CN110030999A - A kind of localization method based on inertial navigation, device, system and vehicle - Google Patents
A kind of localization method based on inertial navigation, device, system and vehicle Download PDFInfo
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- CN110030999A CN110030999A CN201910423083.8A CN201910423083A CN110030999A CN 110030999 A CN110030999 A CN 110030999A CN 201910423083 A CN201910423083 A CN 201910423083A CN 110030999 A CN110030999 A CN 110030999A
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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
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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
- G01C21/20—Instruments for performing navigational calculations
-
- 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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Abstract
Embodiment of the invention discloses a kind of localization method based on inertial navigation, device, system and vehicles, multiple attitude transducers are provided on vehicle, to the attitude data of attitude transducer acquisition, determine whether current time multiple attitude datas of acquisition are effective jointly by the multiple attitude datas acquired.In the effective situation of multiple attitude datas for judging current time acquisition, the targeted attitude data for being positioned to the target position where current time vehicle are determined jointly as this multiple attitude data.The targeted attitude data determined jointly by multiple attitude datas improve data accuracy.Targeted attitude data are the data being calculated after the validity for having judged attitude data, and the judgement of attitude data validity avoids carrying out location Calculation with the biggish data of error, ensure that the confidence level of data.Optimization to attitude data has higher positioning accuracy so that carrying out positioning to vehicle by targeted attitude data.
Description
Technical field
The present invention relates to vehicle positioning technology field, more particularly, to a kind of localization method based on inertial navigation, device,
System and vehicle.
Background technique
GNSS (Global Navigation Satellite System, Global Navigation Satellite based on satellite emission signal
System) positioning system develops more mature at present, however the GNSS positioning system based on satellite emission signal still has one
Fixed unstability, single GNSS positioning is unable to meet demand under many scenes, it is necessary to have the auxiliary of inertial navigation system.
Inertial navigation technology is by GNSS positioning and attitude transducer (including three axis accelerometer, three-axis gyroscope, three axle electronic compass)
Composition calculates longitude and latitude by merging GNSS coordinate, but the sensors itself such as gyroscope, accelerometer, electronic compass vulnerable to
Noise jamming still has certain deviation by the result of inertial navigation system operation, and positioning accuracy is lower.Once GNSS signal
Drop-out time is slightly partially longer, and the deviation of inertial navigation system is with regard to increasing.
In actual application, inventor's discovery is since attitude transducer is vulnerable to noise jamming, existing inertial navigation
For the positioning result of system operations there are deviation, positioning accuracy is lower.
Summary of the invention
The embodiment of the present invention provides a kind of localization method based on inertial navigation, device, system and vehicle, to solve by
In attitude transducer vulnerable to noise jamming, the positioning result of existing inertial navigation system operation there are deviation, positioning accuracy compared with
Low technical problem.
Against the above technical problems, the embodiment provides a kind of localization method based on inertial navigation system,
Include:
During vehicle driving, the vehicle by the multiple attitude transducers acquisition being arranged on vehicle is obtained when current
The attitude data at quarter；
Judge whether the attitude data at current time is effective by the multiple attitude datas acquired, if so, according to multiple appearances
The targeted attitude data at state data generation current time；
The position of vehicle is determined according to the location data of the targeted attitude data, current speed and previous moment, is made
For the target position in current time vehicle determined by inertial navigation system.
The embodiment provides a kind of positioning devices based on inertial navigation, comprising:
Module is obtained, is acquired for obtaining during vehicle driving by the multiple attitude transducers being arranged on vehicle
Vehicle current time attitude data；
Generation module judges whether the attitude data at current time is effective for multiple attitude datas by acquiring, if so,
The targeted attitude data at current time are then generated according to multiple attitude datas；
Locating module, for the location data according to the targeted attitude data, current speed and satellite navigation system
Determine vehicle in the target position at current time.
The embodiment provides a kind of positioning system based on inertial navigation, including processor, it is mounted on vehicle
On location data for acquiring multiple attitude transducers of vehicle attitude data and for receiving satellite navigation system to vehicle
Receiving device；
Wherein, the processor is for executing the process described above.
The embodiment provides a kind of vehicles, including the above-described positioning system based on inertial navigation.
The embodiment provides a kind of electronic equipment, including memory, processor and storage are on a memory simultaneously
The computer program that can be run on a processor, the processor is realized when executing described program above-described is led based on inertia
The step of localization method of boat system.
The embodiment provides a kind of non-transient computer readable storage mediums, are stored thereon with computer journey
The step of sequence, which realizes the above-described localization method based on inertial navigation system when being executed by processor.
The embodiment provides a kind of localization method based on inertial navigation, device, system and vehicle, on vehicle
The attitude data of attitude transducer acquisition is determined jointly by the multiple attitude datas acquired provided with multiple attitude transducers
Whether current time multiple attitude datas of acquisition are effective.Judging the effective situation of multiple attitude datas of current time acquisition
Under, determine the targeted attitude for being positioned to the target position where current time vehicle jointly as this multiple attitude data
Data.The targeted attitude data determined jointly by multiple attitude datas improve data accuracy.Targeted attitude data be
The data being calculated after the validity of attitude data are judged, the judgement of attitude data validity is avoided with the biggish number of error
According to location Calculation is carried out, the confidence level of data ensure that.Optimization to attitude data is so that by targeted attitude data to vehicle
Carrying out positioning has higher positioning accuracy.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of flow diagram of localization method based on inertial navigation provided by one embodiment of the present invention；
Fig. 2 is a kind of structural block diagram for positioning device based on inertial navigation that another embodiment of the present invention provides；
Fig. 3 is the operation principle schematic diagram for the positioning system based on inertial navigation that another embodiment of the present invention provides；
Fig. 4 is the structural block diagram for the electronic equipment that another embodiment of the present invention provides.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Inertial navigation system (INS, hereinafter referred to as inertial navigation) is one kind independent of external information, also not to external radiation energy
The autonomic navigation system of amount.Inertial navigation system is with attitude transducer (for example, gyroscope, accelerometer and electronic compass)
For the navigational parameter resolving system of Sensitive Apparatus, the data meter output acquired by these attitude transducers calculates carrier and exists
Speed and position in navigational coordinate system.Fig. 1 is a kind of process of localization method based on inertial navigation provided in this embodiment
Schematic diagram, referring to Fig. 1, this method comprises:
101: during vehicle driving, obtaining and worked as by the vehicle for the multiple attitude transducers acquisition being arranged on vehicle
The attitude data at preceding moment；
102: judging whether the attitude data at current time is effective by the multiple attitude datas acquired, if so, according to more
A attitude data generates the targeted attitude data at current time；
103: the position of vehicle is determined according to the location data of the targeted attitude data, current speed and previous moment
It sets, as the target position in current time vehicle determined by inertial navigation system.
Method provided by the invention is executed by the equipment for being mounted with the program of operation above-mentioned steps 101-103, which can
Be server, terminal or be exclusively used in vehicle carry out location Calculation equipment.Attitude transducer includes gyroscope, acceleration
Meter, electronic compass and other devices for being used to measure vehicle attitude.Attitude data includes the attitude angle variation of gyroscope acquisition
Value, the acceleration value of accelerometer acquisition and orientation angle changing value of electronic compass acquisition etc..
Whether attitude data is effectively judged, the variance of multiple attitude datas can be calculated, posture is judged by variance
The validity of data, alternatively, can also be sentenced by judging whether each attitude data is in preset numberical range
The validity of disconnected attitude data, the present embodiment are not particularly limited this.Current time is being generated according to multiple attitude datas
When targeted attitude data, can according to setting operation rule to multiple attitude datas carry out operation, using obtained result as
Targeted attitude data, wherein operation rule can be set according to actual needs.By targeted attitude data, current speed and
When the location data of previous moment determines target position, vehicle phase can be calculated according to targeted attitude data and current speed
Position for the change in location of previous moment, according to the location data of previous moment and calculated vehicle relative to previous moment
Set the target position that vehicle current time is extrapolated in variation.The position is to be by the position of inertial navigation system positioning.
A kind of localization method based on inertial navigation is present embodiments provided, is provided with multiple attitude transducers on vehicle,
To the attitude data of attitude transducer acquisition, multiple postures of current time acquisition are determined jointly by the multiple attitude datas acquired
Whether data are effective.In the effective situation of multiple attitude datas for judging current time acquisition, it is total to by this multiple attitude data
With the targeted attitude data determined for being positioned to the target position where current time vehicle.Pass through multiple attitude datas
Determining targeted attitude data improve data accuracy jointly.Targeted attitude data are in the validity for having judged attitude data
The data being calculated afterwards, the judgement of attitude data validity are avoided carrying out location Calculation with the biggish data of error, be ensure that
The confidence level of data.Optimization to attitude data has higher positioning so that carrying out positioning to vehicle by targeted attitude data
Precision.
Further, on the basis of the above embodiments, multiple attitude datas by acquiring judge current time
Whether attitude data is effective, if so, generating the targeted attitude data at current time according to multiple attitude datas, comprising:
The variance for calculating multiple attitude datas of acquisition, judges whether the variance of multiple attitude datas is less than or equal to first
Default variance；
If the variance of multiple attitude datas is less than or equal to the described first default variance, multiple posture numbers at current time
According to effective, using the average value of multiple attitude datas as the targeted attitude data at current time；
If the variance of multiple attitude datas is greater than the described first default variance, multiple attitude datas at current time without
Effect, using be used to calculate vehicle previous moment position attitude data as the targeted attitude data.
The validity that multiple attitude datas are judged by the comparison of the variance of multiple attitude datas and the first default variance, when
The variance of multiple attitude datas is less than the first default variance, then it represents that the data of each attitude transducer acquisition are closer to, posture
Data confidence level with higher can carry out location Calculation to vehicle by this multiple attitude data.If this multiple posture
The variance of data is greater than the first default variance, then it represents that the gap data of each attitude transducer acquisition is larger, it is understood that there may be certain
Attitude transducer failure is insincere because of the attitude data of accidental cause measurement, cannot pass through this posture acquired
Data to carry out location Calculation to vehicle.It can be seen that by variance calculate ensure that participate in vehicle location calculate attitude data can
Reliability.Further, since the frequency acquisition of attitude transducer is very high, the variations such as the angle of vehicle, acceleration, direction do not have in practice
So frequently, therefore incredible data are directly given up, being replaced by the data of previous moment will not be to final positioning result
Large effect is generated, ensure that each moment can carry out location Calculation to vehicle.
A kind of localization method based on inertial navigation is present embodiments provided, the variance by calculating multiple attitude datas is kept away
Exempt from abnormal attitude data and participated in location Calculation, ensure that the confidence level of data.
Further, on the basis of the various embodiments described above, further includes:
The target position is exported when the location data positioned by satellite navigation system can not be received by detecting, alternatively,
The location data positioned by the satellite navigation system is modified by the target position.
Further, the location data and last moment vehicle that detect satellite navigation system location data deviation
When greater than predetermined deviation, the target position is exported.
Further, the target position is longitude and latitude data.
The location data of vehicle can be sent to vehicle in real time by satellite navigation system GNSS, but for various reasons,
GNSS satellite signal always has certain losing probability, same GNSS data also will appear as jump etc can not letter data,
When this happens, above-mentioned target position is exported, ensure that also can be defeated in the case where exception occurs in satellite navigation system
Correct vehicle location out.
Further, it on the basis of the various embodiments described above, during the vehicle driving, obtains by vehicle is arranged in
On attitude data of the vehicle at current time of multiple attitude transducers acquisition include:
During vehicle driving, the vehicle by the multiple three axis accelerometers acquisition being arranged on vehicle is obtained current
The acceleration value at moment, the attitude angle by the vehicle for the multiple three-axis gyroscopes acquisition being arranged on vehicle at current time become
Change value, by be arranged on vehicle multiple three axle electronic compass acquisition vehicle current time driving direction orientation angle
Changing value.
Multiple attitude transducers include three axis accelerometer, three-axis gyroscope and three axle electronic compass.
Further, on the basis of the various embodiments described above, multiple attitude datas by acquiring judge current time
Attitude data it is whether effective, if so, according to multiple attitude datas generate current time targeted attitude data, comprising:
The acceleration value acquired by multiple three axis accelerometers is obtained, each acceleration value is decomposed into the water of horizontal direction
The vertical acceleration component of flat component of acceleration and vertical direction, judge the variance of multiple horizontal acceleration components whether be less than or
Whether the variance equal to the second default variance and multiple vertical acceleration components is less than or equal to the described second default variance, if
It is, then using the average value of multiple horizontal acceleration components of calculating as the horizontal component of aimed acceleration value, by the more of calculating
Vertical component of the average value of a vertical acceleration component as the aimed acceleration value；
The attitude angle changing value acquired by multiple three-axis gyroscopes is obtained, each attitude angle changing value is decomposed into water
Square to horizontal attitude angle change component and vertical direction perpendicular attitude angle change component, judge multiple horizontal attitudes
Whether the variance of angle change component is less than or equal to the variance that third presets variance and multiple perpendicular attitude angle change components
Whether it is less than or equal to the third and presets variance, if so, is averaged multiple horizontal attitude angle change components of calculating
It is worth the horizontal component as targeted attitude angle changing value, the average value of multiple perpendicular attitude angle change components of calculating is made
For the vertical component of the targeted attitude angle changing value；
The orientation angle changing value acquired by multiple three axle electronic compass is obtained, each direction angle change value is decomposed into
The horizontal direction angle change component of horizontal direction and the vertical direction angle of vertical direction change change component, judge multiple water
Square whether it is less than or equal to the 4th default variance and multiple vertical direction angle change components to the variance of angle change component
Variance whether be less than or equal to the 4th default variance, if so, by multiple horizontal direction angle change components of calculating
Horizontal component of the average value as target direction angle change value, by the flat of multiple vertical direction angle change components of calculating
Vertical component of the mean value as the target direction angle change value.
Further, if the variance of multiple horizontal acceleration components is greater than the second default variance or multiple normal accelerations
The variance of component is greater than the described second default variance, then will be used to calculate vehicle in the acceleration value of previous moment position
Horizontal component of the horizontal component as the aimed acceleration value will be used to calculate vehicle in the acceleration of previous moment position
Vertical component of the vertical component of angle value as the aimed acceleration value；
If the variance of multiple horizontal attitude angle change components, which is greater than third, presets variance or multiple perpendicular attitude angles
The variance of change component is greater than the third and presets variance, then will be used to calculate vehicle in the attitude angle of previous moment position
Horizontal component of the horizontal component of changing value as the targeted attitude angle changing value is spent, will be used to calculate vehicle when previous
Carve vertical component of the vertical component of the attitude angle changing value of position as the targeted attitude angle changing value；
If the variance of multiple horizontal direction angle change components is greater than the 4th default variance or multiple vertical direction angles
The variance of change component is greater than the 4th default variance, then will be used to calculate vehicle in the deflection of previous moment position
Horizontal component of the horizontal component of changing value as the target direction angle change value is spent, will be used to calculate vehicle when previous
Carve vertical component of the vertical component of the orientation angle changing value of position as the target direction angle change value.
First default variance, the second default variance, third preset variance and the 4th default variance is setting value.
For example, being respectively mounted 5 to each attitude transducer on vehicle, to 5 same type of sensor, (i.e. 5 three axis add
Speedometer, 5 three-axis gyroscopes or 5 three axle electronic compass), it is assumed that table 1 is the acceleration of the acquisition of 5 three axis accelerometers
The data of angle value in the horizontal direction.These data are in a discrete distribution.The second default variance is set as 0.1.For adopting each time
Collect 5 acceleration values, this 5 acceleration values is decomposed into horizontal acceleration component and vertical acceleration component, 5 calculated separately
The variance (i.e. sample data) of a horizontal acceleration component and 5 vertical acceleration components, if this 5 horizontal acceleration components
The variance that variance is less than or equal to 0.1 and 5 vertical acceleration component is less than or equal to 0.1, then it is assumed that 5 of this acquisition add
The data of velocity amplitude are credible (i.e. data are effective), are when time measured value with the average value of 5 sample datas.If variance is greater than
0.1, it is considered that this data is insincere, replaced by previous data.
Certain data of 5 acceleration values in the horizontal direction that table 1 acquires
Further, on the basis of the various embodiments described above, it is described according to the targeted attitude data, current speed and
The location data of previous moment determines the position of vehicle, as the target in current time vehicle determined by inertial navigation system
Position, comprising:
The aimed acceleration value, the targeted attitude angle changing value and the target direction angle change value are obtained,
Horizontal component, the horizontal component of the targeted attitude angle changing value, the target direction angle to the aimed acceleration value
The horizontal component, the vertical component of the aimed acceleration value, the vertical of the targeted attitude angle changing value for spending changing value are divided
The vertical component of amount and the target direction angle change value carries out Kalman filtering, will be according to the number obtained after Kalman filtering
The position that vehicle is determined according to the location data of, current speed and previous moment, as the target position；
Wherein, the location data of previous moment is the location data or previous that previous moment is positioned by satellite navigation system
The position that moment is determined by the inertial navigation system.
Kalman filtering (Kalman filtering) is a kind of to utilize linear system state equation, passes through system input and output
Data are observed, the algorithm of optimal estimation is carried out to system mode.The interference in data, logarithm can be eliminated by Kalman filtering
According to optimizing.In the present embodiment, by the horizontal acceleration point of the obtained acceleration value according to acceleration transducer measurement
The vertical acceleration component of the horizontal component of the aimed acceleration value measured, the acceleration value measured according to acceleration transducer
The horizontal attitude angle of the vertical component of obtained aimed acceleration value, the attitude angle changing value measured according to gyro sensor
The horizontal component for the targeted attitude angle changing value that degree change component obtains becomes according to the attitude angle of gyro sensor measurement
The vertical component for the targeted attitude angle changing value that the perpendicular attitude angle change component of change value obtains is sensed according to electronic compass
The level point for the target direction angle change value that the horizontal direction angle change component of the orientation angle changing value of device measurement obtains
Amount, the target direction obtained according to the vertical direction angle change component of the orientation angle changing value of electronic compass sensor measurement
The vertical component of angle change value carries out after further optimizing data by Kalman filtering, obtains final goal posture number
According to the change in location of vehicle being extrapolated in conjunction with the current speed of vehicle, by the positioning of the change in location and previous moment of vehicle
Data determine target position.It should be noted that handling the method for data by Kalman filtering and passing through acceleration, vehicle
Angle change, driving direction variation and vehicle speed calculate that vehicle location variation is the more prior art, the present embodiment
Details are not described herein.
Specifically, the method by being handled data in table 1, measure angle, acceleration, direction data,
The data such as angle, acceleration, direction are integrated, the operations such as matrix, obtains vehicle attitude (level orientation and Vertical Square digit
According to), by these data, GNSS location data and collected vehicle speed information by Kalman filtering, calculates and final determine
Position latitude and longitude coordinates data.
Further, further includes:
Before vehicle driving, body gesture and driving direction are demarcated, using the body gesture of calibration as the posture of measurement
The reference value of angle value changing value, using the driving direction of calibration as the reference value of orientation angle changing value.
Specifically, will receive the receiving device of the signal of GNSS, multiple three-axis gyroscopes, multiple three axis accelerometers,
The system of the compositions such as multiple three axle electronic compass, speed data collection, communication module, CPU computing module is installed on vehicle, it is ensured that vehicle
Speed signal it is correct.The place in horizontal and known all directions orientation is looked at one again.Vehicle is moved to this place, it is ensured that
After vehicle body is steady, body gesture is demarcated.After the completion of calibration, vehicle can be operated normally, and system is according to obtained calibration
Parameter works by the technical principle that the various embodiments described above provide, and provides the positioning of the vehicle indicated with latitude and longitude coordinates
Data.
Localization method provided in this embodiment based on inertial navigation loses the feelings of GNSS signal in vehicle operation
Under condition, based on the data that the last time normally positions, it still can guarantee that the longitude and latitude data to vehicle location of degree of precision export, and
Attitude transducer quantity is more, and precision is higher, can meet the requirements higher application demand.
Fig. 2 shows a kind of structural block diagram for positioning device based on inertial navigation that the embodiment of the present invention provides, ginsengs
See Fig. 2, the positioning device provided in this embodiment based on inertial navigation includes obtaining module 201, generation module 202 and positioning mould
Block 203, wherein
Module 201 is obtained, for during vehicle driving, acquisition to be adopted by the multiple attitude transducers being arranged on vehicle
Attitude data of the vehicle of collection at current time；
Generation module 202 judges whether the attitude data at current time is effective for multiple attitude datas by acquiring, if
It is that the targeted attitude data at current time are then generated according to multiple attitude datas；
Locating module 203, it is true for the location data according to the targeted attitude data, current speed and previous moment
The position for determining vehicle, as the target position in current time vehicle determined by inertial navigation system.
Positioning device provided in this embodiment based on inertial navigation provided suitable for above-described embodiment based on inertia
The method of the positioning of navigation, details are not described herein.
The embodiment provides a kind of positioning device based on inertial navigation, multiple postures are provided on vehicle and are passed
Sensor determines the more of current time acquisition by the multiple attitude datas acquired to the attitude data of attitude transducer acquisition jointly
Whether a attitude data is effective.In the effective situation of multiple attitude datas for judging current time acquisition, by this multiple posture
Data determine the targeted attitude data for being positioned to the target position where current time vehicle jointly.Pass through multiple appearances
The targeted attitude data that state data determine jointly improve data accuracy.Targeted attitude data are to judge attitude data
The data being calculated after validity, the judgement of attitude data validity avoid carrying out location Calculation with the biggish data of error,
It ensure that the confidence level of data.Optimization to attitude data is so that carry out positioning with higher to vehicle by targeted attitude data
Positioning accuracy.
It present embodiments provides a kind of positioning system based on inertial navigation, including processor, is installed on vehicle and is used for
Acquire multiple attitude transducers of vehicle attitude data and for receiving reception of the satellite navigation system to the location data of vehicle
Equipment；
Wherein, the processor is for executing method described in any of the above embodiment.
Fig. 3 is the operation principle schematic diagram of the positioning system provided in this embodiment based on inertial navigation, should referring to Fig. 3
System is by reception satellite navigation system to GNSS module, the multiple three-axis gyroscopes on the receiving device of the location data of vehicle
(measurement angle variation), multiple three axis accelerometers (measurement acceleration change), (measurement direction becomes multiple three axle electronic compass
Change), speed data collection, communication module, the composition such as CPU computing module.
GNSS module on receiving device can be according to the needs of positioning accuracy, using double frequency high accuracy positioning module or support
The high accuracy positioning module of RTK.
The system that communication module can be used for A-GNSS or RTK is supported.
MEMS sensor chip can be used in three-axis gyroscope, three axis accelerometer, three axle electronic compass.Speed data collection passes through
CAN bus or the mode of pulse collection acquire the real-time speed of vehicle.
It present embodiments provides including the above-described positioning system based on inertial navigation.
A kind of positioning system and vehicle based on inertial navigation is present embodiments provided, multiple postures is provided on vehicle and passes
Sensor determines the more of current time acquisition by the multiple attitude datas acquired to the attitude data of attitude transducer acquisition jointly
Whether a attitude data is effective.In the effective situation of multiple attitude datas for judging current time acquisition, by this multiple posture
Data determine the targeted attitude data for being positioned to the target position where current time vehicle jointly.Pass through multiple appearances
The targeted attitude data that state data determine jointly improve data accuracy.Targeted attitude data are to judge attitude data
The data being calculated after validity, the judgement of attitude data validity avoid carrying out location Calculation with the biggish data of error,
It ensure that the confidence level of data.Optimization to attitude data is so that carry out positioning with higher to vehicle by targeted attitude data
Positioning accuracy.
Fig. 4 is the structural block diagram for showing electronic equipment provided in this embodiment.
Referring to Fig. 4, the electronic equipment includes: processor (processor) 410, communication interface (Communications
Interface) 420, memory (memory) 430 and communication bus 440, wherein processor 410, communication interface 420, storage
Device 430 completes mutual communication by communication bus 440.Processor 410 can call the logical order in memory 430,
To execute following method: during vehicle driving, obtaining by the vehicle for the multiple attitude transducers acquisition being arranged on vehicle
In the attitude data at current time；Judge whether the attitude data at current time is effective by the multiple attitude datas acquired, if so,
The targeted attitude data at current time are then generated according to multiple attitude datas；According to the targeted attitude data, current speed
The position that vehicle is determined with the location data of previous moment, as the mesh in current time vehicle determined by inertial navigation system
Cursor position.
In addition, the logical order in above-mentioned memory 430 can be realized by way of SFU software functional unit and conduct
Independent product when selling or using, can store in a computer readable storage medium.Based on this understanding, originally
Substantially the part of the part that contributes to existing technology or the technical solution can be in other words for the technical solution of invention
The form of software product embodies, which is stored in a storage medium, including some instructions to
So that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation of the present invention
The all or part of the steps of example the method.And storage medium above-mentioned include: USB flash disk, mobile hard disk, read-only memory (ROM,
Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. it is various
It can store the medium of program code.
The present embodiment provides a kind of non-transient computer readable storage mediums, are stored thereon with computer program, the calculating
Machine program is executed by processor following method: during vehicle driving, obtaining and is sensed by the multiple postures being arranged on vehicle
Attitude data of the vehicle of device acquisition at current time；The attitude data for judging current time by the multiple attitude datas acquired is
It is no effective, if so, generating the targeted attitude data at current time according to multiple attitude datas；According to the targeted attitude number
The position that vehicle is determined according to the location data of, current speed and previous moment, is working as what is determined by inertial navigation system
The target position of preceding moment vehicle.
The present embodiment discloses a kind of computer program product, and the computer program product includes being stored in non-transient calculating
Computer program on machine readable storage medium storing program for executing, the computer program include program instruction, when described program instruction is calculated
When machine executes, computer is able to carry out method provided by above-mentioned each method embodiment, it may for example comprise: the process of vehicle driving
In, obtain by be arranged on vehicle multiple attitude transducers acquisition vehicle current time attitude data；By what is acquired
Multiple attitude datas judge whether the attitude data at current time is effective, if so, when generating current according to multiple attitude datas
The targeted attitude data at quarter；Vehicle is determined according to the location data of the targeted attitude data, current speed and previous moment
Position, as the target position in current time vehicle determined by inertial navigation system.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can be stored in a computer readable storage medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes: ROM, RAM, magnetic disk or light
The various media that can store program code such as disk.
The embodiments such as electronic equipment described above are only schematical, wherein it is described as illustrated by the separation member
Unit may or may not be physically separated, and component shown as a unit may or may not be object
Manage unit, it can it is in one place, or may be distributed over multiple network units.It can select according to the actual needs
Some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying wound
In the case where the labour for the property made, it can understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It realizes by means of software and necessary general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be embodied in the form of software products in other words, should
Computer software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Method described in certain parts of example or embodiment.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the embodiment of the present invention, rather than it is right
It is limited；Although the embodiment of the present invention is described in detail referring to foregoing embodiments, the ordinary skill of this field
Personnel are it is understood that it is still possible to modify the technical solutions described in the foregoing embodiments, or to part
Or all technical features are equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution
The range of each embodiment technical solution of the embodiment of the present invention.
Claims (9)
1. a kind of localization method based on inertial navigation system characterized by comprising
During vehicle driving, the vehicle by the multiple attitude transducers acquisition being arranged on vehicle is obtained at current time
Attitude data；
Judge whether the attitude data at current time is effective by the multiple attitude datas acquired, if so, according to multiple posture numbers
According to the targeted attitude data for generating current time；
The position that vehicle is determined according to the location data of the targeted attitude data, current speed and previous moment, as by
The target position in current time vehicle that inertial navigation system determines.
2. the localization method according to claim 1 based on inertial navigation, which is characterized in that multiple appearances by acquiring
State data judge whether the attitude data at current time is effective, if so, generating the mesh at current time according to multiple attitude datas
Mark attitude data, comprising:
It is default to judge whether the variance of multiple attitude datas is less than or equal to first for the variance for calculating multiple attitude datas of acquisition
Variance；
If the variance of multiple attitude datas is less than or equal to the described first default variance, multiple attitude datas at current time have
Effect, using the average value of multiple attitude datas as the targeted attitude data at current time；
If the variance of multiple attitude datas is greater than the described first default variance, multiple attitude datas at current time are invalid, will
For calculate vehicle previous moment position attitude data as the targeted attitude data.
3. the localization method according to claim 1 based on inertial navigation, which is characterized in that further include:
The target position is exported when the location data positioned by satellite navigation system can not be received by detecting, alternatively, passing through
The target position is modified the location data positioned by the satellite navigation system.
4. the localization method according to claim 1 based on inertial navigation, which is characterized in that the process of the vehicle driving
In, obtaining the attitude data by the vehicle for the multiple attitude transducers acquisition being arranged on vehicle at current time includes:
During vehicle driving, the vehicle by the multiple three axis accelerometers acquisition being arranged on vehicle is obtained at current time
Acceleration value, by be arranged on vehicle multiple three-axis gyroscopes acquisition vehicle current time attitude angle change
Value is become by the vehicle for the multiple three axle electronic compass acquisition being arranged on vehicle in the orientation angle of the driving direction at current time
Change value.
5. the localization method according to claim 4 based on inertial navigation, which is characterized in that multiple appearances by acquiring
State data judge whether the attitude data at current time is effective, if so, generating the mesh at current time according to multiple attitude datas
Mark attitude data, comprising:
The acceleration value acquired by multiple three axis accelerometers is obtained, the level that each acceleration value is decomposed into horizontal direction is added
The vertical acceleration component of velocity component and vertical direction, judges whether the variance of multiple horizontal acceleration components is less than or equal to
Whether the variance of the second default variance and multiple vertical acceleration components is less than or equal to the described second default variance, if so,
Using the average value of multiple horizontal acceleration components of calculating as the horizontal component of aimed acceleration value, by the multiple vertical of calculating
Vertical component of the average value of component of acceleration as the aimed acceleration value；
The attitude angle changing value acquired by multiple three-axis gyroscopes is obtained, each attitude angle changing value is decomposed into level side
To horizontal attitude angle change component and vertical direction perpendicular attitude angle change component, judge multiple horizontal attitude angles
The variance of change component whether be less than or equal to third preset variance and multiple perpendicular attitude angle change components variance whether
Variance is preset less than or equal to the third, if so, the average value of multiple horizontal attitude angle change components of calculating is made
For the horizontal component of targeted attitude angle changing value, using the average value of multiple perpendicular attitude angle change components of calculating as institute
State the vertical component of targeted attitude angle changing value；
The orientation angle changing value acquired by multiple three axle electronic compass is obtained, each direction angle change value is decomposed into level
The horizontal direction angle change component in direction and the vertical direction angle of vertical direction change change component, judge multiple level sides
Whether it is less than or equal to the side of the 4th default variance and multiple vertical direction angle change components to the variance of angle change component
Whether difference is less than or equal to the 4th default variance, if so, by the flat of multiple horizontal direction angle change components of calculating
Horizontal component of the mean value as target direction angle change value, by the average value of multiple vertical direction angle change components of calculating
Vertical component as the target direction angle change value.
6. the localization method according to claim 5 based on inertial navigation, which is characterized in that described according to the target appearance
The location data of state data, current speed and previous moment determines the position of vehicle, as what is determined by inertial navigation system
In the target position of current time vehicle, comprising:
The aimed acceleration value, the targeted attitude angle changing value and the target direction angle change value are obtained, to institute
The horizontal component of aimed acceleration value, the horizontal component of the targeted attitude angle changing value, the target direction angle is stated to become
The horizontal component of change value, the vertical component of the aimed acceleration value, the vertical component of the targeted attitude angle changing value and
The vertical component of the target direction angle change value carries out Kalman filtering, by according to the data obtained after Kalman filtering,
The location data of current speed and previous moment determines the position of vehicle, as the target position；
Wherein, the location data of previous moment is the location data or previous moment that previous moment is positioned by satellite navigation system
The position determined by the inertial navigation system.
7. a kind of positioning device based on inertial navigation characterized by comprising
Module is obtained, for during vehicle driving, obtaining by the vehicle for the multiple attitude transducers acquisition being arranged on vehicle
Current time attitude data；
Generation module judges whether the attitude data at current time is effective for multiple attitude datas by acquiring, if so, root
The targeted attitude data at current time are generated according to multiple attitude datas；
Locating module, for determining vehicle according to the location data of the targeted attitude data, current speed and previous moment
Position, as the target position in current time vehicle determined by inertial navigation system.
8. a kind of positioning system based on inertial navigation, which is characterized in that including processor, be installed on vehicle for collecting vehicle
Multiple attitude transducers of attitude data and for receiving satellite navigation system to the receiving device of the location data of vehicle；
Wherein, the processor requires the described in any item methods of 1-6 for perform claim.
9. a kind of vehicle, which is characterized in that including the positioning system based on inertial navigation described in claim 8.
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