CN108195388A - The overhead climb and fall detection method of low-cost and high-precision - Google Patents
The overhead climb and fall detection method of low-cost and high-precision Download PDFInfo
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- CN108195388A CN108195388A CN201711429497.9A CN201711429497A CN108195388A CN 108195388 A CN108195388 A CN 108195388A CN 201711429497 A CN201711429497 A CN 201711429497A CN 108195388 A CN108195388 A CN 108195388A
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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
- 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
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
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Abstract
The present invention provides a kind of overhead climb and fall detection methods of low-cost and high-precision, using GNSS+IMU+ odometer combined positioning and navigating systems, include the following steps：Step 1, the information of combined positioning and navigating system is inputted；Step 2, if map match performs next step on or near overhead entrance ring road；Step 3, it checks whether pitch angle is effectively usable, if invalid or be also in calibration, waits for until can be used into combined positioning and navigating state and pitch angle；If effectively, perform step 3；Step 4, the speed of the pitch angle of output and odometer；Step 5, low-pass filtering is carried out；Step 6, initial mean value of the crawl pitch angle before ring road is entered or when having just enter into ring road is as zero bias；Step 7, the difference in height after the pitch angle and zero offset compensation after zero offset compensation is calculated；Step 8, up/down is overhead when judging or flat slope；Step 9, step 4 step 8 is repeated；Step 10, calculating state is removed.
Description
Technical field
The present invention relates to lane detection technology fields, and in particular to a kind of overhead climb and fall detection side of low-cost and high-precision
Method.
Background technology
The urbanization process in present city is gradually accelerated, and the quantity of automobile sharply increases, the traffic in city it is increasingly complicated and
Congestion, viaduct, which has become, alleviates traffic congestion, improves the indispensable scheme of trip condition.Technical precision limitation is limited by,
Whether navigation software typically only shows 2D positions, and the confidence level on elevation is not high, therefore can not position current in overpass
On or overpass under ordinary road on, larger puzzlement is often caused to driving people.
It often carries and is based on (including preceding dress or rear dress) in the onboard system equipped with vehicle mounted guidance module more at present
Navigation calculation module (GNSS- Global Navigation Satellite System, the IMU- inertia measurements of GNSS+IMU+ speedometer for automobile meter integrated positionings
Unit), for improving the positioning accuracy of city complex environment and solving the positioning blind spot in tunnel.Such navigation calculation module is removed and is carried
Outside for the longitude, latitude, elevation information of 3 dimensions, while 3 dimension attitude angle informations of automobile can be also provided, including course, pitching and horizontal stroke
Rolling.In addition, according to longitude and latitude positional information carry out real-time map match can provide it is current whether be in it is overhead nearby and
Whether go to the information on or near overhead entrance ring road.Therefore, when map be matched to it is on overhead entrance ring road or attached
When near, extraction integrated navigation resolves pitching angle information and the odometer velocity information that module provides, and calculates the slope of road at this time
Angle and difference in height are spent, so as to obtain the climb and fall attribute of road at this time；Overhead entrance ring road attribute phase with map simultaneously
Match, if the two attribute is identical, be currently at the overhead state of up/down, if it is different, the then current flat slope ordinary road under overhead
Upper traveling.
There is overhead scheme above and below existing at present judges scheme overhead up and down based on barometrical difference in height, is based on
GNSS differences in height are judged overhead scheme up and down and are believed using the acceleration transducer in mobile phone and the GPS speed provided
Breath calculates weight component and carrys out scheme overhead up and down in the projection of directional velocity.
Judge that scheme precision overhead up and down is relatively low using GNSS differences in height information, because GNSS is resolved in short transverse
Error is larger, is easily influenced by landform and ambient enviroment, and cannot judge up and down in the case where GNSS signal is lost
The situation on slope.And judge that the required cost of scheme overhead up and down is higher using barometrical difference in height, it needs additional
Air pressure flowmeter sensor, and only have high-end type mobile phone on the market at present equipped with barometer, in general onboard system also not
Barometer, therefore narrow scope of application is configured.Weight component is calculated using the acceleration combination GPS velocity information built in mobile phone
It is affected in the projection scheme of directional velocity by the error noise during sensor, need to accurately estimate the zero of sensor
Partially, fix error angle and random noise item, therefore precision is relatively low.
Invention content
The present invention provides a kind of overhead climb and fall detection methods of low-cost and high-precision, solve and utilize GNSS+IMU+
The attitude angle and odometer velocity information that odometer integrated navigation system calculates and outputs, with reference to map overhead entrance information into
Row overhead identification up and down, and then the technical issues of secondary navigation system precise positioning is to overhead or ordinary road.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is as follows：
The overhead climb and fall detection method of a kind of low-cost and high-precision, which is characterized in that using GNSS+IMU+ odometer groups
Position Fixing Navigation System is closed, is included the following steps：
Step 1, the information of combined positioning and navigating system is inputted；
Step 2, if map match performs step 3 on or near overhead entrance ring road；
Step 3, check whether the pitch angle that provides of combined positioning and navigating system is effectively usable, if invalid or be also in calibration
In, then it waits for until can be used into combined positioning and navigating state and pitch angle；If effectively, perform step 4；
Step 4, the pitch angle of combined positioning and navigating system output and the speed of odometer are obtained；
Step 5, low-pass filtering is carried out to pitch angle and speed, filters out noise；
Step 6, initial mean value of the crawl pitch angle before ring road is entered or when having just enter into ring road is as zero bias；
Step 7, the difference in height after the pitch angle and zero offset compensation after zero offset compensation is calculated；
Step 8, judgement be it is upper it is overhead either under overhead or flat slope；
Step 9, step 4- steps 8 are repeated, until map match is not on or near overhead entrance ring road；
Step 10, calculating state is removed, terminates climb and fall detection.
Further, the information of combined positioning and navigating system includes attitude angle information in step 1, the speed of odometer is believed
Breath, map match provide whether on or near overhead entrance ring road information.
Further, overhead entrance ring road nearby refers to be less than 50m apart from overhead entrance ring road in step 1.
Further, according to attitude angle information, the speed of odometer of 1Hz input combined positioning and navigating systems in step 1
Information, map match provide whether on or near overhead entrance ring road information.
Further, current time is set in step 5 as n-th second, the pitch angle after low-pass filtering is denoted as Pn, after low-pass filtering
Speed be denoted as Vn, the zero bias in step 6 are denoted as P0。
Further, the pitch angle P after zero offset compensation is calculated in step 7n' and zero offset compensation after height difference HnIt is as follows：
Pn'=Pn-P0, Hn=Hn-1+sin(Pn-P0)*Vn, wherein Hn-1The difference in height calculated for the n-1 moment.
Further, if pitch angle meets threshold condition in step 8, and consistent with the ring road gradient attribute of map, then sentence
Break for it is upper overhead or under it is overhead；If pitch angle is unsatisfactory for threshold condition, difference in height meets threshold condition, and with the ring road of map
Gradient attribute is consistent, then be judged as it is upper overhead or under it is overhead；If above-mentioned condition is unsatisfactory for, it is judged as flat slope；
Further, step 8 specifically includes following steps：
If Pn' and PnPositive threshold value A and B, and the ring road gradient of the map of current matching are all higher than in continuous a period of time T
Attribute then judges to be currently upper overhead to go up a slope；
If Pn' and PnNegative threshold value C and D, and the ring road gradient of the map of current matching are respectively less than in continuous a period of time T
Attribute is descending, then judges overhead under being currently；
Work as Pn' and PnWhen being unsatisfactory for threshold condition, if HnMore than the ring road gradient of positive threshold value E and the map of current matching
Attribute then judges to be currently upper overhead to go up a slope；
If HnIt is descending more than the ring road gradient attribute of negative threshold value F and the map of current matching, then judges currently as lower height
Frame；
If above-mentioned condition is unsatisfactory for, judge current as flat slope.
Further, threshold value A, B, C, D, E, F and time T are adjusted according to the velocity information of odometer into Mobile state.
The beneficial effects of the present invention are without additional hardware configuration, cost is relatively low；And the attribute of comprehensive utilization map
Information, the position of GNSS+IMU+ odometer speed integrated positioning systems and attitude algorithm information, covering surface is complete, in GNSS without letter
It can also be worked normally in the case of number, precision and reliability are high.
Description of the drawings
Fig. 1 is that carrier coordinate system defines schematic diagram.
Fig. 2 is overhead climb and fall detection method flow chart.
Specific embodiment
After absolute value and zero offset compensation of the present invention using the pitch angle of GNSS+IMU+ odometer integrated navigation systems
Value judgement is overhead up and down, and height is calculated using the pitch angle combination odometer speed of GNSS+IMU+ odometer integrated navigation systems
Degree difference is overhead up and down to judge.Hereinafter, the present invention is further elaborated in conjunction with the accompanying drawings and embodiments.
Carrier coordinate system defines schematic diagram as shown in Figure 1, carrier system is the IMU coordinate systems being connected with automobile, and xyz axis defines
Under front right, to meet the right-hand rule.
The present invention is inputted as follows using GNSS+IMU+ odometer combined positioning and navigating systems：Map match provides no
It bows on or near elevated ramp entrance with ring road climb and fall attribute, GNSS+IMU+ odometer combined positioning and navigating systems
The elevation angle and the speed of odometer.When map match current anchor point is located on elevated ramp entrance or near ring road entrance
(current anchor point ＜ 50m near ring road entrance) then triggers overhead climb and fall detection；Otherwise internal correlation computations are removed
State, the detection without climb and fall.
Due to being connected under vehicle-mounted GNSS+IMU+ odometers combined positioning and navigating system health with automobile, pass through
The pitch angle of the carrier coordinate system of integrated navigation system output after installation error angle compensation is equal to the pitch angle of automobile.Root
It is defined according to coordinate system, when running car is in overhead upward slope, pitch angle should be the positive value more than 0, highly increase；Work as running car
In overhead descending, pitch angle should be the negative value less than 0, and height reduces；When running car is when on common flat slope road, pitching
It angle should be near 0, highly without significant change.But since the calculation accuracy of integrated navigation system is affected by various factors, such as pacify
The estimated accuracy of error angle, noise item of sensor etc. are filled, therefore the pitch angle provided such as following formula represents：
P '=P+P0+W
Wherein, resolving values of the P ' for pitch angle, true value of the P for pitch angle, P0For biasing of the pitch angle under flat slope, i.e., zero
Partially, W is noise item.
Based on above-mentioned characteristic, need to calculate biasing (offset) of the pitch angle in flat slope, i.e. zero bias, be mended with zero bias
The value of pitch angle after repaying judges the gradient situation of present road.For the situation of some slow climb and falls, elevated ramp
On pitch angle it is smaller, it is simple to bring increasing error using the information characteristics of pitch angle；Pitch angle and speedometer are combined at this time
Difference in height is calculated to judge the gradient situation of present road.
If the gradient situation for the elevated ramp that the road grade situation and the map that currently judge provide matches, and at one section
Between or a distance in all meet above-mentioned condition, then it is assumed that travel at this time on overhead climb and fall entrance ring road, gradient category
Property is equal to the gradient attribute of current map road.
The present invention is further elaborated with reference to embodiments, and Fig. 2 is the overhead climb and fall detection method flow of the present invention
Figure, includes the following steps：
Step 1, the attitude angle information of GNSS+IMU+ odometers combined positioning and navigating system, odometer velocity information, map
Match provide whether on or near overhead entrance ring road information, inputted according to 1Hz, the present invention resolve frequency be 1Hz.
Step 2, if on or near map match to overhead entrance ring road, following detection logic is triggered.
Using map match whether the information auxiliary overhead judgement up and down on or near overhead entrance ring road, relatively
It carries out judging to improve accuracy rate in whole process.
Step 3, check whether the pitching angle information that provides of integrated navigation system is effectively usable, if invalid or be also in calibration
In, then wait until that it enters integrated navigation state and pitching angle information can be used as stopping.
Step 4, the pitch angle of integrated navigation system output, the speed of odometer are obtained.
Step 5, low-pass filtering is carried out to pitch angle and speed, filters out noise.If current time is n-th second, then output valve
It is denoted as P respectivelynAnd Vn。
Step 5, initial mean value of the dynamic crawl pitch angle before ring road is entered or when having just enter into ring road is as zero bias, note
It is P0, improve the calculating accuracy rate of pitch angle.
Step 7, P is calculatedn'=Pn-P0, calculate Hn=Hn-1+sin(Pn-P0)*Vn, wherein Hn-1It is calculated for the n-1 moment
Height value.
Step 8, if Pn' and PnPositive threshold value A and B, and the ring road gradient of current matching are all higher than in continuous a period of time T
Attribute then judges to be currently upper overhead to go up a slope；If Pn' and PnNegative threshold value C and D are respectively less than in continuous a period of time T, and is worked as
Preceding matched ring road gradient attribute is descending, then judges overhead under being currently；Work as Pn' and PnWhen being unsatisfactory for threshold condition, if Hn
More than the ring road gradient attribute of positive threshold value E and current matching to go up a slope, then judge to be currently upper overhead；If HnMore than negative threshold value F
And the ring road gradient attribute of current matching is descending, then judges overhead under being currently.If above-mentioned condition is unsatisfactory for, judge to work as
Preceding is flat slope.
Overhead judgement above and below grade information auxiliary using the overhead entrance ring road of map, when the ring road gradient of map
Attribute with based on pitch angle and odometer judgement climb and fall behavior it is consistent when be just considered it is upper overhead or under it is overhead, improve
Accuracy rate.
Step 9, step 4- steps 8 are repeated, until map match is not near overhead entrance ring road.
Step 10, it if the result of map match is not near overhead entrance ring road, removes all in above-mentioned calculating
Variate-value.
Preferably, according to odometer speed dynamic adjustment threshold value A, B, C, D, E, F and time T, the adaptive of system is improved
Ability.
Currently preferred language is C/C++, Java.
Although the invention has been described by way of example and in terms of the preferred embodiments, but it is not for limiting the present invention, any this field
Technical staff without departing from the spirit and scope of the present invention, may be by the methods and technical content of the disclosure above to this hair
Bright technical solution makes possible variation and modification, therefore, every content without departing from technical solution of the present invention, and according to the present invention
Any simple modifications, equivalents, and modifications made to above example of technical spirit, belong to technical solution of the present invention
Protection domain.
Claims (9)
1. the overhead climb and fall detection method of a kind of low-cost and high-precision, which is characterized in that combined using GNSS+IMU+ odometers
Position Fixing Navigation System includes the following steps：
Step 1, the information of combined positioning and navigating system is inputted；
Step 2, if map match performs step 3 on or near overhead entrance ring road；
Step 3, check whether the pitch angle that provides of combined positioning and navigating system is effectively usable, if invalid or be also in calibration,
It then waits for until can be used into combined positioning and navigating state and pitch angle；If effectively, perform step 4；
Step 4, the pitch angle of combined positioning and navigating system output and the speed of odometer are obtained；
Step 5, low-pass filtering is carried out to pitch angle and speed, filters out noise；
Step 6, initial mean value of the crawl pitch angle before ring road is entered or when having just enter into ring road is as zero bias；
Step 7, the difference in height after the pitch angle and zero offset compensation after zero offset compensation is calculated；
Step 8, judgement be it is upper it is overhead either under overhead or flat slope；
Step 9, step 4- steps 8 are repeated, until map match is not on or near overhead entrance ring road；
Step 10, calculating state is removed, terminates climb and fall detection.
A kind of 2. overhead climb and fall detection method of low-cost and high-precision as described in claim 1, which is characterized in that step 1
The information of middle combined positioning and navigating system includes attitude angle information, the velocity information of odometer, map match provide whether
Information on or near overhead entrance ring road.
3. a kind of overhead climb and fall detection method of low-cost and high-precision as claimed in claim 2, which is characterized in that it is overhead go out
Entrance ramp nearby refers to be less than 50m apart from overhead entrance ring road.
4. a kind of overhead climb and fall detection method of low-cost and high-precision as claimed in claim 3, which is characterized in that according to
1Hz input combined positioning and navigating system attitude angle information, the velocity information of odometer, map match provide whether overhead
Information on or near entrance ring road.
A kind of 5. overhead climb and fall detection method of low-cost and high-precision as described in claim 1, which is characterized in that step 5
In set current time as n-th second, the pitch angle after low-pass filtering is denoted as Pn, the speed after low-pass filtering is denoted as Vn, in step 6
Zero bias are denoted as P0。
A kind of 6. overhead climb and fall detection method of low-cost and high-precision as claimed in claim 5, which is characterized in that step 7
Pitch angle P after middle calculating zero offset compensationn' and zero offset compensation after height difference HnIt is as follows：
Pn'=Pn-P0, Hn=Hn-1+sin(Pn-P0)*Vn, wherein Hn-1The difference in height calculated for the n-1 moment.
A kind of 7. overhead climb and fall detection method of low-cost and high-precision as described in claim 1, which is characterized in that step 8
If pitch angle meets threshold condition in, and consistent with the ring road gradient attribute of map, then be judged as it is upper overhead or under it is overhead；If
Pitch angle is unsatisfactory for threshold condition, and difference in height meets threshold condition, and consistent with the ring road gradient attribute of map, then be judged as on
It is overhead or under it is overhead；If above-mentioned condition is unsatisfactory for, it is judged as flat slope.
A kind of 8. overhead climb and fall detection method of low-cost and high-precision as claimed in claim 7, which is characterized in that step 8
Specifically include following steps：
If Pn' and PnPositive threshold value A and B, and the ring road gradient attribute of the map of current matching are all higher than in continuous a period of time T
To go up a slope, then judge to be currently upper overhead；
If Pn' and PnNegative threshold value C and D, and the ring road gradient attribute of the map of current matching are respectively less than in continuous a period of time T
For descending, then judge overhead under being currently；
Work as Pn' and PnWhen being unsatisfactory for threshold condition, if HnMore than positive threshold value E and the ring road gradient attribute of the map of current matching
To go up a slope, then judge to be currently upper overhead；
If HnIt is descending more than the ring road gradient attribute of negative threshold value F and the map of current matching, then judges overhead under being currently；
If above-mentioned condition is unsatisfactory for, judge current as flat slope.
9. a kind of overhead climb and fall detection method of low-cost and high-precision as claimed in claim 8, which is characterized in that threshold value A,
B, C, D, E, F and time T are adjusted according to the velocity information of odometer into Mobile state.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109682376A (en) * | 2019-02-19 | 2019-04-26 | 合肥楚航科技有限公司 | A method of object vertical direction is positioned using inertial navigation system |
| CN109917440A (en) * | 2019-04-09 | 2019-06-21 | 广州小鹏汽车科技有限公司 | A kind of Combinated navigation method, system and vehicle |
| CN111735469A (en) * | 2020-06-15 | 2020-10-02 | 腾讯科技（深圳）有限公司 | Map navigation implementation method, storage medium and server |
| CN112945247A (en) * | 2021-02-01 | 2021-06-11 | 新石器慧义知行智驰(北京)科技有限公司 | Map matching positioning method for unmanned vehicle and automatic driving vehicle |
| CN114526732A (en) * | 2022-01-25 | 2022-05-24 | 岚图汽车科技有限公司 | Vehicle positioning method and system |
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| CN112945247A (en) * | 2021-02-01 | 2021-06-11 | 新石器慧义知行智驰(北京)科技有限公司 | Map matching positioning method for unmanned vehicle and automatic driving vehicle |
| CN114526732A (en) * | 2022-01-25 | 2022-05-24 | 岚图汽车科技有限公司 | Vehicle positioning method and system |
| CN114526732B (en) * | 2022-01-25 | 2024-01-16 | 岚图汽车科技有限公司 | Vehicle positioning method and system |
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