CN108241164B - Method and device for recording track in positioning empty window period of satellite positioning system - Google Patents
Method and device for recording track in positioning empty window period of satellite positioning system Download PDFInfo
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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Abstract
The invention relates to the field of satellite positioning, and discloses a method and a device for recording an orbit in a positioning empty window period of a satellite positioning system. In the invention, in the blank window period, according to the assumed initial position and direction, the inferred position and the inferred direction in the track are calculated by an inertial navigation algorithm by using data output by an inertial navigation sensor of the mobile terminal; when the satellite positioning system is successfully positioned, the difference value between the positioning result and the deduced position and direction is calculated, and the position and direction of each data point in the track are corrected according to the difference value, so that a user can obtain an accurate track before the satellite positioning system is successfully positioned. The WIFI positioning or base station positioning is carried out at the starting positioning moment, the obtained positioning result is used as an initial position, the initial position is close to the position obtained by a satellite positioning system later, the same geomagnetic intensity is probably considered to be possessed, and therefore the track point calculated in an inertial navigation mode in the hollow window period is more accurate.
Description
Technical Field
The invention relates to the field of satellite positioning, in particular to a method for recording a track in a blank window period before a satellite positioning system successfully positions for the first time.
Background
With the continuous updating and popularization of navigation technology, people have stronger and stronger requirements on positioning navigation and track recording. However, since the satellite positioning system takes a long time from the start of positioning to the success of positioning, and even in a complicated environment, it takes a long time to position, the trajectory is lost during the time before the satellite positioning system succeeds in positioning for the first time.
Therefore, a method for recording the empty window period from the start of positioning to the successful positioning of the satellite positioning system is needed.
Disclosure of Invention
The invention aims to provide a method and a device for recording a track in a positioning empty window period of a satellite positioning system, so that a user can obtain an accurate track before the satellite positioning system is successfully positioned.
In order to solve the technical problem, the embodiment of the invention discloses a method for recording a track in a blank window period before a satellite positioning system successfully positions for the first time, which comprises the following steps:
acquiring an assumed initial position P0 and an initial direction D0 of the mobile terminal at a positioning starting time T0;
calculating an estimated position Pk and an estimated direction Dk of the mobile terminal at a time Tk and an estimated position Pt and an estimated direction Dt of the mobile terminal at the time Tt when the satellite positioning system is successfully positioned for the first time according to data output by an inertial navigation sensor in the mobile terminal, P0 and D0, wherein the Tk is an integer after T0 and before the Tt, and k is an integer which is more than 0 and less than T;
acquiring an actual measurement position Pn and an actual measurement direction Dn in a positioning result of the satellite positioning system on the mobile terminal at the moment Tt;
calculating a position difference Ep between Pn and Pt and an angle difference Ed between Dn and Dt;
and correcting Pk and Dk according to the position difference Ep and the angle difference Ed to be used as points in the track in the empty window period.
In another preferred embodiment of the present invention, the navigation sensor includes one or any combination of the following:
gyroscope, acceleration sensor, magnetometer and barometer.
In another preferred embodiment of the present invention, the step of "calculating the estimated position Pk and the estimated direction Dk of the mobile terminal at the time Tk, and the estimated position Pt and the estimated direction Dt of Tt at the time of the first successful positioning by the satellite positioning system" uses an inertial navigation algorithm to realize the calculation of Pk, Dk, Pt and Dt.
In another preferred embodiment of the present invention, "calculating the position difference Ep between Pn and Pt, and the direction angle difference Ed between Dn and Dt" where Ep is equal to Pn — Pt; ed is Dn-Dt;
in the step of "correcting Pk and Dk based on the position difference Ep and the angle difference Ed", at the time Tk, the corrected position is Pk + Ep, and the corrected direction is Dn + Ed.
In another preferred embodiment of the present invention, the method for recording the track in the empty window period before the satellite positioning system successfully positions for the first time further includes the following steps:
carrying out WIFI positioning or base station positioning at the positioning starting moment;
the result of the WIFI positioning or the base station positioning is taken as P0.
The embodiment of the invention also discloses a device for recording the track in the empty window period before the satellite positioning system successfully positions for the first time, which comprises:
a preset unit for acquiring an assumed initial position P0 and an initial direction D0 of the mobile terminal at a start positioning time T0;
an estimation unit, which is used for calculating an estimated position Pk and an estimated direction Dk of the mobile terminal at a time Tk and an estimated position Pt and an estimated direction Dt of a time Tt when the satellite positioning system is successfully positioned for the first time according to data output by an inertial navigation sensor in the mobile terminal, P0 and D0, wherein the Tk is after T0 and before the Tt, T is an integer, and k is an integer which is more than 0 and less than T;
the actual measurement unit is used for acquiring an actual measurement position Pn and an actual measurement direction Dn in a positioning result of the satellite positioning system on the mobile terminal at the moment Tt;
a difference calculation unit for calculating a position difference Ep between Pn and Pt and an angle difference Ed between Dn and Dt;
and a correction unit for correcting the Pk and Dk as points in the trajectory within the empty window period according to the position difference Ep and the angle difference Ed.
In another preferred embodiment of the present invention, the navigation sensor includes one or any combination of the following:
gyroscope, acceleration sensor, magnetometer and barometer.
In another preferred embodiment of the present invention, the estimation unit uses an inertial navigation algorithm to calculate Pk, Dk, Pt and Dt when calculating the estimated position Pk and the estimated direction Dk of the mobile terminal at the time Tk and the estimated position Pt and the estimated direction Dt of Tt when the satellite positioning system is successfully positioned for the first time.
In another preferred embodiment of the present invention, the difference calculating unit, when calculating the position difference Ep between Pn and Pt and the angle difference Ed between Dn and Dt, is equal to Pn-Pt; ed is Dn-Dt;
and a correcting unit for correcting the Pk and Dk according to the position difference Ep and the angle difference Ed, wherein at the time Tk, the corrected position is Pk + Ep, and the corrected direction is Dn + Ed.
In another preferred embodiment of the present invention, the apparatus for recording the track in the empty window period before the satellite positioning system successfully positions for the first time further includes:
the positioning unit is used for carrying out WIFI positioning or base station positioning at the positioning starting moment;
and the preset unit takes the result of the WIFI positioning or the base station positioning of the positioning unit as P0.
Compared with the prior art, the implementation mode of the invention has the main differences and the effects that:
in the blank window period, calculating a deduced position and a deduced direction in the track by an inertial navigation algorithm according to the assumed initial position and direction by using data output by an inertial navigation sensor of the mobile terminal; when the satellite positioning system is successfully positioned, the difference value between the positioning result and the deduced position and direction is calculated, and the position and direction of each data point in the track are corrected according to the difference value, so that a user can obtain an accurate track before the satellite positioning system is successfully positioned.
Further, WIFI positioning or base station positioning is carried out at the moment of starting positioning, the obtained positioning result is used as an initial position, the initial position is close to the position obtained by a satellite positioning system later, the position can be considered to have the same geomagnetic intensity, and therefore the track point calculated in an inertial navigation mode in the empty window period is more accurate.
Drawings
Fig. 1 is a flowchart illustrating a method for recording a track during an empty window period before a satellite positioning system successfully locates a position for the first time according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of an apparatus for track recording during a blank window period before a satellite positioning system successfully locates a position for the first time according to a second embodiment of the present invention.
Detailed Description
In the following description, numerous technical details are set forth in order to provide a better understanding of the present application. However, it will be understood by those skilled in the art that the technical solutions claimed in the present application can be implemented without these technical details and with various changes and modifications based on the following embodiments.
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The first embodiment of the invention relates to a method for recording a track in a blank window period before a satellite positioning system successfully positions for the first time. Fig. 1 is a flowchart illustrating a method for recording a track during a blank window period before the satellite positioning system successfully locates the first time.
In each embodiment of the present invention, the satellite positioning system may be a Beidou satellite navigation System (BDS), a United states GPS, Russian GLONASS, European Union GALILE, or the like.
Specifically, as shown in fig. 1, the method for recording a track in a blank window period before the satellite positioning system successfully locates for the first time includes the following steps:
in step 101, an assumed initial position P0 and initial direction D0 of the mobile terminal at the start positioning time T0 are acquired.
Then, step 102 is entered, and the estimated position Pk and the estimated direction Dk of the mobile terminal at the time Tk and the estimated position Pt and the estimated direction Dt of Tt when the satellite positioning system is successfully positioned for the first time are calculated according to the data output by the inertial navigation sensor in the mobile terminal, P0 and D0, wherein Tk is an integer after T0 and before Tt, T is an integer, and k is an integer larger than 0 and smaller than T.
Preferably, in step 102, the navigation sensor comprises one or any combination of the following:
gyroscope, acceleration sensor, magnetometer and barometer.
Still further, preferably, in step 102, the calculation of Pk, Dk, Pt and Dt is performed using an inertial navigation algorithm.
Then, step 103 is performed to obtain the actual measurement position Pn and the actual measurement direction Dn in the positioning result of the satellite positioning system for the mobile terminal at time Tt.
Thereafter, step 104 is performed to calculate the position difference Ep between Pn and Pt, and the angle difference Ed between Dn and Dt.
Further, preferably, in step 104, Ep ═ Pn-Pt. Ed is Dn-Dt.
Thereafter, step 105 is performed to modify Pk and Dk as points in the trajectory during the empty window period based on the position difference Ep and the angle difference Ed.
Further, preferably, in step 105, at the time Tk, the corrected position is Pk + Ep, and the corrected direction is Dn + Ed.
Further, it is understood that in one embodiment, the location includes a longitude coordinate, a latitude coordinate, and an altitude coordinate. In another embodiment, the location includes longitude and latitude coordinates. Subtracting two positions means subtracting corresponding coordinates of two positions respectively, for example, subtracting longitude coordinates of two positions and subtracting latitude coordinates of two positions. Adding a variable to a position means adding the corresponding value in the variable to each coordinate of the position, for example, two coordinates of the position Pk are (Xk, Yk), the variable Ep is (Xp, Yp), and Pk + Ep is (Xk + Xp, Yk + Yp). Directions are vectors, and two directions are added or subtracted, i.e. the addition or subtraction of two direction vectors.
This flow ends thereafter.
Further, preferably, the method for recording the track in the empty window period before the satellite positioning system successfully positions for the first time may further include the following steps:
and carrying out WIFI positioning or base station positioning at the moment of starting positioning.
The result of the WIFI positioning or the base station positioning is taken as P0.
An approximate point is determined by a base station of a WIFI or mobile communication system to be used as a starting point.
Further, it is understood that in one embodiment, the assumed initial position P0 and the initial direction D0 may be preset values, such as P0 being (0, 0) and D0 being 0 degrees.
In one embodiment, the initial position is the result of the last positioning of the mobile terminal.
In one embodiment, the initial direction is generated randomly.
In one embodiment, the initial direction is inferred directly from the gyroscope data.
In one embodiment, the initial direction is estimated using a direction sensor.
The WIFI positioning or base station positioning is carried out at the starting positioning moment, the obtained positioning result is used as an initial position, the initial position is close to the position obtained by a satellite positioning system later, the position is probably considered to have the same geomagnetic intensity, different algorithm models can be selected according to the geomagnetic conditions of the current approximate position area of the mobile terminal, and therefore the track points calculated in the inertial navigation mode in the empty window period are more accurate.
In the present embodiment, the satellite positioning system will be described by taking a GPS system as an example.
A starting point and an initial direction can be assumed before the first positioning of the GPS to derive and record the track of the middle time period, and then the track of the empty window period is reversely derived after the first successful positioning of the GPS.
In order to quickly derive the previous track after the GPS is successfully positioned for the first time, the track and the direction of the intermediate time period are directly calculated according to the assumed initial point position and the initial direction in the blank window period, then the track and the direction are cached, and the derived final longitude and latitude, the direction and the longitude and latitude after the GPS is successfully positioned for the first time and the direction are used for comparing and correcting the track error assumed and derived before.
After the GPS is successfully located, the data of the blank window period is corrected, and then the track point position can be further corrected by combining with a map (such as a road condition), for example, matched to a road, so as to further improve the accuracy of the data. For example, a threshold may be set to perform a previously calculated track offset correction after the last successful fix. And judging each point in the track, and if a plurality of continuous points are found to be on the same road within the threshold range, considering that the points are on the road.
And calculating the inferred position and the inferred direction in the track by an inertial navigation algorithm according to the assumed initial position and direction by using data output by an inertial navigation sensor of the mobile terminal in the blank window period. When the satellite positioning system is successfully positioned, the difference value between the positioning result and the deduced position and direction is calculated, and the position and direction of each data point in the track are corrected according to the difference value, so that a user can obtain an accurate track before the satellite positioning system is successfully positioned.
The method embodiments of the present invention may be implemented in software, hardware, firmware, etc. Whether the present invention is implemented as software, hardware, or firmware, the instruction code may be stored in any type of computer-accessible memory (e.g., permanent or modifiable, volatile or non-volatile, solid or non-solid, fixed or removable media, etc.). Also, the Memory may be, for example, Programmable Array Logic (PAL), Random Access Memory (RAM), Programmable Read Only Memory (PROM), Read-Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), a magnetic disk, an optical disk, a Digital Versatile Disk (DVD), or the like.
The second embodiment of the invention relates to a device for recording the track in the empty window period before the satellite positioning system successfully positions for the first time. Fig. 2 is a schematic structural diagram of the apparatus for recording a track during a blank window period before the satellite positioning system successfully locates for the first time.
Specifically, as shown in fig. 2, the apparatus for recording a track in a window period before the first successful positioning by the satellite positioning system comprises:
and a preset unit for acquiring an assumed initial position P0 and initial direction D0 of the mobile terminal at the start positioning time T0.
And the estimation unit is used for calculating an estimated position Pk and an estimated direction Dk of the mobile terminal at the time Tk and an estimated position Pt and an estimated direction Dt of the mobile terminal at the time Tt when the satellite positioning system is successfully positioned for the first time according to the data output by the inertial navigation sensor in the mobile terminal, P0 and D0, wherein the Tk is after T0 and before the Tt, T is an integer, and k is an integer larger than 0 and smaller than T.
In this embodiment, preferably, the navigation sensor includes one or any combination of the following:
gyroscope, acceleration sensor, magnetometer and barometer.
The estimation unit calculates the estimated position Pk and the estimated direction Dk of the mobile terminal at the time Tk and the estimated position Pt and the estimated direction Dt of the mobile terminal Tt when the satellite positioning system is successfully positioned for the first time by using an inertial navigation algorithm.
And the actual measurement unit is used for acquiring an actual measurement position Pn and an actual measurement direction Dn in the positioning result of the satellite positioning system on the mobile terminal at the moment Tt.
And a difference calculation unit for calculating a position difference Ep between Pn and Pt and an angle difference Ed between Dn and Dt.
And a difference calculation unit, wherein when calculating the position difference Ep between Pn and Pt and the angle difference Ed between Dn and Dt, Ep is Pn-Pt. Ed is Dn-Dt.
And a correction unit for correcting the Pk and Dk as points in the trajectory within the empty window period according to the position difference Ep and the angle difference Ed.
And a correcting unit for correcting the Pk and Dk according to the position difference Ep and the angle difference Ed, wherein at the time Tk, the corrected position is Pk + Ep, and the corrected direction is Dn + Ed.
Further, it is understood that in one embodiment, the location includes a longitude coordinate, a latitude coordinate, and an altitude coordinate. In another embodiment, the location includes longitude and latitude coordinates. Subtracting two positions means subtracting corresponding coordinates of two positions respectively, for example, subtracting longitude coordinates of two positions and subtracting latitude coordinates of two positions. Adding a variable to a position means adding the corresponding value in the variable to each coordinate of the position, for example, two coordinates of the position Pk are (Xk, Yk), the variable Ep is (Xp, Yp), and Pk + Ep is (Xk + Xp, Yk + Yp). Directions are vectors, and two directions are added or subtracted, i.e. the addition or subtraction of two direction vectors.
Furthermore, preferably, the apparatus for recording the track in the empty window period before the first successful positioning by the satellite positioning system further comprises:
and the positioning unit is used for carrying out WIFI positioning or base station positioning at the moment of starting positioning.
And the preset unit takes the result of the WIFI positioning or the base station positioning of the positioning unit as P0.
Further, it is understood that in one embodiment, the assumed initial position P0 and the initial direction D0 may be preset values, such as P0 being (0, 0) and D0 being 0 degrees.
In one embodiment, the initial position is the result of the last positioning of the mobile terminal.
In one embodiment, the initial direction is generated randomly.
The WIFI positioning or base station positioning is carried out at the starting positioning moment, the obtained positioning result is used as an initial position, the initial position is close to the position obtained by a satellite positioning system later, the same geomagnetic intensity is probably considered to be possessed, and therefore the track point calculated in an inertial navigation mode in the hollow window period is more accurate.
And calculating the inferred position and the inferred direction in the track by an inertial navigation algorithm according to the assumed initial position and direction by using data output by an inertial navigation sensor of the mobile terminal in the blank window period. When the satellite positioning system is successfully positioned, the difference value between the positioning result and the deduced position and direction is calculated, and the position and direction of each data point in the track are corrected according to the difference value, so that a user can obtain an accurate track before the satellite positioning system is successfully positioned.
The first embodiment is a method embodiment corresponding to the present embodiment, and the present embodiment can be implemented in cooperation with the first embodiment. The related technical details mentioned in the first embodiment are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the first embodiment.
It should be noted that, each unit mentioned in each device embodiment of the present invention is a logical unit, and physically, one logical unit may be one physical unit, or may be a part of one physical unit, or may be implemented by a combination of multiple physical units, and the physical implementation manner of these logical units itself is not the most important, and the combination of the functions implemented by these logical units is the key to solve the technical problem provided by the present invention. Furthermore, the above-mentioned embodiments of the apparatus of the present invention do not introduce elements that are less relevant for solving the technical problems of the present invention in order to highlight the innovative part of the present invention, which does not indicate that there are no other elements in the above-mentioned embodiments of the apparatus.
It is to be noted that in the claims and the description of the present patent, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the use of the verb "comprise a" to define an element does not exclude the presence of another, same element in a process, method, article, or apparatus that comprises the element.
While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. A method for recording a track in a blank window period before a satellite positioning system successfully positions for the first time is characterized by comprising the following steps:
acquiring an assumed initial position P0 and an initial direction D0 of the mobile terminal at a positioning starting time T0;
calculating an estimated position Pk and an estimated direction Dk of the mobile terminal at a time Tk and an estimated position Pt and an estimated direction Dt of a satellite positioning system at the time Tt when the satellite positioning system is successfully positioned for the first time according to data output by an inertial navigation sensor in the mobile terminal, the P0 and the D0, wherein the Tk is an integer after the T0 and before the Tt, and k is an integer which is more than 0 and less than T;
acquiring an actual measurement position Pn and an actual measurement direction Dn in a positioning result of the mobile terminal by the satellite positioning system at the Tt moment;
calculating a position difference Ep of the Pn and the Pt and an angle difference Ed of the Dn and the Dt;
and correcting the Pk and the Dk according to the position difference Ep and the angle difference Ed to be used as points in the track in the empty window period.
2. The method for track recording during the blank window period before the first successful positioning of the satellite positioning system according to claim 1, wherein the navigation sensor comprises one or any combination of the following:
gyroscope, acceleration sensor, magnetometer and barometer.
3. The method according to claim 1, wherein the step of calculating the inferred position Pk and the inferred direction Dk of the mobile terminal at the time Tk and the inferred position Pt and the inferred direction Dt of Tt when the satellite positioning system successfully locates for the first time uses an inertial navigation algorithm to realize the calculation of Pk, Dk, Pt and Dt.
4. The method as claimed in claim 1, wherein in the step of calculating the difference between Pn and Pt, and the difference between Dn and Dt, Ed, the difference between Pn and Pt is Pn-Pt; ed is Dn-Dt;
in the step of "correcting the Pk and the Dk based on the position difference Ep and the angle difference Ed", the corrected position is Pk + Ep and the corrected direction is Dn + Ed at the time Tk.
5. The method for track recording during the blank window period before the first successful positioning by the satellite positioning system according to any one of claims 1 to 4, further comprising the steps of:
carrying out WIFI positioning or base station positioning at the positioning starting moment;
the result of the WIFI positioning or the base station positioning is taken as P0.
6. An apparatus for tracking a satellite positioning system during an empty window period prior to a first successful fix, comprising:
a preset unit for acquiring an assumed initial position P0 and an initial direction D0 of the mobile terminal at a start positioning time T0;
an estimating unit, configured to calculate an estimated position Pk and an estimated direction Dk of the mobile terminal at a time Tk, and an estimated position Pt and an estimated direction Dt of Tt when the satellite positioning system successfully locates for the first time, based on data output by an inertial navigation sensor in the mobile terminal, the P0 and the D0, where Tk is an integer after the T0 and before the Tt, and k is an integer greater than 0 and smaller than T;
the actual measurement unit is used for acquiring an actual measurement position Pn and an actual measurement direction Dn in a positioning result of the satellite positioning system on the mobile terminal at the Tt moment;
a difference calculation unit for calculating a position difference Ep between the Pn and the Pt and an angle difference Ed between the Dn and the Dt;
and the correcting unit is used for correcting the Pk and the Dk according to the position difference Ep and the angle difference Ed to be used as points in the track in the empty window period.
7. The apparatus for track recording during the blank window period before the first successful positioning of the satellite positioning system according to claim 6, wherein the navigation sensor comprises one or any combination of the following:
gyroscope, acceleration sensor, magnetometer and barometer.
8. The apparatus according to claim 6, wherein the estimating unit uses an inertial navigation algorithm to calculate the Pk, Dk, Pt and Dt when calculating the estimated position Pk and the estimated direction Dk of the mobile terminal at the time Tk and the estimated position Pt and the estimated direction Dt of Tt when the satellite positioning system is successfully positioned for the first time.
9. The apparatus of claim 6, wherein the difference calculating unit, when calculating the position difference Ep between Pn and Pt and the angle difference Ed between Dn and Dt, is Pn-Pt; ed is Dn-Dt;
and the correcting unit corrects the Pk and the Dk according to the position difference Ep and the angle difference Ed, wherein at the time Tk, the corrected position is Pk + Ep, and the corrected direction is Dn + Ed.
10. The apparatus for track recording during the blank window period before the first successful positioning by the satellite positioning system according to any one of claims 6 to 9, further comprising:
the positioning unit is used for carrying out WIFI positioning or base station positioning at the positioning starting moment;
and the preset unit takes the result of the WIFI positioning or the base station positioning of the positioning unit as P0.
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