CN103116165A - Method of restraining satellite positioning drift and navigation unit - Google Patents
Method of restraining satellite positioning drift and navigation unit Download PDFInfo
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- CN103116165A CN103116165A CN2013100249927A CN201310024992A CN103116165A CN 103116165 A CN103116165 A CN 103116165A CN 2013100249927 A CN2013100249927 A CN 2013100249927A CN 201310024992 A CN201310024992 A CN 201310024992A CN 103116165 A CN103116165 A CN 103116165A
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Abstract
The invention is suitable for the technical field of location, and provides a method of restraining satellite positioning drift and a navigation unit. The method comprises that the navigation unit receives the location data sent by a satellite locating system, the navigation unit calculates the location parameters of the navigation unit according to the location data, the location parameters comprise speed, accelerated speed and displacement; the navigation unit judges whether the location parameters are in a parameter threshold range or not; and the navigation unit discards the location data when the navigation unit judges that the location parameters are out of the parameter threshold range. The method of restraining the satellite positioning drift and the navigation unit have the advantage of restraining drift.
Description
Technical field
The invention belongs to positioning field, relate in particular to a kind of method and guider that suppresses the satnav drift.
Background technology
Global position system or satellite navigation system are systems that is comprised of multi-satellite covering the whole world.This system can guarantee at any time, and on the earth, any point can observe 4 satellites simultaneously, can collect longitude and latitude and the height of this observation station to guarantee satellite, in order to realize the functions such as navigation, location, time service.This technology can be used for vector aircraft, boats and ships, vehicle and individual, safety, arrives the destination along selected route exactly.
At present, the Global Positioning System (GPS) that has come into operation has the GLONASS (Global Navigation Satellite System) (English: Global Navigation Satellite System of the U.S., be called for short: GPS), Muscovite glonass system (is called for short: GLONASS) with the Chinese Big Dipper.Satellite navigation system in establishing has the Galileo system (Galileo) of European Union and the accurate zenith satellite system (QZSS) of Japan; Different global position systems, its precision is difference to some extent, and gps system can reach the precision of 10 meters on civilian, and glonass system can reach 16 meters, and dipper system can reach the precision of 25 meters.
No matter be to use which kind of global position system, all there is the problem of location drift.So-called drift refers to the larger error of physical location existence of position that positioning system via satellite gets and navigation terminal, has exceeded the accuracy rating of positioning system.The reason that produces drift has a lot, be subject to weather effect as the radio wave signal of satellite, or be subject to the high building refraction, or the antenna of satellite signal receiver is subject to other object coverings etc., all can cause satnav to produce and drift about.
Summary of the invention
The purpose of the embodiment of the present invention is to provide a kind of method that suppresses the satnav drift, is intended to solve the problem of location of the prior art drift.
The embodiment of the present invention is achieved in that a kind of method that suppresses the satnav drift, and described method comprises:
Guider receives the locator data that global position system sends;
Guider calculates the location parameter of guider according to this locator data; Described location parameter comprises: speed, acceleration and displacement;
Guider judges that this location parameter is whether in the parameter threshold scope;
Guider outside this parameter threshold scope the time, abandons this locator data as the judgement location parameter.
The specific embodiment of the invention provides a kind of guider, and described guider comprises:
Receiving element is used for receiving the locator data that global position system sends;
Computing unit is used for the location parameter according to this locator data calculating guider; Described location parameter comprises: speed, acceleration and displacement;
Judging unit is used for judging that this location parameter is whether in the parameter threshold scope;
Discarding unit when being used for that the judgment unit judges location parameter is outside this parameter threshold scope as described, abandons this locator data.
The embodiment of the present invention compared with prior art, beneficial effect is: the technical scheme that the specific embodiment of the invention provides has advantages of avoids locating drift.
Description of drawings
Fig. 1 is the process flow diagram of the method for the inhibition satnav drift that provides of the specific embodiment of the invention;
Fig. 2 is the structural drawing of the guider that provides of the specific embodiment of the invention;
Fig. 3 is that the motion state drift that the embodiment of the present invention provides suppresses process flow diagram;
Fig. 4 is the state decision flow chart that the embodiment of the present invention provides;
Fig. 5 is data filtering process flow diagram under the stationary state that provides of the embodiment of the present invention;
Fig. 6 is data correction process flow diagram under the stationary state that provides of the embodiment of the present invention.
Embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, is not intended to limit the present invention.
The specific embodiment of the invention provides a kind of method that suppresses the satnav drift, the method is carried out by guider, above-mentioned guider is specifically as follows: locating device, also can be the intelligent terminal with positioning function, for example, the equipment such as mobile terminal, panel computer, satellite signal receiver, the method comprises as shown in Figure 1:
S11, guider receive the locator data that global position system sends;
S12, guider calculate the location parameter of guider according to this locator data;
S13, guider judge that this location parameter is whether in the parameter threshold scope;
S14, guider outside this parameter threshold scope the time, abandon this locator data as the judgement location parameter.
The method that the specific embodiment of the invention provides is owing to being provided with the parameter threshold scope, be subject to weather effect so can avoid or reduce because of satellite radio electric wave signal, or be subject to high building refraction, or the antenna of satellite signal receiver is subject to the satnav drift that the reason such as other object coverings causes, and namely equipment navigates to such an extent that there are the situation of larger error in positional information and actual position.
Optionally, above-mentioned location parameter is specifically as follows: speed, acceleration and displacement, certainly in actual conditions, above-mentioned location parameter can also be other location parameter.
Optionally, the above-mentioned parameter threshold range can be for multiple, threshold speed scope for example, and acceleration rate threshold scope and unique threshold range, above-mentioned locator data is specifically as follows: time and coordinate information.
The implementation method of above-mentioned S14 is specifically as follows:
As judge location parameter less than the minimum value of this parameter threshold, and confirm that guider is positioned at stationary state, abandon this locator data, and the speed of guider is modified to zero, do not upgrade the coordinate information of guider.
The implementation method of above-mentioned S14 is specifically as follows:
As judge speed minimum value less than this threshold speed in setting-up time, and confirm that guider is positioned at stationary state, abandon this locator data, and the speed of guider is modified to zero, do not upgrade the coordinate information of guider.
The implementation method of above-mentioned S13 and S14 is specifically as follows:
guider judges that this speed is whether greater than the maximal value of this threshold speed scope, as the maximal value of this speed greater than this threshold speed scope, confirm the displacement drift of these frame alignment data, abandon this locator data, be positioned at the threshold speed scope as this speed, judge that this acceleration is whether greater than the maximal value of this acceleration rate threshold scope, as the maximal value of this acceleration greater than this acceleration rate threshold scope, confirm the displacement drift of these frame alignment data, abandon this locator data, be positioned at the acceleration rate threshold scope as this acceleration, judge that this displacement is whether greater than the maximal value of this displacement threshold value scope, in this way, confirm the displacement drift of these frame alignment data, abandon this locator data.
Optionally, the implementation method of above-mentioned S13 and S14 is specifically as follows:
judge the state of this guider according to the velocity information in this location parameter, as judging that according to the velocity information in this location parameter this guider is kept in motion, guider judges that this speed is whether greater than the maximal value of this threshold speed scope, as the maximal value of this speed greater than this threshold speed scope, confirm the displacement drift of these frame alignment data, abandon this locator data, be positioned at the threshold speed scope as this speed, judge that this acceleration is whether greater than the maximal value of this acceleration rate threshold scope, as the maximal value of this acceleration greater than this acceleration rate threshold scope, confirm the displacement drift of these frame alignment data, abandon this locator data, be positioned at the acceleration rate threshold scope as this acceleration, judge that this displacement is whether greater than the maximal value of this displacement threshold value scope, in this way, confirm the displacement drift of these frame alignment data, abandon this locator data,
As judging that according to the velocity information in this location parameter this guider remains static, abandon this locator data, and the speed of guider is modified to zero, do not upgrade the coordinate information of guider.
The specific embodiment of the invention also provides a kind of guider, and guider comprises as shown in Figure 2:
Receiving element 21 is used for receiving the locator data that global position system sends;
Discarding unit 24 when being used for as judging unit 23 judgement location parameters outside this parameter threshold scope, abandons this locator data.
Optionally, discarding unit 24 is concrete confirms that for as the minimum value of judgement location parameter less than this parameter threshold guider is positioned at stationary state, abandons this locator data, and the speed of guider is modified to zero, does not upgrade the coordinate information of guider.
Optionally, discarding unit 24 specifically is used for:
As judge speed minimum value less than this threshold speed in setting-up time, and confirm that guider is positioned at stationary state, abandon this locator data, and the speed of guider is modified to zero, do not upgrade the coordinate information of guider.
optionally, above-mentioned guider is used for specifically judging that this speed is whether greater than the maximal value of this threshold speed scope, as the maximal value of this speed greater than this threshold speed scope, confirm the displacement drift of these frame alignment data, abandon this locator data, be positioned at the threshold speed scope as this speed, judge that this acceleration is whether greater than the maximal value of this acceleration rate threshold scope, as the maximal value of this acceleration greater than this acceleration rate threshold scope, confirm the displacement drift of these frame alignment data, abandon this locator data, be positioned at the acceleration rate threshold scope as this acceleration, judge that this displacement is whether greater than the maximal value of this displacement threshold value scope, in this way, confirm the displacement drift of these frame alignment data, abandon this locator data.
Optionally, above-mentioned guider is specially: mobile terminal, panel computer or satellite signal receiver.
Embodiment
The embodiment of the present invention provides a kind of method that suppresses the satnav drift, and the method describes as an example of automobile navigation apparatus example.The present embodiment is divided into motion drift and two parts of static drift, specifically describes as follows:
Drift filtering under motion state
Under motion state, but the limiting case of reference object object is filtered gps data.Can analyze from three aspects of speed, acceleration, displacement,, think drift to have occurred when (any one) exceeds the limiting case of destination object on these three indexs when the data of GPS output.
In actual applications, we can obtain according to application scenarios the limiting case of terminal motion.Be that the velocity limit value is X kilometer/hour, per second speed added value (acceleration) limit is Y kilometer/hour, and the ultimate value of per second displacement (displacement) is Z rice.For example (do not consider the situation of sport car) for the scene of car navigation terminal, the velocity limit value is 180km/h, and the limit acceleration is 20km/h (hundred kilometers 5 seconds), and per second displacement limits value is 50m.
So, when one of following three kinds of situations occurring, think that drift has appearred in gps data, at this moment, the position data of this location must be abandoned.
(1) speed--when speed greater than X kilometer/hour;
(2) acceleration--when the recruitment of per second speed greater than Y kilometer/hour;
(3) displacement--the calculation of longitude ﹠ latitude by 2 of front and back goes out displacement, when the displacement of per second greater than Z rice.
The process flow diagram of the drift filtering method under above-mentioned motion state as shown in Figure 3.
Drift filtering under stationary state
Under the static state of navigation terminal, when gps signal quality good not, drift among a small circle may appear.In order to reach the purpose of this kind of filtering drift, first whether the velocity amplitude of locating module output is via satellite judged terminal and is remained static, if so, the longitude and latitude of new terminal more not, thus reach the purpose of this type of drift of filtering.So being summed up as, problem points judges that how accurately automobile is in driving or dead ship condition.
(1) Negotiation speed judges static/movement
From the locator data of satellite positioning module output, include the velocity information of terminal.Can utilize this velocity information judge terminal static/mobile status.Actual test discovery, under static state, when drift occurred, the velocity amplitude of satellite positioning module output was often non-vanishing, but has a less velocity amplitude (illusion).So can not think simply has speed to be mobile status, it is stationary state that speed is zero, and need to filter speed.Filter method is as follows.
1), think to enter stationary state during less than certain value (B kilometer/hour) when continuous a period of time of speed (A second).
2), think to enter mobile status during greater than certain value (D kilometer/hour) when continuous a period of time of speed (C second).
Concrete threshold parameter wherein need to depending on concrete application scenarios.
When remaining static, the longitude and latitude of new terminal more, be not modified to speed 0 kilometer/hour simultaneously.
The process flow diagram of the drift filtering under above-mentioned stationary state such as Fig. 4, Fig. 5, shown in Figure 6.
Use this method to avoid or to reduce and be subject to weather effect because of satellite radio electric wave signal, or be subject to high building refraction, or the antenna of satellite signal receiver is subject to the satnav drift that the reason such as other object coverings causes, and namely equipment navigates to such an extent that there are the situation of larger error in positional information and actual position.
It should be noted that in above-described embodiment, included unit is just divided according to function logic, but is not limited to above-mentioned division, as long as can realize corresponding function; In addition, the concrete title of each functional unit also just for the ease of mutual differentiation, is not limited to protection scope of the present invention.
In addition, one of ordinary skill in the art will appreciate that all or part of step that realizes in the various embodiments described above method is to come the relevant hardware of instruction to complete by program, corresponding program can be stored in a computer read/write memory medium, described storage medium is as ROM/RAM, disk or CD etc.
The above is only preferred embodiment of the present invention, not in order to limiting the present invention, all any modifications of doing within the spirit and principles in the present invention, is equal to and replaces and improvement etc., within all should being included in protection scope of the present invention.
Claims (9)
1. a method that suppresses the satnav drift, is characterized in that, described method comprises:
Guider receives the locator data that global position system sends;
Guider calculates the location parameter of guider according to this locator data; Described location parameter comprises: speed, acceleration and displacement;
Guider judges that this location parameter is whether in the parameter threshold scope;
Guider outside this parameter threshold scope the time, abandons this locator data as the judgement location parameter.
2. method according to claim 1, is characterized in that, described guider, abandons this locator data and specifically comprises outside this parameter threshold scope the time as the judgement location parameter:
As judge location parameter less than the minimum value of this parameter threshold, and confirm that guider is positioned at stationary state, abandon this locator data, and the speed of guider is modified to zero, do not upgrade the coordinate information of guider.
3. method according to claim 1, is characterized in that, described guider, abandons this locator data and specifically comprises outside this parameter threshold scope the time as the judgement location parameter:
As judge speed minimum value less than this threshold speed in setting-up time, and confirm that guider is positioned at stationary state, abandon this locator data, and the speed of guider is modified to zero, do not upgrade the coordinate information of guider.
4. method according to claim 1, is characterized in that, guider judges that this location parameter is whether in the parameter threshold scope; Guider, abandons this locator data guider and specifically comprises outside this parameter threshold scope the time as the judgement location parameter:
judge that this speed is whether greater than the maximal value of this threshold speed scope, as the maximal value of this speed greater than this threshold speed scope, confirm the displacement drift of these frame alignment data, abandon this locator data, be positioned at the threshold speed scope as this speed, judge that this acceleration is whether greater than the maximal value of this acceleration rate threshold scope, as the maximal value of this acceleration greater than this acceleration rate threshold scope, confirm the displacement drift of these frame alignment data, abandon this locator data, be positioned at the acceleration rate threshold scope as this acceleration, judge that this displacement is whether greater than the maximal value of this displacement threshold value scope, in this way, confirm the displacement drift of these frame alignment data, abandon this locator data.
5. a guider, is characterized in that, described guider comprises:
Receiving element is used for receiving the locator data that global position system sends;
Computing unit is used for the location parameter according to this locator data calculating guider; Described location parameter comprises: speed, acceleration and displacement;
Judging unit is used for judging that this location parameter is whether in the parameter threshold scope;
Discarding unit when being used for that the judgment unit judges location parameter is outside this parameter threshold scope as described, abandons this locator data.
6. guider according to claim 5, it is characterized in that, described discarding unit specifically is used for as judges that location parameter is less than the minimum value of this parameter threshold, confirm that guider is positioned at stationary state, abandon this locator data, and the speed of guider is modified to zero, do not upgrade the coordinate information of guider.
7. guider according to claim 5, is characterized in that, described discarding unit specifically is used for:
As judge speed minimum value less than this threshold speed in setting-up time, and confirm that guider is positioned at stationary state, abandon this locator data, and the speed of guider is modified to zero, do not upgrade the coordinate information of guider.
8. guider according to claim 5, it is characterized in that, described guider is used for specifically judging that this speed is whether greater than the maximal value of this threshold speed scope, as the maximal value of this speed greater than this threshold speed scope, confirm the displacement drift of these frame alignment data, abandon this locator data, be positioned at the threshold speed scope as this speed, judge that this acceleration is whether greater than the maximal value of this acceleration rate threshold scope, as the maximal value of this acceleration greater than this acceleration rate threshold scope, confirm the displacement drift of these frame alignment data, abandon this locator data, be positioned at the acceleration rate threshold scope as this acceleration, judge that this displacement is whether greater than the maximal value of this displacement threshold value scope, in this way, confirm the displacement drift of these frame alignment data, abandon this locator data.
9. according to claim 5-8 arbitrary described guiders, is characterized in that, described guider is specially: mobile terminal, panel computer or satellite signal receiver.
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| CN103760574A (en) * | 2014-01-13 | 2014-04-30 | 厦门蓝斯通信股份有限公司 | Method for restraining static positioning drifting and vehicle-mounted terminal positioning system |
| CN104391888A (en) * | 2014-11-11 | 2015-03-04 | 福建星海通信科技有限公司 | Filtering method of abnormal positioning data |
| CN104427609A (en) * | 2013-08-27 | 2015-03-18 | 中国电信集团公司 | Positioning method and system |
| CN104570028A (en) * | 2014-12-17 | 2015-04-29 | 上海市建筑科学研究院(集团)有限公司 | Positioning deviation filtering method based on equipment status information |
| CN104640070A (en) * | 2015-01-12 | 2015-05-20 | 深圳市普天宜通技术有限公司 | Data processing method and system for position information drift of positioning device |
| CN105374224A (en) * | 2015-10-29 | 2016-03-02 | 深圳市元征科技股份有限公司 | Positioning data processing method and vehicle-mounted terminal |
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| CN106324634A (en) * | 2015-07-03 | 2017-01-11 | 石家庄市善理通益科技有限公司 | Method and device for processing GPS positioning data |
| CN106597497A (en) * | 2016-12-20 | 2017-04-26 | 德州富路汽车智能化研究有限公司 | Method and equipment for inhibiting GPS drift in vehicle stationary state |
| CN106813669A (en) * | 2015-12-01 | 2017-06-09 | 骑记(厦门)科技有限公司 | The modification method and device of movable information |
| CN106935032A (en) * | 2017-04-24 | 2017-07-07 | 广州日滨科技发展有限公司 | A kind of on-vehicle positioning terminal data uploading method and system |
| CN107146448A (en) * | 2017-05-08 | 2017-09-08 | 武汉依迅北斗空间技术有限公司 | A kind of vehicle location information modification method and system |
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| CN108828636A (en) * | 2018-07-27 | 2018-11-16 | 黑龙江瑞野科技有限公司 | A kind of tractor dynamic combined GNSS goes jump point positioning device |
| CN109782316A (en) * | 2019-03-08 | 2019-05-21 | 西安勺子智能科技有限公司 | A method of reducing Beidou positioning terminal positioning drift when vehicle stops |
| CN109782025A (en) * | 2019-02-14 | 2019-05-21 | 成都路行通信息技术有限公司 | A method of amendment mobile unit speed drift |
| CN110657797A (en) * | 2019-10-16 | 2020-01-07 | 上海钧正网络科技有限公司 | Vehicle positioning method and system |
| CN110927755A (en) * | 2019-11-14 | 2020-03-27 | 深圳市麦谷科技有限公司 | Filtering method and device for vehicle drift point |
| CN111399000A (en) * | 2020-04-08 | 2020-07-10 | 广州通达汽车电气股份有限公司 | GPS drift filtering method, state switching method of GPS terminal and switching equipment |
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| CN104427609A (en) * | 2013-08-27 | 2015-03-18 | 中国电信集团公司 | Positioning method and system |
| CN103760574A (en) * | 2014-01-13 | 2014-04-30 | 厦门蓝斯通信股份有限公司 | Method for restraining static positioning drifting and vehicle-mounted terminal positioning system |
| WO2016045398A1 (en) * | 2014-09-28 | 2016-03-31 | 深圳市赛格导航科技股份有限公司 | Method for adjusting vehicle traveling track and system for adjusting vehicle traveling track |
| CN104391888A (en) * | 2014-11-11 | 2015-03-04 | 福建星海通信科技有限公司 | Filtering method of abnormal positioning data |
| CN104570028A (en) * | 2014-12-17 | 2015-04-29 | 上海市建筑科学研究院(集团)有限公司 | Positioning deviation filtering method based on equipment status information |
| CN104640070A (en) * | 2015-01-12 | 2015-05-20 | 深圳市普天宜通技术有限公司 | Data processing method and system for position information drift of positioning device |
| CN106324634A (en) * | 2015-07-03 | 2017-01-11 | 石家庄市善理通益科技有限公司 | Method and device for processing GPS positioning data |
| CN105374224A (en) * | 2015-10-29 | 2016-03-02 | 深圳市元征科技股份有限公司 | Positioning data processing method and vehicle-mounted terminal |
| CN105374224B (en) * | 2015-10-29 | 2018-04-10 | 深圳市元征科技股份有限公司 | A kind of location data processing method and car-mounted terminal |
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| CN106813669B (en) * | 2015-12-01 | 2020-01-03 | 骑记(厦门)科技有限公司 | Motion information correction method and device |
| CN106597497A (en) * | 2016-12-20 | 2017-04-26 | 德州富路汽车智能化研究有限公司 | Method and equipment for inhibiting GPS drift in vehicle stationary state |
| CN106935032A (en) * | 2017-04-24 | 2017-07-07 | 广州日滨科技发展有限公司 | A kind of on-vehicle positioning terminal data uploading method and system |
| CN107146448A (en) * | 2017-05-08 | 2017-09-08 | 武汉依迅北斗空间技术有限公司 | A kind of vehicle location information modification method and system |
| CN107422348A (en) * | 2017-07-18 | 2017-12-01 | 燕山大学 | A kind of cable car ranging alarm method and device based on Multi-sensor Fusion |
| CN107422348B (en) * | 2017-07-18 | 2020-07-28 | 燕山大学 | Cableway cable car distance measurement alarm method and device based on multi-sensor fusion |
| CN108828636A (en) * | 2018-07-27 | 2018-11-16 | 黑龙江瑞野科技有限公司 | A kind of tractor dynamic combined GNSS goes jump point positioning device |
| CN109782025A (en) * | 2019-02-14 | 2019-05-21 | 成都路行通信息技术有限公司 | A method of amendment mobile unit speed drift |
| CN109782316A (en) * | 2019-03-08 | 2019-05-21 | 西安勺子智能科技有限公司 | A method of reducing Beidou positioning terminal positioning drift when vehicle stops |
| CN109782316B (en) * | 2019-03-08 | 2023-09-08 | 西安勺子智能科技有限公司 | Method for reducing Beidou positioning terminal positioning drift when vehicle stops |
| CN110657797A (en) * | 2019-10-16 | 2020-01-07 | 上海钧正网络科技有限公司 | Vehicle positioning method and system |
| CN110927755A (en) * | 2019-11-14 | 2020-03-27 | 深圳市麦谷科技有限公司 | Filtering method and device for vehicle drift point |
| CN110927755B (en) * | 2019-11-14 | 2021-10-15 | 深圳市麦谷科技有限公司 | Filtering method and device for vehicle drift point |
| CN111399000A (en) * | 2020-04-08 | 2020-07-10 | 广州通达汽车电气股份有限公司 | GPS drift filtering method, state switching method of GPS terminal and switching equipment |
| CN111780767A (en) * | 2020-07-09 | 2020-10-16 | 中国船舶工业系统工程研究院 | Unmanned ship position accuracy judging and controlling system based on navigational speed |
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