CN102778686A - Synergic vehicle positioning method based on mobile global positioning system (GPS)/inertial navigation system (INS) node - Google Patents
Synergic vehicle positioning method based on mobile global positioning system (GPS)/inertial navigation system (INS) node Download PDFInfo
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- CN102778686A CN102778686A CN2012102778992A CN201210277899A CN102778686A CN 102778686 A CN102778686 A CN 102778686A CN 2012102778992 A CN2012102778992 A CN 2012102778992A CN 201210277899 A CN201210277899 A CN 201210277899A CN 102778686 A CN102778686 A CN 102778686A
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Abstract
The invention relates to a synergic vehicle positioning method based on a mobile global positioning system (GPS)/inertial navigation system (INS) node, which belongs to the technical field of vehicle navigating and positioning. The method comprises the following steps: 1, a vehicle which carries a GPS/INS integrated navigation system utilizes a data fusion method to obtain the vehicle position information; 2, the high-precision vehicle position information which is output by the GPS/INS integrated navigation system is compared with the vehicle position information which is separately outputted by a GPS receiver, and thus, the GPS position error is obtained; 3, by virtue of a wireless transmission method, the vehicle which carries a GPS/INS integrated navigation system transmits the GPS position error to an adjacent vehicle which only carries the GPS receiver; and 4, the vehicle which only carries the GPS receiver subtracts the GPS position error which is received through wireless transmission on the basis of the position information which is outputted by the GPS receiver, so the vehicle positioning result is obtained. The method combines an integrated navigation technology with a vehicle communication technology, so a 'mobile' differential GPS reference station is realized, and the vehicle navigating and positioning precision is effectively improved.
Description
Technical field
The present invention relates to a kind of collaborative vehicle localization method, belong to the automobile navigation field of locating technology based on mobile GPS/INS node.
Background technology
Along with science and technology development, Vehicular navigation system has obtained application more and more widely in recent years.How under the condition of vehicle ', to obtain accurate localization information as far as possible, how the Vehicular navigation system of developing low-cost becomes critical problem.GPS is as the GPS of a new generation, have round-the-clock, global, continuously advantages such as three-dimensional navigation data and error bounded are provided.From aspects such as cost, realizabilitys, GPS has the incomparable advantage of other system.But owing to receiving reasons such as ephemeris error, ionospheric error, the bearing accuracy of common GPS receiver is had a strong impact on.The bearing accuracy of common GPS receiver can reach about 30m, and this precision obviously can not satisfy high-precision vehicle location requirement.
In order to improve the bearing accuracy of GPS, the generation thereupon of differential GPS.Differential GPS (DGPS; Differential GPS) at first utilizes the differential GPS base station of known accurate three-dimensional coordinate; Try to achieve pseudorange correction or position correction amount; Again this correction is sent to user side (GPS navigation appearance) in real time or afterwards, the measurement data of user side is revised, to improve the GPS bearing accuracy.The information mode of sending according to the differential GPS base station can be divided three classes the differential GPS location, that is: differential position, pseudorange and phase difference.Wherein, differential position is the simplest a kind of difference method, and this differential system can reequiped or form to any GPS receiver all.The principle of differential position is: just can carry out three-dimensional localization after being installed in 4 satellites of GPS receiver observation on the base station; Calculate the coordinate of base station; Owing to exist orbit error, clocking error, atmospheric effect and ionospheric error etc., the coordinate that calculates and the known coordinate of base station are different, have an error; Base station is obtained error of coordinate and correction is sent and received by user side, corrects with the user side coordinate that it is resolved.Utilize the DGPS of position-based difference that vehicle is positioned, can bearing accuracy be brought up to meter level even higher by ten meter levels.But DGPS also has its remarkable shortcoming in practical engineering application, as: one, DGPS receiver price can't obtain promoting in vehicle mounted guidance is used far above common GPS receiver; Two, because the base station of DGPS is often far away apart from user side, when user side was operated in the built-up urban environment, DGPS can't eliminate the error that multipath effect brings, and caused the bearing accuracy of DGPS to descend to some extent.Inertial navigation system (INS; Inertial navigation system) is based on the self-aid navigation system of inertial sensor; It utilizes the angular velocity and the acceleration of the motion of inertial navigation sensor measurement, confirms vehicle location through calculating, and realizes the autonomous positioning of vehicle.But the drift error of inertance element and calibrated error will make cumulative errors along with the time accumulates gradually, finally reach intolerable degree, and present high-precision INS system price is high, be difficult in to obtain in the onboard navigation system promoting.The appearance of multi-sensor fusion technology has promoted the development of vehicle positioning technology greatly, utilizes multi-sensor fusion technology, and the GPS and the INS that hang down precision are combined, and can obtain high-precision integrated navigation positioning result.
Along with the development of car networking technology, the communication technology between car and the car is more and more ripe.Through Radio Transmission Technology, information such as switch that can be real-time between vehicle and the vehicle, speed.
Summary of the invention
The present invention proposes a kind of collaborative vehicle localization method based on mobile GPS/INS node; This method goes up at part vehicle (like bus) GPS/INS integrated navigation system and radio transmitting device is installed; Utilize the GPS/INS integrated navigation system to obtain vehicle position information; Do comparison with the information of vehicles of the independent output of GPS simultaneously, draw the site error of GPS, utilize radio transmitting device that this GPS site error value is propagated near the vehicle that only is loaded with common GPS receiver then; These vehicles deduct this GPS site error value on the basis of the vehicle position information of common GPS output, obtain the vehicle location result.
The present invention adopts following technical scheme for solving its technical matters:
A kind of collaborative vehicle localization method based on mobile GPS/INS node comprises the following steps:
(1) vehicle that is loaded with the GPS/INS integrated navigation system utilizes data fusion method to obtain high-precision vehicle position information;
(2) positional information of the positional information and the GPS receiver of the output of GPS/INS integrated navigation system being exported separately compares, and draws GPS site error value;
(3) vehicle that is loaded with the GPS/INS integrated navigation system is equipped with the wireless transmission output device simultaneously, utilizes radio transmitting method, and GPS site error value is propagated near the vehicle that only is loaded with common GPS receiver;
(4) vehicle that only is loaded with common GPS receiver is equipped with the wireless transmission receiving equipment simultaneously; GPS site error value in the receiving step (3); On the basis of the vehicle position information that common GPS receiver is exported, deduct this GPS site error value simultaneously, promptly obtain the vehicle location result.
Data fusion method described in the step (1) comprises Kalman filtering, particle filter, and based on the improvement data anastomosing algorithm of Kalman filtering and particle filter.
GPS/INS integrated navigation system described in the step (1), its array mode are the tight array mode of velocity location.
Radio transmitting method described in the step (3) adopts IEEE 802.11a communication standard protocol.
The differential mode of this method is a differential position.
Beneficial effect of the present invention is following:
(1) the present invention fully utilizes Combinated navigation method and wireless communications method, and compared to traditional differential GPS base station, the present invention has set up " moving " differential GPS base station.
(2) " moving " differential GPS base station of the present invention's foundation is applied widely, can effectively reduce the indelible multipath error of traditional differential GPS base station.
(3) compared to traditional differential GPS, " moving " differential GPS that the present invention sets up is with low cost, is easy to promote.
(4) this method can overcome the influence to common GPS receiver of ionospheric error, multipath error effectively, increases the bearing accuracy that improves common GPS receiver under the little situation effectively at cost.
Description of drawings
Fig. 1 is the vehicle positioning method synoptic diagram based on the differential GPS notion.
Fig. 2 is the tight integrated navigation theory diagram of GPS/INS.
Embodiment
Below in conjunction with accompanying drawing the invention is explained further details.
Based on the vehicle positioning method of differential GPS notion since bus quantity in the city more, scope of activities is extensive, and almost mean allocation on each street, so generally the GPS/INS integrated positioning system is installed on the bus.As shown in Figure 1, the bus that the GPS/INS integrated navigation system is installed is equipped with wireless communication transmissions equipment simultaneously, and this equipment can be broadcasted GPS site error value, propagates and gives near the vehicle that only is loaded with common GPS receiver;
Fig. 2 is the tight integrated navigation theory diagram of GPS/INS, and is as shown in the figure, and the array mode of GPS and INS adopts the tight array mode in position.The vehicle that only is loaded with common GPS receives GPS site error value, and the positional information that the GPS receiver of self is exported is proofreaied and correct, and obtains the precise navigation positioning result.
Principle of the present invention is: the principle of differential GPS is at first to utilize the differential GPS standard station of known accurate three-dimensional coordinate; Try to achieve pseudorange correction or position correction amount; Again this correction is sent to user's (GPS navigation appearance) in real time or afterwards; Measurement data to the user is revised, and to improve the bearing accuracy of GPS, can the bearing accuracy of GPS be brought up to meter level even centimetre-sized by ten meter levels of common GPS.Differential GPS has obtained widespread use at present because its bearing accuracy is high.But the through engineering approaches of differential GPS is used its limitation is arranged also, be embodied in: one, the differential GPS price is higher, is unfavorable for business promotion; Two, in order better to obtain satellite-signal; The differential GPS standard station often is built in spacious rural location; Distant apart from the differential GPS user side; When the differential GPS user side works in the built-up urban environment, tend to receive the influence of the multipath error relevant with urban environment, this error can't be eliminated through difference method.The present invention utilizes the notion of differential GPS; At first go up the higher GPS/INS integrated navigation system of navigation and positioning accuracy is installed at part vehicle (like bus); The relatively output and the independent output of GPS receiver of GPS/INS integrated navigation location then; Obtain the site error value of GPS receiver, through radio transmitting method this GPS site error value is propagated near the vehicle that only is loaded with common GPS receiver at last, just can effectively eliminate the navigation positioning error of common GPS receiver.Concrete steps are following:
(1) vehicle that is loaded with the GPS/INS integrated navigation system utilizes data fusion method to obtain high-precision vehicle position information.The data fusion method here refers to Kalman filtering, particle filter and based on the various optimization filtering algorithms of Kalman filtering and particle filter.
(2) vehicle position information of the high-precision vehicle position information and the GPS receiver of the output of GPS/INS integrated navigation system being exported separately compares, and draws GPS site error value.
(3) vehicle that is loaded with the GPS/INS integrated navigation system is equipped with the wireless transmission output device simultaneously; And the vehicle that only is loaded with common GPS receiver is equipped with the wireless transmission receiving equipment simultaneously; Radio Transmission Technology capable of using (like IEEE 802.11a) is transferred near the vehicle that only is loaded with common GPS receiver with the GPS site error value that obtains in the step (2).
(4) vehicle that only is loaded with common GPS receiver utilizes the wireless transmission receiving equipment to receive GPS site error value; On the basis of the vehicle position information that common GPS receiver is exported, deduct this GPS site error value simultaneously, finally obtain high-precision vehicle location result.
Claims (5)
1. the collaborative vehicle localization method based on mobile GPS/INS node is characterized in that comprising the following steps:
(1) vehicle that is loaded with the GPS/INS integrated navigation system utilizes data fusion method to obtain high-precision vehicle position information;
(2) positional information of the positional information and the GPS receiver of the output of GPS/INS integrated navigation system being exported separately compares, and draws GPS site error value;
(3) vehicle that is loaded with the GPS/INS integrated navigation system is equipped with the wireless transmission output device simultaneously, utilizes radio transmitting method, and GPS site error value is propagated near the vehicle that only is loaded with common GPS receiver;
(4) vehicle that only is loaded with common GPS receiver is equipped with the wireless transmission receiving equipment simultaneously; GPS site error value in the receiving step (3); On the basis of the vehicle position information that common GPS receiver is exported, deduct this GPS site error value simultaneously, promptly obtain the vehicle location result.
2. according to the collaborative vehicle localization method described in the claim 1 based on mobile GPS/INS node; It is characterized in that: data fusion method described in the step (1); Comprise Kalman filtering, particle filter, and based on the improvement data anastomosing algorithm of Kalman filtering and particle filter.
3. according to the collaborative vehicle localization method based on mobile GPS/INS node described in the claim 1, it is characterized in that: GPS/INS integrated navigation system described in the step (1), its array mode are the tight array mode of velocity location.
4. according to the collaborative vehicle localization method based on mobile GPS/INS node described in the claim 1, it is characterized in that: radio transmitting method described in the step (3) adopts IEEE 802.11a communication standard protocol.
5. according to the collaborative vehicle localization method based on mobile GPS/INS node described in the claim 1, it is characterized in that: the differential mode of this method is a differential position.
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| CN103018758A (en) * | 2012-12-03 | 2013-04-03 | 东南大学 | Method for moving differential base station based on global positioning system (GPS)/inertial navigation system (INS)/assisted global positioning system (AGPS) |
| CN103471601A (en) * | 2013-09-22 | 2013-12-25 | 东莞市泰斗微电子科技有限公司 | Vehicle-mounted integrated navigation method and vehicle-mounted integrated navigation system |
| CN104808224A (en) * | 2014-01-28 | 2015-07-29 | 石立公 | Satellite positioning error correction system |
| CN104916154A (en) * | 2015-05-14 | 2015-09-16 | 山东大学 | Beidou continuously operating reference station (CORS) compatible bus precise positioning system and working method thereof |
| JP2016114603A (en) * | 2014-12-15 | 2016-06-23 | インターナショナル・ビジネス・マシーンズ・コーポレーションＩｎｔｅｒｎａｔｉｏｎａｌ Ｂｕｓｉｎｅｓｓ Ｍａｃｈｉｎｅｓ Ｃｏｒｐｏｒａｔｉｏｎ | Method and system for processing gps drifting |
| CN107063301A (en) * | 2017-03-02 | 2017-08-18 | 合肥极友软件开发有限公司 | A kind of automated location correcting system of Vehicular satellite positioning |
| CN107894232A (en) * | 2017-09-29 | 2018-04-10 | 湖南航天机电设备与特种材料研究所 | A kind of accurate method for locating speed measurement of GNSS/SINS integrated navigations and system |
| CN109781120A (en) * | 2019-01-25 | 2019-05-21 | 长安大学 | A kind of vehicle combination localization method based on synchronous positioning composition |
| CN110873888A (en) * | 2018-09-04 | 2020-03-10 | 腾讯大地通途（北京）科技有限公司 | Positioning method, positioning device, positioning apparatus, and computer storage medium |
| CN114194210A (en) * | 2021-11-19 | 2022-03-18 | 岚图汽车科技有限公司 | Expressway navigation system, control method and equipment thereof |
| CN117553811A (en) * | 2024-01-08 | 2024-02-13 | 武汉大学 | Vehicle-road co-location navigation method and system based on road side camera and vehicle-mounted GNSS/INS |
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| CN103018758A (en) * | 2012-12-03 | 2013-04-03 | 东南大学 | Method for moving differential base station based on global positioning system (GPS)/inertial navigation system (INS)/assisted global positioning system (AGPS) |
| CN103471601A (en) * | 2013-09-22 | 2013-12-25 | 东莞市泰斗微电子科技有限公司 | Vehicle-mounted integrated navigation method and vehicle-mounted integrated navigation system |
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| JP2016114603A (en) * | 2014-12-15 | 2016-06-23 | インターナショナル・ビジネス・マシーンズ・コーポレーションＩｎｔｅｒｎａｔｉｏｎａｌ Ｂｕｓｉｎｅｓｓ Ｍａｃｈｉｎｅｓ Ｃｏｒｐｏｒａｔｉｏｎ | Method and system for processing gps drifting |
| CN105759289A (en) * | 2014-12-15 | 2016-07-13 | 国际商业机器公司 | Method and system for processing GPS drift |
| CN104916154A (en) * | 2015-05-14 | 2015-09-16 | 山东大学 | Beidou continuously operating reference station (CORS) compatible bus precise positioning system and working method thereof |
| CN104916154B (en) * | 2015-05-14 | 2017-06-16 | 山东大学 | A kind of compatible Big Dipper CORS public transport precise positioning systems and its method of work |
| CN107063301A (en) * | 2017-03-02 | 2017-08-18 | 合肥极友软件开发有限公司 | A kind of automated location correcting system of Vehicular satellite positioning |
| CN107894232A (en) * | 2017-09-29 | 2018-04-10 | 湖南航天机电设备与特种材料研究所 | A kind of accurate method for locating speed measurement of GNSS/SINS integrated navigations and system |
| CN110873888A (en) * | 2018-09-04 | 2020-03-10 | 腾讯大地通途（北京）科技有限公司 | Positioning method, positioning device, positioning apparatus, and computer storage medium |
| WO2020048394A1 (en) * | 2018-09-04 | 2020-03-12 | 腾讯科技（深圳）有限公司 | Positioning method, apparatus and device, and computer-readable storage medium |
| CN110873888B (en) * | 2018-09-04 | 2022-05-06 | 腾讯大地通途（北京）科技有限公司 | Positioning method, positioning device, positioning apparatus, and computer storage medium |
| US11796320B2 (en) | 2018-09-04 | 2023-10-24 | Tencent Technology (Shenzhen) Company Limited | Positioning method, apparatus and device, and computer-readable storage medium |
| CN109781120A (en) * | 2019-01-25 | 2019-05-21 | 长安大学 | A kind of vehicle combination localization method based on synchronous positioning composition |
| CN114194210A (en) * | 2021-11-19 | 2022-03-18 | 岚图汽车科技有限公司 | Expressway navigation system, control method and equipment thereof |
| CN117553811A (en) * | 2024-01-08 | 2024-02-13 | 武汉大学 | Vehicle-road co-location navigation method and system based on road side camera and vehicle-mounted GNSS/INS |
| CN117553811B (en) * | 2024-01-08 | 2024-04-19 | 武汉大学 | Vehicle-road co-location navigation method and system based on road side camera and vehicle-mounted GNSS/INS |
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