, different unit residents in the same building, only one overlapped part of videos and non-overlapped part of videos can be reserved, so that the storage space of the map server can be reduced by a way of removing the weight.
When other users visit, the password is obtained from the user uploading the navigation scene, the password is input into the navigation system, the navigation system obtains the position information of the vehicle in the map, and when the position information of the visiting user is the same as the initial position information calibrated by the user uploading the scene, the navigation system obtains the uploaded navigation video, the vehicle speed, the acceleration and the running time information to navigate the visiting user.
The navigation system further acquires the uploaded navigation video, and the navigation video can be acquired in advance before the visiting user reaches the destination.
Further can upload navigation information's beidou navigation system, the operating mode sets up the unit and is used for setting up beidou navigation system still has following function when being normal navigation mode:
the CPU unit is connected with a map server through a wireless module, can download an off-line map, a real-time map and an auxiliary navigation algorithm from the map server, stores the off-line map in a local storage unit, caches the real-time map in a cache of a system, puts the latest auxiliary navigation algorithm into an auxiliary navigation algorithm database, if a map service provider updates the latest auxiliary navigation algorithm, puts the auxiliary navigation algorithm into the map server, adds an update mark and a version number, and downloads the auxiliary navigation algorithm from the map server and stores the auxiliary navigation algorithm into the auxiliary navigation algorithm database of the Beidou navigation system when the Beidou navigation system detects the version update.
The camera comprises a first camera group arranged in front of the vehicle head, a second camera group arranged on the side of the vehicle and a third camera group arranged on the rear of the vehicle.
The camera group can be a plurality of cameras and can be uniformly arranged on the body;
for example, the three first camera groups are uniformly arranged at the front part of the vehicle head and used for acquiring video images in front of the vehicle; the number of the second camera groups can be 6, 8 or 10, the second camera groups are uniformly arranged on two sides of the vehicle, the third camera groups are arranged on the tail of the vehicle in the same way, and a user obtains a video image of the rear part of the vehicle. The processor can adopt an image fusion algorithm to fuse and set video images shot by a plurality of cameras of the camera group into a scene image.
The image unit is an AI processing unit, the AI processing unit is a vehicle-scale special neural network processor, the neural network processing unit is integrated, and the special scene recognition neural network processing unit and the marker identification, recognition and tracking neural network processing unit are arranged aiming at the characteristic of high requirement on the vehicle video processing speed. The special scene recognition neural network processing unit is provided with a weight memory, wherein weight data used for recognizing scenes are stored in the weight memory and can be updated; the marker identification, identification and tracking neural network processing unit is also provided with a weight memory, but the weight memory is a read-only memory, because the markers for identification, identification and tracking in the system are only used for accurately measuring the distance, and no requirement is imposed on what object the markers are, so that the identification and tracking are convenient as long as the markers are more prominent in corresponding scenes, the algorithm is simpler, the calculated amount is small, the fixed algorithm is used for solidification, and meanwhile, the calculation speed can also be improved.
The AI processing unit directly acquires a real-time video image from the camera, identifies a specific scene in the image, and simultaneously sends the acquired video image to the storage unit for cyclic storage;
the AI processing unit further uses the special scene recognition neural network processing unit to recognize a specific scene in the image from the video image, wherein the specific scene can be a cave, an overpass, a canyon, an underground garage, rainy and snowy weather and the like, and the AI processing unit can update a recognition model algorithm to enrich the recognized scene and improve the recognition accuracy;
and sending the identified specific scene to a CPU unit, calling an assistant navigation algorithm of the corresponding scene from an assistant navigation algorithm database by the CPU unit according to the specific scene, simultaneously acquiring various parameter data required by the assistant navigation algorithm of the corresponding scene, correcting navigation data by using the assistant navigation algorithm and the acquired parameters, and navigating.
Further, the assisted navigation algorithm database is capable of downloading updated assisted navigation algorithms from the map server on a regular basis. The auxiliary navigation algorithm comprises scenes such as a cave, an overpass, a canyon, an underground garage, rain and snow weather and the like.
Further, the concrete embodiment in the case of a cave or tunnel scene is as follows:
when the specific scene is a cave or a tunnel, the cave or tunnel scene is sent to a CPU unit, the CPU unit calls out a cave or tunnel auxiliary navigation algorithm from an auxiliary navigation algorithm database, and the length of the cave or tunnel is obtained from the map unit; when the length of the cave or the tunnel is smaller than a first threshold value, the CPU unit acquires the speed of the vehicle from the speedometer and acquires the acceleration of the vehicle from the accelerometer; when the vehicle enters a cave, the CPU unit calculates the coordinate of the vehicle on a map at the moment according to the received Beidou satellite signal at the moment, meanwhile, the timing unit starts to record time, and when the component of the acceleration of the vehicle in the speed direction of the vehicle is smaller than a second threshold value, the CPU unit only calculates the coarse-grained distance according to the speed and the time of the vehicle and marks the position of the vehicle on the map according to the distance; when the component of the vehicle acceleration in the vehicle speed direction is larger than a second threshold value, calculating the vehicle moving distance according to the vehicle speed, the acceleration and the time, and marking the position of the vehicle on a map according to the vehicle moving distance; the first threshold value is 1KM, because when the tunnel is short, the calculated moving distance error of the vehicle is small and can be basically ignored in a normal situation by using the speed, acceleration and time information of the vehicle. For example, a tunnel with the length of 500M, the error of the computer through the speed, the acceleration and the time parameters is within a few meters, and even if the error of a few meters in the position identification on the navigation map has little influence on the user. However, if the length of the cave or tunnel is longer, the accumulated error of the method is larger, such as the length of the tunnel in the final south mountainThe degree is 18.4 meters, the length of the Engieli channel is 50.5 kilometers, the moving distance of the vehicle is calculated by using parameters such as speed, acceleration, time information and the like, the accumulated error along with the moving distance is large, and if rescue is needed in the case of a traffic accident, tire burst of the vehicle and the like, the position of the vehicle cannot be accurately positioned, so that great trouble is brought to rescue work. It is therefore desirable to use a more accurate travel distance calculation method. The second threshold may be set to 0.1m/s2。
When the length of the cave or the tunnel is larger than a first threshold value, when a vehicle enters the cave, the CPU unit calculates the coordinates of the vehicle on a map at the moment according to the received Beidou satellite signal, the AI processing unit acquires image information from a first camera group in front of the vehicle head, identifies a marker periodically, acquires an image from a second camera group, identifies and tracks the marker, acquires an image identification marker from a third camera group, and when the marker appears in a specific area of the image of the third camera group, the vehicle is considered to move by a unit distance; and transmitting the unit distance moved by the vehicle to the CPU unit, and the CPU unit moves the coordinates by one unit distance along the tunnel direction on the map according to the received unit distance.
Further, when the AI processing unit moves out of the second camera image scene from the marker tracked by the second camera group image, the AI processing unit identifies a next marker in the first camera group; the next marker may be different from the previous marker;
in order to improve the identification precision, the number of the markers identified at one time can be multiple.
Further, the shooting angle of the camera can be finely adjusted, so that the distance between the marker and the scene shot by the first camera group is calibrated when the marker moves from the specific position in the scene shot by the first camera group to the specific position in the scene shot by the second camera group and the specific position in the scene shot by the third camera group, and the calibrated distance is stored in the auxiliary navigation algorithm database for subsequent measurement of the driving distance of the vehicle.
As shown in fig. 2, which is a schematic diagram of the present invention that uses three groups of cameras in front of, at the side of, and at the back of the vehicle to measure the distance, when the position and the focal length of the camera are fixed, the distance between the two groups of cameras is also fixed.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
The above description is only for the specific embodiment of the present invention or the description thereof, and the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (4)
1. A Beidou navigation system capable of uploading navigation information comprises a speedometer, an accelerometer, a camera, an image processing unit, a CPU unit, a timing unit, a map unit, a display unit, a Beidou baseband unit, an alarm unit, an auxiliary navigation algorithm database, a storage unit, a laser ranging radar, a wireless module, a working mode setting unit and a recording unit; the CPU unit is connected with the map server through a wireless module; the working mode setting unit is used for setting the Beidou navigation system into a normal navigation mode and a navigation scene uploading mode; the image processing unit is an AI processing unit.
2. The Beidou navigation System capable of uploading navigation information according to claim 1,
when a user sets the Beidou navigation system as a navigation scene uploading mode and a recording unit starts to record a navigation scene, the CPU calls a navigation calibration algorithm from the auxiliary navigation algorithm database, acquires initial position information from a map unit according to the navigation calibration algorithm, and simultaneously acquires vehicle speed, acceleration and corresponding time from the vehicle speedometer, the accelerometer and the timing unit and calculates the vehicle running distance and state;
the camera comprises a first camera group arranged in front of the vehicle head, a second camera group arranged on the side of the vehicle and a third camera group arranged on the tail of the vehicle;
the AI processing unit acquires video image information from the first camera group in front of the vehicle head and correspondingly stores the vehicle running distance and state calculated by the CPU unit and the video image acquired by the first camera group; when the user selects to finish the navigation scene recording calibration, the AI processing unit takes the recorded video end scene mark as a destination, sets a destination mark in a video image, uploads the recorded navigation scene video to the map server through a wireless module, the map server stores the recorded navigation scene video in a database, marks fine navigation information at a position corresponding to the map, sets a corresponding password and returns the fine navigation information to the navigation scene uploading user.
3. The Beidou navigation system capable of uploading navigation information and automatic reporting according to claim 2,
when other users visit, the password is obtained from the user uploading the navigation scene, the password is input into the navigation system, the navigation system obtains the position information of the vehicle in the map, and when the position information of the visiting user is the same as the initial position information calibrated by the user uploading the scene, the navigation system obtains the uploaded navigation video, the vehicle speed, the acceleration and the running time information to navigate the visiting user.
4. The Beidou navigation system capable of uploading navigation information as set forth in claim 3, wherein the navigation system acquires the uploaded navigation video, and the navigation video can be acquired in advance before the visiting user reaches the destination.
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