CN113758482B - Vehicle navigation positioning method, device, base station, system and readable storage medium - Google Patents
Vehicle navigation positioning method, device, base station, system and readable storage medium Download PDFInfo
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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
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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
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The invention discloses a vehicle navigation positioning method, a device, a base station, a system and a readable storage medium, wherein the method comprises the following steps: receiving a navigation positioning service request and generating running planning route information; collecting navigation positioning parameters, and calculating to obtain a positioning error value accumulated in the running process of the unmanned vehicle according to the navigation positioning parameters; when the accumulated positioning error value reaches a positioning error threshold value in the running process of the unmanned vehicle, inquiring the nearest navigation correction base station according to the running planning route information; and establishing communication connection with the navigation correction base station, acquiring navigation correction parameters through the navigation correction base station, and correcting navigation positioning parameters according to the navigation correction parameters. The integrated error value in the navigation positioning process is calculated, and the navigation positioning parameters are corrected by the navigation correction base station, so that the unmanned vehicle can continuously perform error correction in the running process, has the positioning precision level required by operation when entering a working area, and is suitable for application scenes requiring accurate positioning.
Description
Technical Field
The present invention relates to the field of vehicle navigation positioning technologies, and in particular, to a vehicle navigation positioning method, device, base station, system, and readable storage medium.
Background
The unmanned technology integrates a plurality of high technologies such as artificial intelligence, computer vision, integrated navigation, information fusion, automatic control, architecture and the like, and is a highly developed product of computer science and automation technology; the method has incomparable advantages of common vehicles in the aspects of improving the drivability of the vehicles, reducing the labor intensity of drivers, reducing the occurrence rate of traffic accidents, operating under severe conditions and extreme conditions, and the like, so the method becomes the research and development field of the current hot spot technology.
The integrated navigation is an important component of unmanned technology, and when a vehicle is in unmanned intervention, a server side firstly determines the position of the vehicle, namely positioning and relative to a certain coordinate system, when planning the vehicle travel route, and determines the position and the posture of the vehicle. Current vehicle positioning methods generally include: inertial navigation, electronic signal positioning and environmental feature matching.
The inertial navigation technology is a navigation parameter resolving technology of a gyroscope and an accelerometer as sensitive devices, the current gesture is determined according to the angular speed output by the gyroscope, and the speed and displacement of the vehicle under the current gesture are resolved according to the acceleration output by the accelerometer. Thus, the running track of the vehicle is obtained, and the current coordinate is calculated.
The electronic signal positioning technology consists of a receiver and a positioning tag, through which a certain wireless signal is transmitted, such as: satellite signals, bluetooth, RFID (Radio Frequency Identification ), WIFI (Wireless-Fidelity), UWB (Ultra wide band), etc., the distance of the tag to the receiver is determined by calculating the time difference of the signals from transmission to reception by the receiver. Since the receiver position is known, the vehicle current position can be approximately estimated.
The environmental characteristic matching means that the unmanned vehicle acquires and processes environmental information, and is mainly used for state sensing, wherein the state sensing mainly collects and processes surrounding and own vehicle environmental information through vehicle-mounted sensors, and comprises traffic state sensing and vehicle body state sensing. The implementation of the traffic state sensing function depends on the context-aware sensor and the corresponding sensing technology. These sensors can be classified into two categories according to the way traffic environment information is obtained: 1) The passive environment sensor does not emit signals, but acquires environment information by receiving signals reflected or radiated from the outside, and mainly comprises a visual sensor such as a camera and an auditory sensor such as a microphone array; 2) The active environment sensor actively transmits signals to the external environment to perform environment sensing, and mainly refers to a laser radar, a millimeter wave radar and an ultrasonic radar. The realization of the vehicle body state sensing function is mainly based on devices such as GPS (Global Position System, global positioning system), BDS (BeiDou Navigation Satellite System, beidou satellite navigation system), INS (Inertial Navigation System ) and the like, and aims to acquire information such as the running speed, the attitude and the azimuth of the vehicle and provide effective data for the positioning and the navigation of the unmanned vehicle.
In the current vehicle positioning mode, the positioning accuracy of electronic signal positioning is not high, the positioning error of the current electronic signal positioning product is generally larger than 10cm (0.1 m), the electronic signal positioning product is easily affected by environment, the distance and the obstacle can cause signal attenuation, the electromagnetic interference under the complex environment can cause system error, and the problems of communication delay and the like can also affect the accuracy. The widely adopted inertial navigation positioning mode can accumulate a large amount of errors after a certain time due to insufficient precision of a sensor and influence of environmental noise, so that positioning is inaccurate, and even if a filtering algorithm is adopted, the noise problem can be only improved.
Disclosure of Invention
Accordingly, the present invention is directed to a vehicle navigation positioning method, device, base station, system and readable storage medium, which are used for solving the problems of low positioning accuracy and inapplicability to an application scenario requiring a vehicle to reach an accurate position for operation in the existing vehicle navigation positioning method.
The technical scheme adopted by the invention for solving the technical problems is as follows:
according to a first aspect of the present invention, there is provided a vehicle navigation positioning method applied to a server, the method comprising:
establishing communication connection with an unmanned system of the vehicle, and sending running planning route information to the unmanned vehicle;
Receiving navigation positioning parameters reported by the unmanned system, and calculating and obtaining a positioning error value accumulated in the running process of the unmanned vehicle according to the navigation positioning parameters;
and when the positioning error value reaches a positioning error threshold value, sending a navigation correction execution instruction to the unmanned vehicle.
According to a second aspect of the present invention, there is provided a vehicle navigation positioning method applied to an unmanned vehicle, the method comprising:
receiving running planning route information issued by a server, and reporting navigation positioning parameters to the server;
when the accumulated positioning error value reaches a positioning error threshold value in the running process of the unmanned vehicle, receiving a navigation correction execution instruction issued by the server;
and establishing communication connection with a navigation correction base station according to the navigation correction execution instruction, acquiring navigation correction parameters through the navigation correction base station and reporting the navigation correction parameters to the server.
According to a third aspect of the present invention, there is provided a vehicle navigation positioning method applied to an unmanned vehicle, the method comprising:
receiving a navigation positioning service request and generating running planning route information;
collecting navigation positioning parameters, and calculating to obtain a positioning error value accumulated in the running process of the unmanned vehicle according to the navigation positioning parameters;
When the accumulated positioning error value in the running process of the unmanned vehicle reaches a positioning error threshold value, inquiring a nearest navigation correction base station according to the running planning route information;
and establishing communication connection with a navigation correction base station, acquiring navigation correction parameters through the navigation correction base station, and correcting the navigation positioning parameters according to the navigation correction parameters.
According to a fourth aspect of the present invention, there is provided a vehicle navigation positioning method applied to a navigation correction base station, the method comprising:
receiving a connection request of an unmanned vehicle, generating navigation correction parameters of the unmanned vehicle, and transmitting the navigation correction parameters to the unmanned vehicle;
or receiving a connection request of the unmanned vehicle, generating navigation correction parameters of the unmanned vehicle, and transmitting the navigation correction parameters to the unmanned vehicle and a server.
According to a fifth aspect of the present invention, there is provided a navigation correction device mounted on an unmanned vehicle, the device comprising:
the communication module is used for establishing communication connection with the navigation correction base station;
the optical module is used for reversely searching the beacon on the navigation correction base station and determining the azimuth of the navigation correction base station;
And the cradle head module is used for installing the optical module and calculating the course angle of the unmanned vehicle through the rotation angle of the cradle head module.
According to a sixth aspect of the present invention, there is provided a navigation correction base station, at least one of which is installed in a traveling area of an unmanned vehicle, the navigation correction base station comprising:
the communication module is used for establishing communication connection with the unmanned vehicle;
the optical ranging module is used for searching a beacon on the unmanned vehicle and measuring the distance between the navigation correction base station and the beacon;
and the cradle head module is used for installing the optical ranging module and acquiring the rotation angle of the cradle head module.
According to a seventh aspect of the present invention, there is provided a vehicle navigation positioning system, the system comprising:
the inertial navigation positioning module is integrated in the unmanned system and used for acquiring navigation positioning parameters of the unmanned vehicle in real time;
the navigation correction base station is arranged in the driving area of the unmanned vehicle and is used for measuring the real-time position of the unmanned vehicle and acquiring navigation correction parameters.
And the navigation correction device is arranged on each unmanned vehicle, is used for establishing communication connection with the navigation correction base station and is matched with the navigation correction base station to acquire the navigation correction parameters.
According to an eighth aspect of the present invention, there is also provided a computer-readable storage medium having stored thereon a vehicle navigation positioning program which, when executed by a processor, implements the steps of the above-described vehicle navigation positioning method applied to a server side; and/or implementing the above-mentioned vehicle navigation positioning method applied to the unmanned vehicle; a step of a vehicle navigation positioning method for a navigation correction base station.
According to the vehicle navigation positioning method, device, base station, system and readable storage medium provided by the embodiment of the invention, the navigation correction base station is arranged in the driving area of the unmanned vehicle, the unmanned vehicle drives according to the driving planning route of the electronic map in an inertial navigation mode and/or an electronic signal positioning mode, the accumulated error value in the navigation positioning process is calculated, the accumulated error value is eliminated through the navigation correction base station, and the navigation positioning parameter is corrected, the navigation correction base station can enable the unmanned vehicle to obtain an accurate coordinate parameter through a high-precision optical ranging mode, an image recognition mode and other environment sensing sensor or a mechanical socket positioning mode and other modes, so that the unmanned vehicle can continuously perform error correction in the driving process, has the positioning precision level required by operation when entering the working area, and is suitable for application scenes requiring accurate positioning.
Drawings
Fig. 1 is a flowchart of a vehicle navigation positioning method applied to a server in embodiment 1 of the present invention.
Fig. 2 is a flowchart of a first vehicle navigation positioning method applied to an unmanned vehicle according to embodiment 2 of the present invention.
Fig. 3 is a flowchart of a second method for positioning and navigation of an unmanned vehicle according to embodiment 2 of the present invention.
Fig. 4 is a block diagram of a navigation correction device according to embodiment 3 of the present invention.
Fig. 5 is a block diagram of a navigation correction base station according to embodiment 4 of the present invention.
Fig. 6 is a block diagram of a vehicle navigation positioning system according to embodiment 5 of the present invention.
Fig. 7 is a three-dimensional structure diagram of an unmanned vehicle according to an embodiment of the present invention.
Fig. 8 is a three-dimensional structure diagram of a navigation correction base station according to an embodiment of the present invention.
Fig. 9 is a three-dimensional structure diagram of a navigation correction device according to an embodiment of the present invention.
Fig. 10 is a schematic diagram of a principle state of a vehicle navigation positioning system according to an embodiment of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear and obvious, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 10, the vehicle navigation positioning system may include an unmanned vehicle 100, a server side 200, a communication base station 300, a communication positioning satellite 400, and the like. The unmanned vehicle 100 integrates an unmanned system that includes sensing (Planning) and Control (Control), which are actually a hierarchical structure, with the sensing Planning and Control operating at different levels and interacting at that time. Perception refers to the ability of an unmanned system to gather information from the environment and extract relevant knowledge therefrom. Among other things, the context awareness (Environmental Perception) refers specifically to semantic classification of data for context understanding capabilities, such as location of obstacles, detection of road signs/markers, detection of pedestrian vehicles, etc. Planning is the process by which an unmanned vehicle makes some purposeful decision for a certain goal, which for an unmanned vehicle is usually from the departure point to the destination while avoiding obstacles, and continuously optimizing the driving trajectory and behavior to ensure the safety and comfort of the passengers. The Planning layer is generally subdivided into three layers, mission Planning (Mission Planning), behavior Planning (Behavioral Planning) and action Planning (Motion Planning). Finally, control is the ability of the drone to accurately perform planned actions that originate from higher layers. Unmanned vehicle 100 enables unmanned automated driving based on an unmanned system, and in general, localization is also part of the perception, localization being the ability of the unmanned vehicle to determine its position relative to the environment. The foregoing description has generally been directed to an unmanned vehicle positioning system comprising: positioning and environment feature matching based on inertial navigation and electronic signals; in general, inertial navigation and satellite positioning modes such as GPS are combined with each other, and multiple sensors are integrated to realize reliable navigation positioning of the unmanned vehicle, so that a communication network is formed among the unmanned vehicle 100, the communication base station 300 and the communication positioning satellite 400. The server 200 forms an unmanned navigation positioning system together with the unmanned vehicle 100, the communication base station 300, and the communication positioning satellite 400; in addition, a terminal 500 may be further provided in the communication network, and the terminal 500 may establish communication interaction with the server 200 through the communication base station 300, or the terminal 500 may directly perform communication interaction with the unmanned system of the unmanned vehicle 100.
Based on the above-described vehicle navigation positioning system, the following specific embodiments are presented.
Example 1
As shown in fig. 1, the method for positioning and navigating a vehicle provided by the embodiment of the invention is applied to a server side, and the method includes:
s101, establishing communication connection with an unmanned system of a vehicle, and sending running planning route information to the unmanned vehicle;
unmanned vehicles need to integrate unmanned driving systems to realize unmanned automatic travel on a preset planned route, and unmanned driving systems comprise a plurality of sensors, including long-range radar, laser radar, short-range radar, vehicle-mounted cameras, ultrasonic waves, GPS, gyroscopes and the like. Each sensor continuously generates data during operation, and the system has strong real-time processing requirements on the data generated by each sensor. For example, cameras need to achieve a frame rate of 60FPS, meaning that the processing time left for each frame is only 16 milliseconds. However, as the amount of data increases, allocating system resources becomes a problem. For example, when a large amount of laser radar point cloud data enters the system, the CPU resource is occupied, so that the data of the camera cannot be processed in time, and the unmanned system misses the recognition of the traffic light, thereby causing serious consequences. Therefore, the computing platform is reasonably selected to complete real-time large-scale sensing data processing, real-time driving early warning and decision making are carried out, and the method is of great importance to unmanned safety, reliability and persistence. While providing high performance data processing support, computing platforms also need to address issues such as power consumption, heat dissipation, hardware size, etc., which is also important for continuous safe driving. Thus, in existing drone computing platforms, various hardware modules have associated integration solutions. Different computing units are connected through a Switch or a PCIe Switch to exchange data, so that cooperative operation is completed. In unmanned operation, not only the calculation and decision of sensor data related to intelligent driving are needed, but also the coordination control of each mechanical part in the traditional automobile is needed to finish the execution and conversion of driving operation. This requires a control platform: an ECU (Electronic Control Unit ) with the assistance of a communication bus; the ECU is a microcomputer controller for car in its application, and uses a set of fixed program based on accurate calculation and lots of experimental data to continuously compare and calculate the data of every mechanical component sensor, then give out instruction to implement mechanical control. Communication buses such as CAN, USB3.0, LIN and the like are used for realizing the effective communication of automobile data sharing and instructions in the process.
The unmanned system has strong sensor sensing capability and corresponding data processing capability; the unmanned system integrated computing platform is typically capable of running planning for a user's travel plan and generating travel planning route information. When the hardware cost of the unmanned system is reduced in order to save the redundancy of the unmanned system, the unmanned system can be contacted with the unmanned system through a server, and then a navigation positioning service request of the unmanned vehicle reported by the unmanned system is received; acquiring a navigation positioning service request of an unmanned vehicle reported by a terminal and other equipment; and carrying out running planning on the server side, generating running planning route information, and then issuing to the unmanned system.
S102, receiving navigation positioning parameters reported by the unmanned system, and calculating and obtaining a positioning error value accumulated in the running process of the unmanned vehicle according to the navigation positioning parameters;
the unmanned system acquires navigation positioning parameters of the unmanned vehicle in real time through fusion of various sensors, such as inertial navigation, electronic signal positioning, environmental characteristic matching and the like and fusion of various navigation modes; because the noise of the navigation mode and the sensor can form a certain positioning error, the error is continuously accumulated along with the time, so that the positioning error value is larger and larger. And the unmanned vehicle reports the navigation positioning parameters to a server in real time, and the server calculates and acquires the positioning error value in the navigation positioning process according to the navigation positioning parameters.
And S103, when the positioning error value reaches a positioning error threshold value, a navigation correction execution instruction is sent to the unmanned vehicle.
After the positioning error value is larger and larger, a certain deviation exists in the running route of the unmanned vehicle inevitably, and in some application scenes, the unmanned vehicle is required to reach a designated position for operation, and the requirement on the accuracy of a working area is extremely high and cannot be realized due to the overlarge positioning error; at this time, under the condition of meeting the positioning precision requirement, a positioning error threshold value is preset, the server compares the accumulated positioning error value with the positioning error threshold value in real time, and when the positioning error threshold value is reached, the server sends a navigation correction execution instruction to the unmanned vehicle; and correcting the navigation positioning parameters of the unmanned vehicle according to a preset navigation correction mode so as to eliminate the positioning error value.
Specifically, a plurality of navigation correction base stations are arranged in a driving area of the unmanned vehicle, the navigation correction base stations have fixed coordinate information, the coordinate information of the navigation correction base stations is marked on an electronic map corresponding to the driving area, the electronic map is synchronized to an unmanned driving system and a server, and before the step of sending a navigation correction execution instruction to the unmanned vehicle, the server inquires the navigation correction base stations closest to the current position of the unmanned vehicle according to the driving planning route information. The navigation correction base station can obtain coordinate information relative to the navigation correction base station and relative position information with higher precision by means of a physical socket joint mode, visual positioning, optical ranging and the like, the information is used as a navigation correction parameter, and the unmanned system can correct the current navigation positioning parameter according to the navigation correction parameter, so that a positioning error value is eliminated.
In addition, the server can also establish communication connection with the navigation correction base station, and the server receives the navigation correction parameters of the unmanned vehicle reported by the navigation correction base station and corrects the navigation positioning parameters according to the navigation correction parameters. And recalculating and obtaining a cumulative positioning error value in the unmanned vehicle running process according to the corrected navigation positioning parameters. By using the external navigation correction parameters provided by the fixed navigation correction base station as a reference, the unmanned vehicle can correct errors generated by noise accumulation, and the highest millimeter-level positioning precision is realized on the premise of ensuring the minimum precision requirement.
Example 2
As shown in fig. 2, the method for navigating and positioning a vehicle provided by the embodiment of the invention is applied to an unmanned vehicle, and includes:
s201, receiving the running planning route information issued by a server, and reporting navigation positioning parameters to the server;
in order to save redundancy of the unmanned system and reduce hardware cost of the unmanned system, the navigation positioning system comprises a server, the unmanned vehicle and a navigation correction base station, running planning is carried out at the server end, and monitoring calculation of running planning route information and positioning error values is generated and then sent to the unmanned system. Specifically, the unmanned system receives the running planning route information below the server, the unmanned vehicle runs according to the running planning route information, and the navigation positioning device of the unmanned system acquires navigation positioning parameters in real time and reports the navigation positioning parameters to the server.
S202, when a positioning error value accumulated in the running process of the unmanned vehicle reaches a positioning error threshold value, receiving a navigation correction execution instruction issued by the server;
the server calculates and acquires a positioning error value in the navigation positioning process according to the navigation positioning parameters, and when the positioning error value reaches a positioning error threshold value, the server issues a navigation correction execution instruction to the unmanned vehicle.
S203, establishing communication connection with a navigation correction base station according to the navigation correction execution instruction, acquiring navigation correction parameters through the navigation correction base station and reporting the navigation correction parameters to the server.
The server queries a navigation correction base station closest to the current position of the unmanned vehicle according to the running planning route information, coordinate information of the navigation correction base station is integrated in a navigation correction execution instruction, and communication connection is established with the navigation correction base station according to the navigation correction execution instruction; or the unmanned system searches the communication signal of the navigation correction base station in a wireless communication broadcasting mode and the like, so that the unmanned system searches for the communication signal interaction connection with the navigation correction base station. The navigation correction base station can obtain coordinate information relative to the navigation correction base station and relative position information with higher precision by means of a physical socket joint mode, visual positioning, optical ranging and the like, the information is used as a navigation correction parameter, and the unmanned system can correct the current navigation positioning parameter according to the navigation correction parameter, so that a positioning error value is eliminated.
Example 3
As shown in fig. 3, the method for navigating and positioning a vehicle provided by the embodiment of the invention is applied to an unmanned vehicle, and includes:
s301, receiving a navigation positioning service request and generating driving planning route information;
when the unmanned system of the unmanned vehicle has enough system resources and calculation capability, the electronic map with the coordinate information of the navigation correction base station and the like is directly stored into the unmanned system, communication connection is established between the input end of the unmanned system or the unmanned system and the unmanned system through a terminal, a navigation positioning service request, namely a running destination of a user, is input to the unmanned vehicle through the input end or a terminal interface, and the unmanned system produces running planning information according to the navigation positioning service request.
S302, acquiring navigation positioning parameters, and calculating and obtaining a positioning error value accumulated in the running process of the unmanned vehicle according to the navigation positioning parameters;
the unmanned system acquires navigation positioning parameters of the unmanned vehicle in real time through fusion of various sensors, such as inertial navigation, electronic signal positioning, environmental characteristic matching and the like and fusion of various navigation modes; and the unmanned system calculates and acquires a positioning error value in the navigation positioning process according to the navigation positioning parameters.
S303, inquiring a nearest navigation correction base station according to the running planning route information when the accumulated positioning error value reaches a positioning error threshold value in the running process of the unmanned vehicle;
the unmanned system searches the communication signal of the navigation correction base station according to the electronic map and the driving route information or through broadcasting of wireless communication and the like, so that the unmanned system searches for the communication signal interaction connection with the navigation correction base station.
S304, establishing communication connection with a navigation correction base station, acquiring navigation correction parameters through the navigation correction base station, and correcting the navigation positioning parameters according to the navigation correction parameters.
The navigation correction base station can obtain coordinate information relative to the navigation correction base station and relative position information with higher precision by means of a physical socket joint mode, visual positioning, optical ranging and the like, the information is used as a navigation correction parameter, and the unmanned system can correct the current navigation positioning parameter according to the navigation correction parameter, so that a positioning error value is eliminated.
Example 4
The embodiment of the invention also provides a vehicle navigation positioning method which is applied to the navigation correction base station, and comprises the following steps:
Receiving a connection request of an unmanned vehicle, generating navigation correction parameters of the unmanned vehicle, and transmitting the navigation correction parameters to the unmanned vehicle; or receiving a connection request of the unmanned vehicle, generating navigation correction parameters of the unmanned vehicle, and transmitting the navigation correction parameters to the unmanned vehicle and a server.
The navigation correction base station has various forms, such as a fixed positioning socket distributed in a driving area is adopted, a positioning socket is arranged in the driving area in a similar manner to an automatic charging manner of an indoor sweeping robot in a manner of a stand column, the ground and the like, a positioning plug connector is correspondingly arranged on an unmanned vehicle, the socket can adopt a conical structure with a large opening, and therefore, even if the unmanned vehicle has a large positioning error value, the positioning plug connector can be smoothly combined with the positioning socket, and the unmanned vehicle has accurate navigation positioning parameters in the navigation correction base station, so that the navigation correction purpose is realized. In addition, for example, a positioning socket, a positioning plug connector and a visual positioning recognition system are combined with each other, and when the visual positioning recognition system approaches to a navigation correction base station, the real-time navigation positioning parameters of the unmanned vehicle are corrected, so that the positioning socket and the positioning plug connector can be combined with each other, and the purpose of navigation correction is achieved. And for example, the navigation correction base station adopts modes such as optical ranging and the like to obtain accurate navigation correction parameters between the unmanned vehicle and the navigation correction base station, and the navigation positioning parameters of the unmanned vehicle are corrected according to the navigation correction parameters.
When the vehicle navigation positioning system comprises an unmanned vehicle and a navigation positioning base station, the navigation positioning base station establishes communication connection with an unmanned system of the unmanned vehicle, and corrects navigation positioning parameters with the unmanned system.
When the vehicle navigation positioning system comprises an unmanned vehicle, a server and a navigation positioning base station, the navigation positioning base station can be connected with at least one of an unmanned system of the unmanned vehicle and the server in a communication way, the navigation positioning base station reports navigation correction parameters to at least one of the unmanned system and the server, and the server corrects the navigation positioning parameters according to the navigation correction parameters or the unmanned system corrects the navigation positioning parameters according to the navigation correction parameters.
Example 5
As shown in fig. 4, an embodiment of the present invention provides a navigation correction device 10, where the navigation correction device 10 is installed on an unmanned vehicle, and the device 10 includes:
a communication module 11 for establishing communication connection with the navigation correction base station;
an optical module 12, configured to reversely find a beacon on the navigation correction base station, and determine an azimuth of the navigation correction base station;
and the cradle head module 13 is used for installing the optical module and calculating the course angle of the unmanned vehicle through the rotation angle of the cradle head module.
Specifically, as shown in fig. 7 and 9, the navigation correction device 10 is mounted on an unmanned vehicle 100, and includes a pan/tilt mounting mechanism 101, an optical imaging module 102, and an optical beacon 103 provided at an upper portion of the device 10. The optical camera module 102 on the navigation calibration apparatus 10 does not include a ranging module, and after the unmanned vehicle establishes communication connection with the navigation calibration base station, the camera on the optical camera module 102 will reversely search for the beacon on the navigation calibration base station to determine the azimuth of the navigation calibration base station. The angle returned by the cradle head mounting mechanism 101 can be used for calculating the current course angle of the unmanned vehicle; the heading angle and the coordinates returned by the navigation correction base station form the final coordinates (polar axis coordinates, heading angle) of the unmanned vehicle.
Example 6
As shown in fig. 5, in one embodiment of the present invention, at least one navigation correction base station 20 is installed in a driving area of an unmanned vehicle, where the navigation correction base station 20 includes:
a communication module 21 for establishing a communication connection with the unmanned vehicle;
an optical ranging module 22 for finding a beacon on the unmanned vehicle and measuring a distance between the navigation correction base station and the beacon;
And the cradle head module 23 is used for installing the optical ranging module and acquiring the rotation angle of the cradle head module.
As shown in fig. 8, the navigation correction base station 20 includes a base 201, a base station two-axis cradle head 202 installed on the base 201, and an optical ranging module 22 composed of a camera 203 and a measurement module 204 is installed on the two-axis cradle head 202, wherein the camera 203 can automatically track a specified beacon (high brightness LED color block); a base station beacon 205 is provided on the top of the base station, and a power device, a control circuit board, and the like are provided in the base 201. The communication module 21 is configured to perform one-to-one or one-to-many communication with the unmanned vehicle, where the unmanned vehicle sends its positioning coordinates based on inertial navigation in real time, and when positioning with high accuracy, the navigation correction base station 20 returns the ranging positioning result to the unmanned system of the unmanned vehicle, and corrects the unmanned vehicle coordinates. The optical ranging module 21 is arranged on a biaxial holder, and the measuring module 204 is used for ranging, so that the camera 203 can search for marks on the unmanned vehicle. The camera 203 searches for a locked vehicle mark based on the vehicle return coordinate, the measurement module 204 measures the distance from the navigation correction base station 20 to the vehicle, and the cradle head motor returns to the current rotation angle; therefore, the polar coordinate parameter of the unmanned vehicle relative to the navigation correction base station is formed, and the polar axis coordinate of the current unmanned vehicle can be calculated.
Example 7
As shown in fig. 6, an embodiment of the present invention provides a vehicle navigation positioning system, the system including:
the inertial navigation positioning module 30 is integrated in the unmanned system, and is used for acquiring navigation positioning parameters of the unmanned vehicle 100 in real time;
the navigation correction base station 20, at least one navigation correction base station 20 is disposed in the driving area of the unmanned vehicle 100, and is configured to measure the real-time position of the unmanned vehicle 100 and obtain the navigation correction parameters.
The navigation correction device 10 is installed in each unmanned vehicle 100, and is configured to establish a communication connection with the navigation correction base station 20, and cooperate with the navigation correction base station 20 to obtain the navigation correction parameters.
The embodiment of the invention adopts an inertial navigation mode, wherein a three-dimensional polar coordinate position is adopted in inertial navigation, the rotating speed of wheels and the three-axis angular speed are required to be acquired, and the current linear speed and the angular speed of the vehicle are calculated according to a vehicle kinematic model; the positioning can be realized by only self information without obtaining information from the outside. The characteristics can greatly reduce the difficulty and cost of system deployment; unfortunately, as errors accumulate, positioning accuracy is difficult to ensure. Aiming at the defects, the invention adopts a mode of combining coarse positioning and fine positioning for positioning; in a certain distance, an inertial navigation scheme is directly adopted as coarse positioning, and when errors are accumulated, positioning correction of a navigation correction base station is adopted as fine positioning, so that the errors are eliminated, and the accuracy is ensured.
According to the embodiment of the invention, monocular optical ranging is adopted, a static navigation correction base station with a ranging function is deployed at a known position, the distance and angle relation of the unmanned vehicle are captured through an optical ranging module, and the accurate coordinates of the unmanned vehicle are measured. The optical ranging precision is far higher than that of the electronic signal ranging technology, and the requirement on high precision can be ensured.
The navigation correction base station 20 is a fast deployable fixed base station for accurately positioning the unmanned vehicle 100; unmanned vehicle 100 is a mobile device with inertial navigation positioning module 30 that can be moved to achieve coarse positioning by calculating the displacement of the device. Coarse positioning is performed through an inertial navigation system arranged in the unmanned vehicle, current approximate position information is acquired at any time, when high precision is needed, the fixed navigation correction base station with known position is used for searching the unmanned vehicle, the relative position between the unmanned vehicle and the navigation correction base station is measured, and the self coordinates of the unmanned vehicle are corrected through external feedback, so that positioning errors are ensured to be within a certain limit, and the high-precision positioning requirement is met in a designated area.
The unmanned system of the unmanned vehicle 100 acquires a CAD map of the environment in advance, and the basic electronic map generates an XY two-dimensional Cartesian coordinate system; firstly, the navigation correction base station is placed at a preset position of a running area, the optical ranging module is positioned in the vertical direction by the leveling angle to reduce the ranging error caused by inclination, two points with known coordinates are searched near the navigation correction base station 20, two optical beacons are respectively placed, the coordinates of the navigation correction base station 20 are determined by utilizing a triangular positioning method, and the deployment of the navigation correction base station 20 is completed.
After the unmanned vehicle 100 is started, the navigation correction base station 20 firstly carries out distance measurement and positioning, and the current position of the unmanned vehicle 100 is accurately obtained; the unmanned vehicle 100 uses the inertial navigation positioning module 30 to record its own navigation positioning parameters including three-axis acceleration, three-axis angular velocity and current attitude angle in real time, and calculates the walked path according to these parameters, so as to obtain the real-time coarse positioning of the unmanned vehicle 100. When the unmanned vehicle 100 travels a long distance, the travel should be stopped and the navigation correction base station 20 again performs fine positioning to correct the current coordinates. After the unmanned vehicle 100 reaches the high-precision target point, fine positioning is performed, and if the distance from the target point after correction is smaller than a certain threshold value, the inertial navigation positioning module 30 finishes the last distance; if the correction value is larger than the threshold value, repeating the correction process; it will be appreciated that inertial navigation produces negligible errors when the distance travelled by the unmanned vehicle 100 is below this threshold.
As shown in fig. 10, a plurality of navigation positioning base stations 20 are disposed in a driving area, the unmanned vehicle 100 is operated in the driving area, the navigation correction device 10 is mounted on the unmanned vehicle 100, the unmanned vehicle 100 is controlled by an unmanned system, the unmanned vehicle 100 performs real-time navigation operation in the driving area by combining with each other through an inertial navigation mode or a plurality of sensors, the user can perform communication connection with the unmanned system, the server 200, etc. through the terminal 500, and the terminal 500 can be implemented in various forms. For example, the terminal 500 described in the present invention may include terminals such as a set-top box, a mobile terminal, a smart phone, a notebook computer, a digital broadcast receiver, a PDA (Personal Digital Assistant ), a PAD (tablet computer), a PMP (portable multimedia player), a navigation device, and the like, and fixed terminals such as a digital TV, a desktop computer, and the like. However, it will be understood by those skilled in the art that the configuration according to the embodiment of the present invention can be applied to a fixed type terminal in addition to elements particularly used for a moving purpose.
Example 8
The embodiment of the invention also provides a computer readable storage medium, wherein the computer readable storage medium is stored with a vehicle navigation positioning program, and when the vehicle navigation positioning program is executed by a processor, the steps of the vehicle navigation positioning method applied to the server side are realized; and/or implementing the above-mentioned vehicle navigation positioning method applied to the unmanned vehicle; a step of a vehicle navigation positioning method for a navigation correction base station.
Industrial applicability
According to the vehicle navigation positioning method, device, base station, system and readable storage medium provided by the embodiment of the invention, the navigation correction base station is arranged in the driving area of the unmanned vehicle, the unmanned vehicle drives according to the driving planning route of the electronic map in an inertial navigation mode and/or an electronic signal positioning mode, the accumulated error value in the navigation positioning process is calculated, the accumulated error value is eliminated through the navigation correction base station, and the navigation positioning parameter is corrected, the navigation correction base station can enable the unmanned vehicle to obtain an accurate coordinate parameter through a high-precision optical ranging mode, an image recognition mode and other environment sensing sensor or a mechanical socket positioning mode and other modes, so that the unmanned vehicle can continuously perform error correction in the driving process, has the positioning precision level required by operation when entering the working area, and is suitable for application scenes requiring accurate positioning.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a computer readable storage medium (such as ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the vehicle navigation positioning method according to the embodiments of the present invention.
The preferred embodiments of the present invention have been described above with reference to the accompanying drawings, and thus do not limit the scope of the claims of the present invention. Any modifications, equivalent substitutions and improvements made by those skilled in the art without departing from the scope and spirit of the present invention shall fall within the scope of the appended claims.
Claims (10)
1. The vehicle navigation positioning method is applied to a server side and is characterized by comprising the following steps:
Establishing communication connection with an unmanned system of the vehicle, and sending running planning route information to the unmanned vehicle;
receiving navigation positioning parameters reported by the unmanned system, and calculating and obtaining a positioning error value accumulated in the running process of the unmanned vehicle according to the navigation positioning parameters;
when the positioning error value reaches a positioning error threshold value, a navigation correction execution instruction is sent to the unmanned vehicle;
and marking the fixed coordinate information of the navigation correction base station on an electronic map corresponding to a driving area, synchronizing the electronic map to an unmanned driving system and a server, and inquiring the navigation correction base station nearest to the current position of the unmanned vehicle by the server according to the driving planning route information before the step of sending a navigation correction execution instruction to the unmanned vehicle.
2. The vehicle navigation positioning method according to claim 1, characterized in that after the step of issuing a navigation correction execution instruction to the unmanned vehicle, the method further comprises:
and receiving the navigation correction parameters of the unmanned vehicle reported by the navigation correction base station, and correcting the navigation positioning parameters according to the navigation correction parameters.
3. The vehicle navigation positioning method according to claim 2, wherein after the step of correcting the navigation positioning parameter according to the navigation correction parameter, the method further comprises:
and recalculating and obtaining a cumulative positioning error value in the unmanned vehicle running process according to the corrected navigation positioning parameters.
4. A vehicle navigation positioning method applied to an unmanned vehicle, the method comprising:
receiving running planning route information issued by a server, and reporting navigation positioning parameters to the server;
when the accumulated positioning error value reaches a positioning error threshold value in the running process of the unmanned vehicle, receiving a navigation correction execution instruction issued by the server;
establishing communication connection with a navigation correction base station according to the navigation correction execution instruction, acquiring navigation correction parameters through the navigation correction base station and reporting the navigation correction parameters to the server;
the unmanned vehicle acquires coordinate information relative to the navigation correction base station as the navigation correction parameter by one of a physical socket joint mode, visual positioning and optical ranging, and corrects the current navigation positioning parameter according to the navigation correction parameter.
5. A vehicle navigation positioning method applied to an unmanned vehicle, the method comprising:
receiving a navigation positioning service request and generating running planning route information;
collecting navigation positioning parameters, and calculating to obtain a positioning error value accumulated in the running process of the unmanned vehicle according to the navigation positioning parameters;
when the accumulated positioning error value in the running process of the unmanned vehicle reaches a positioning error threshold value, inquiring a nearest navigation correction base station according to the running planning route information;
establishing communication connection with a navigation correction base station, acquiring navigation correction parameters through the navigation correction base station, and correcting the navigation positioning parameters according to the navigation correction parameters;
the unmanned vehicle acquires coordinate information relative to the navigation correction base station as the navigation correction parameter by one of a physical socket joint mode, visual positioning and optical ranging, and corrects the current navigation positioning parameter according to the navigation correction parameter.
6. A vehicle navigation positioning method applied to a navigation correction base station, the method comprising:
Receiving a connection request of an unmanned vehicle, generating navigation correction parameters of the unmanned vehicle, and transmitting the navigation correction parameters to the unmanned vehicle;
or receiving a connection request of an unmanned vehicle, generating navigation correction parameters of the unmanned vehicle, and transmitting the navigation correction parameters to the unmanned vehicle and a server;
and the unmanned vehicle acquires coordinate information relative to the navigation correction base station as the navigation correction parameter by one of a physical socket joint mode, visual positioning and optical ranging.
7. A navigation correction device mounted on an unmanned vehicle, the device comprising:
the communication module is used for establishing communication connection with the navigation correction base station;
the optical module is used for reversely searching the beacon on the navigation correction base station and determining the azimuth of the navigation correction base station;
the cradle head module is used for installing the optical module and calculating the course angle of the unmanned vehicle through the rotation angle of the cradle head module;
the navigation correction device consists of a holder installation mechanism, an optical camera module and an optical beacon arranged at the upper part of the device; when the unmanned vehicle and the navigation correction base station are in communication connection, a camera on the optical camera module can reversely search a beacon on the navigation correction base station to determine the azimuth of the navigation correction base station; the return angle of the holder installation mechanism can be used for calculating the current course angle of the unmanned vehicle; the course angle and the coordinates returned by the navigation correction base station form the final coordinates of the unmanned vehicle.
8. A navigation correction base station, at least one of which is installed in a traveling area of an unmanned vehicle, characterized by comprising:
the communication module is used for establishing communication connection with the unmanned vehicle;
the optical ranging module is used for searching a beacon on the unmanned vehicle and measuring the distance between the navigation correction base station and the beacon;
the cradle head module is used for installing the optical ranging module and acquiring the rotation angle of the cradle head module;
the navigation correction base station specifically comprises a base and a base station biaxial holder arranged on the base, wherein the optical ranging module consisting of a camera and a measuring module is arranged on the biaxial holder, and the camera is used for automatically tracking a specified beacon; a base station beacon is provided on top of the navigation correction base station.
9. A vehicle navigation positioning system, the system comprising:
the inertial navigation positioning module is integrated in the unmanned system and used for acquiring navigation positioning parameters of the unmanned vehicle in real time;
the navigation correction base station is arranged in a driving area of the unmanned vehicle and is used for measuring the real-time position of the unmanned vehicle and acquiring navigation correction parameters;
The navigation correction device is arranged on each unmanned vehicle, is used for establishing communication connection with the navigation correction base station and is matched with the navigation correction base station to acquire the navigation correction parameters;
the navigation correction device and the navigation correction base station enable the unmanned vehicle to acquire coordinate information relative to the navigation correction base station as the navigation correction parameter in one of a physical socket joint mode, visual positioning and optical ranging mode, and the unmanned vehicle corrects the current navigation positioning parameter according to the navigation correction parameter.
10. A computer readable storage medium, wherein a vehicle navigation positioning program is stored on the computer readable storage medium, and when the vehicle navigation positioning program is executed by a processor, the steps of the vehicle navigation positioning method applied to a server according to any one of claims 1-3 are implemented; and/or the steps of implementing a vehicle navigation positioning method applied to an unmanned vehicle as claimed in any one of claims 4, 5; the method for positioning a vehicle navigation of a navigation correction base station of claim 6.
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