CN113063425B

CN113063425B - Vehicle positioning method and device, electronic equipment and storage medium

Info

Publication number: CN113063425B
Application number: CN202110537328.7A
Authority: CN
Inventors: 苏景岚
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2021-05-18
Filing date: 2021-05-18
Publication date: 2021-09-21
Anticipated expiration: 2041-05-18
Also published as: CN113063425A

Abstract

The application provides a vehicle positioning method, a vehicle positioning device, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring motion state information of a vehicle at a first moment; correcting the motion state information of the vehicle at the first moment by using N correction modes to obtain the motion state information of the vehicle at the second moment, wherein the motion state information of the vehicle comprises the position information of the vehicle; the N correction methods include at least three correction methods among a correction method based on an inertial sensor, a correction method based on road network information, a correction method based on a geomagnetic sensor, and a correction method based on satellite observation data. The method and the device adopt at least 3 correction modes to correct the motion state information of the vehicle at the first moment to obtain the motion state information of the vehicle at the second moment, and further realize accurate positioning of the vehicle.

Description

Vehicle positioning method and device, electronic equipment and storage medium

Technical Field

The embodiment of the application relates to the technical field of intelligent driving, in particular to a vehicle positioning method and device, electronic equipment and a storage medium.

Background

In an intelligent traffic network, for example, when a driver is not familiar with a road and needs to navigate, a positioning function of a vehicle needs to be started, and the vehicle navigation system is matched with the positioning function of the vehicle to realize vehicle navigation. The accuracy of vehicle positioning directly affects the accuracy of vehicle navigation, namely the positioning accuracy of the vehicle plays a critical role in vehicle navigation.

With the rapid development of aerospace technology and sensing technology, satellite positioning, sensor positioning and the like are widely applied to vehicle positioning, and the positioning accuracy of vehicles is higher and higher. However, in a scene where satellite signals are poor, such as an urban environment or a tunnel, the positioning accuracy of the vehicle is poor.

Disclosure of Invention

The embodiment of the application provides a vehicle positioning method and device, electronic equipment and a storage medium, so as to improve the positioning accuracy of a vehicle.

In a first aspect, an embodiment of the present application provides a vehicle positioning method, including:

acquiring motion state information of a vehicle at a first moment;

correcting the motion state information of the vehicle at a first moment by using N correction modes to obtain the motion state information of the vehicle at a second moment; for example, the vehicle motion state information corrected by the i +1 th correction mode is corrected by using the i +1 th correction mode, so as to obtain the vehicle motion state information corrected by the i +1 th correction mode; determining the vehicle motion state information corrected by the Nth correction mode as the motion state information of the vehicle at the second moment;

the motion state information of the vehicle includes position information of the vehicle, the first time is a time before the second time, i is an integer greater than or equal to 0 and less than N, the i +1 th correction manner and the i-th correction manner are two different correction manners of N correction manners, and if i =0, the motion state information of the vehicle after the i-th correction manner correction is the motion state information of the vehicle at the first time, and the N correction manners include at least three correction manners among a correction manner based on an inertial sensor, a correction manner based on road network information, a correction manner based on a geomagnetic sensor, and a correction manner based on satellite observation data.

In some embodiments, the kinematic state information of the vehicle further includes one or more of speed information and attitude information of the vehicle.

In some embodiments, the method further comprises: and correcting the covariance matrix of the fusion filter related to the i-th correction mode at the second moment by using the first correction matrix to obtain the covariance matrix of the fusion filter related to the i + 1-th correction mode at the second moment.

In some embodiments, the modifying, by using the first modification matrix, the covariance matrix of the fusion filter at the second time point with respect to the i +1 th modification mode to obtain the covariance matrix of the fusion filter at the second time point with respect to the i +1 th modification mode includes:

obtaining a first covariance correction coefficient matrix according to a third prediction matrix, the first correction matrix and a second preset matrix;

and correcting the covariance matrix of the fusion filter related to the i-th correction mode at the second moment by using the first covariance correction coefficient matrix to obtain the covariance matrix of the fusion filter related to the i + 1-th correction mode at the second moment.

In some embodiments, the determining the first predicted location information of the vehicle at the second time comprises:

if the i +1 th correction mode is a correction mode for matching the position of the vehicle based on the road network information, acquiring the current road network information of the vehicle from a road network information base, and matching to obtain first predicted position information of the vehicle at the second moment based on the current road network information; alternatively, the first and second electrodes may be,

and if the (i + 1) th correction mode is a correction mode for matching the position of the vehicle based on a geomagnetic sensor, acquiring geomagnetic information from the geomagnetic sensor of the vehicle, and matching to obtain first predicted position information of the vehicle at the second moment based on the geomagnetic information and geomagnetic fingerprint data.

Optionally, the second preset matrix is a transposed matrix of the first preset matrix.

In some embodiments, the determining the second driving direction information of the vehicle according to the attitude information of the vehicle corrected according to the i-th correction manner includes:

determining a first parameter and a second parameter according to the attitude information of the vehicle corrected by the ith correction mode;

and determining second driving direction information of the vehicle according to the first parameter and the second parameter.

In some embodiments, the method further comprises: and correcting the covariance matrix of the fusion filter related to the i-th correction mode at the second moment by using the second correction matrix to obtain the covariance matrix of the fusion filter related to the i + 1-th correction mode at the second moment.

In some embodiments, the determining, according to the satellite observation data observed by the observation base station and the satellite observation data observed by the on-board positioning device, a correction amount of the vehicle motion state corresponding to the (i + 1) th correction manner includes:

according to the satellite observation data observed by the observation base station and the satellite observation data observed by the vehicle-mounted positioning equipment, determining a pseudo range and a phase observation value of the observation base station, a pseudo range and a phase observation value of the vehicle-mounted positioning equipment, a geometric distance between the vehicle and the satellite and a geometric distance between the observation base station and the satellite;

obtaining a pseudo-range matrix according to the pseudo-range of the observation base station, the pseudo-range of the vehicle-mounted positioning equipment, the geometric distance between the vehicle and the satellite and the geometric distance between the observation base station and the satellite;

obtaining a phase observation value matrix according to the phase observation value of the observation base station, the phase observation value of the vehicle-mounted positioning equipment, the geometric distance between the vehicle and the satellite, the geometric distance between the observation base station and the satellite and the carrier wavelength of the satellite;

acquiring a covariance matrix of a preset fusion filter at a second moment relative to the ith correction mode, acquiring a third measurement variance value of the observation base station and the vehicle-mounted positioning equipment, and determining a third correction matrix according to the covariance matrix and the third measurement variance value;

and determining the correction quantity of the vehicle motion state corresponding to the (i + 1) th correction mode according to the pseudo-range matrix, the phase observation value matrix and the third correction matrix.

In some embodiments, the method further comprises: and correcting the covariance matrix of the fusion filter related to the i-th correction mode at the second moment by using the third correction matrix to obtain the covariance matrix of the fusion filter related to the i + 1-th correction mode at the second moment.

In some embodiments, the modifying the vehicle motion state information modified by the i +1 th modification manner according to the modification amount of the vehicle motion state corresponding to the i +1 th modification manner to obtain the vehicle motion state information modified by the i +1 th modification manner includes:

correcting the vehicle position information corrected by the i-th correction mode by using a position correction amount in the correction amounts of the vehicle motion state to obtain vehicle position information corrected by the i + 1-th correction mode;

correcting the vehicle speed information corrected by the i-th correction mode by using a speed correction amount in the correction amounts of the vehicle motion state to obtain vehicle speed information corrected by the i + 1-th correction mode;

and correcting the vehicle attitude information corrected by the i-th correction method by using the attitude correction amount in the correction amounts of the vehicle motion state to obtain the vehicle attitude information corrected by the i + 1-th correction method.

In some embodiments, the method further comprises: and displaying the motion state information of the vehicle at the second moment.

In a second aspect, an embodiment of the present application provides a vehicle positioning apparatus, including:

the device comprises an acquisition unit, a control unit and a display unit, wherein the acquisition unit is used for acquiring the motion state information of a vehicle at a first moment;

the positioning unit is used for correcting the vehicle motion state information corrected by the ith correction mode by using the (i + 1) th correction mode to obtain the vehicle motion state information corrected by the (i + 1) th correction mode; determining the vehicle motion state information corrected by the Nth correction mode as the motion state information of the vehicle at the second moment;

In a third aspect, an embodiment of the present application provides an electronic device, including a processor and a memory;

the memory for storing a computer program;

the processor is configured to execute the computer program to implement the method according to the first aspect.

In a fourth aspect, the present application provides a computer-readable storage medium, which includes computer instructions, which when executed by a computer, cause the computer to implement the method according to the first aspect.

In a fifth aspect, embodiments of the present application provide a computer program product, which includes a computer program, the computer program being stored in a readable storage medium, from which the computer program can be read by at least one processor of a computer, and the execution of the computer program by the at least one processor causes the computer to implement the method of the first aspect.

According to the vehicle positioning method, the vehicle positioning device, the electronic equipment and the storage medium, the motion state information of the vehicle at the first moment is acquired; correcting the motion state information of the vehicle at the first moment by using N correction modes to obtain the motion state information of the vehicle at the second moment, for example, correcting the motion state information of the vehicle corrected by the i-th correction mode by using the i + 1-th correction mode to obtain the motion state information of the vehicle corrected by the i + 1-th correction mode; determining the vehicle motion state information corrected by the Nth correction mode as the motion state information of the vehicle at the second moment; the N correction methods include at least three correction methods among a correction method based on an inertial sensor, a correction method based on road network information, a correction method based on a geomagnetic sensor, and a correction method based on satellite observation data. That is, in the embodiment of the present application, the motion state information of the vehicle at the first time is corrected by using at least 3 correction methods, so as to obtain the motion state information of the vehicle at the second time, thereby realizing accurate positioning of the vehicle, and even in a scene with poor satellite signals such as a city, a tunnel, and the like, accurate positioning can be realized.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

FIG. 1 is a schematic diagram of a CORS system;

FIG. 2 is a schematic structural diagram of a vehicle positioning system according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a fusion positioning system according to an embodiment of the present application;

FIG. 4 is a schematic flow chart illustrating a vehicle positioning method according to an embodiment of the present application;

FIG. 5 is a schematic flow chart illustrating a vehicle positioning method according to an embodiment of the present application;

FIG. 6 is a schematic flow chart illustrating a vehicle positioning method according to an embodiment of the present application;

FIG. 7 is a schematic flow chart illustrating a vehicle positioning method according to an embodiment of the present application;

FIG. 8 is a schematic flow chart illustrating a vehicle positioning method according to an embodiment of the present application;

FIG. 9A is a diagram illustrating GNSS ephemeris parameters according to the present application;

FIG. 9B is a schematic representation of another GNSS ephemeris parameters of the present application;

FIG. 10 is a schematic flow chart diagram illustrating a vehicle locating method according to an embodiment of the present application;

FIG. 11 is a schematic structural diagram of a vehicle positioning device provided in an embodiment of the present application;

fig. 12 is a block diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

It should be understood that, in the present embodiment, "B corresponding to a" means that B is associated with a. In one implementation, B may be determined from a. It should also be understood that determining B from a does not mean determining B from a alone, but may be determined from a and/or other information.

In the description of the present application, "plurality" means two or more than two unless otherwise specified.

In addition, in order to facilitate clear description of technical solutions of the embodiments of the present application, in the embodiments of the present application, terms such as "first" and "second" are used to distinguish the same items or similar items having substantially the same functions and actions. Those skilled in the art will appreciate that the terms "first," "second," etc. do not denote any order or quantity, nor do the terms "first," "second," etc. denote any order or importance.

The application can be applied to scenes including but not limited to maps, navigation, automatic driving, intelligent traffic, vehicle-road coordination and the like.

In order to facilitate understanding of the embodiments of the present application, the related concepts related to the embodiments of the present application are first briefly described as follows:

the Vehicle to Vehicle (V2X) provides Vehicle information through sensors, Vehicle terminals, and the like mounted on the Vehicle, and realizes mutual communication between vehicles (V2V), between vehicles and roads (V2I), between vehicles and people (V2P), and between vehicles and networks (V2N) through various communication technologies.

The intelligent driving mainly comprises three links of network navigation, automatic driving and auxiliary driving. The intelligent driving has the precondition that the selected vehicle meets the dynamic requirements of driving, and the sensor on the vehicle can obtain relevant visual and auditory signals and information and control the corresponding follow-up system through cognitive calculation.

The autonomous driving is to complete driving behaviors such as lane keeping, overtaking and merging, red light stopping and green light driving, light and whistle interaction and the like under the control of an intelligent system.

The auxiliary driving means that a driver makes corresponding reaction to the actual road condition under a series of prompts of an intelligent system.

Road network information: detailed road information in the navigation map is mainly used for road network matching, road condition information processing and the like; the road network matching is to match the target positioning points to road nodes based on a matching algorithm by using a road network database; road network matching is a positioning correction method based on software technology, and the basic idea is to link the vehicle motion track with the road information in a digital map, and thus obtain the accurate position of the relative map; the road network matching algorithm is the fusion of a curve matching principle and a geographic space proximity analysis method; the road matching algorithm mainly comprises a network topology algorithm, a curve fitting algorithm, a similarity algorithm, a fuzzy logic algorithm, a road network matching algorithm based on a hidden Gaussian Markov model and the like.

A geomagnetic sensor: a geomagnetic sensor is arranged in the smart phone, and a plane magnetic field is measured by using magnetic resistance, so that the magnetic field intensity and the direction and position of a user are detected; the method is generally used in common compass or map navigation to help users realize accurate positioning.

An inertial sensor: the inertial sensor is a sensor, mainly detects and measures acceleration, inclination, impact, vibration, rotation and multi-degree of freedom (DoF) motion, and is an important part for solving navigation, orientation and motion carrier control; at present, mobile terminals such as smart phones are generally configured with MEMS inertial sensors.

A Real-time kinematic (RTK) differential positioning technique, also called as a carrier phase differential positioning technique, which is a Real-time kinematic positioning technique based on carrier phase observation and can provide a three-dimensional positioning result of a station in a specified coordinate system in Real time and achieve centimeter-level accuracy; in the RTK positioning mode, the base station transmits the observed value and the coordinate information of the measuring station to the rover station through the data chain, and the rover station receives data from the base station through the data chain and collects satellite observation data for real-time processing.

Global satellite navigation system: the Global Navigation Satellite System (GNSS) is a space-based radio Navigation positioning System capable of providing all-weather 3-dimensional coordinates and speed and time information to users at any place on the earth surface or in the near-earth space. The common systems include four Satellite Navigation systems, namely, Global Positioning System (GPS), BeiDou Navigation Satellite System (BDS), Global Navigation Satellite System (GLONASS), and GALILEO Satellite Navigation System (GALILEO). The earliest was the GPS in the united states, and the most advanced technology is the GPS system. With the recent opening of the full service of the BDS and GLONASS systems in the Asia-Pacific region, particularly, the BDS system is developing more and more rapidly in the civil field. Satellite navigation systems have been widely used in aviation, navigation, communications, personnel tracking, consumer entertainment, mapping, time service, vehicle monitoring management, and car navigation and information services, and a general trend is to provide high-precision services for real-time applications.

Continuously operating satellite positioning service System (Continuous operation Reference System, referred to as CORS System for short): is a product of multi-azimuth and deep crystallization of high and new technologies such as satellite positioning technology, computer network technology, digital communication technology and the like. Fig. 1 is a schematic diagram of a CORS system, and as shown in fig. 1, the CORS system is composed of five parts, namely a reference station network, a data processing center, a data transmission system, a positioning navigation data broadcasting system and a user application system, wherein each reference station and a monitoring analysis center are connected into a whole through the data transmission system to form a special network. The network of reference stations, which may also be referred to as a continuous reference station, generally includes at least three stations that continuously observe satellite signals for a long period of time and transmit the observed data to a data processing center via a data communication network in real time or at a fixed time. The data processing center is a system for collecting, storing, processing and analyzing data resources of the reference station, remotely monitoring the running state of the reference station, forming products and developing services, is a core unit of a CORS system and consists of a central network and a software system. The data transmission system is used for completing data transmission, data product distribution and other works, namely, data exchange between the reference station and the data processing center and between the data processing center and a user is realized by utilizing a communication link, observation data of the reference station is sent to the data processing center in real time, and differential information is broadcasted to the user according to the requirements of the user.

Fig. 2 is a schematic structural diagram of a vehicle positioning system according to an embodiment of the present application, where the vehicle positioning system shown in fig. 2 includes: network side equipment 102 and terminal equipment. The terminal devices include a vehicle-mounted terminal 101a, a vehicle-mounted terminal 101b, and a user terminal 101c, which are only schematically illustrated here and do not specifically limit the system of internet of things in the embodiment of the present application.

The vehicle-mounted terminal may include a driving computer or a vehicle-mounted Unit (On Board Unit, OBU for short), and the like.

The user terminal (UE) 101c may be a wireless terminal device or a wired terminal device, the wireless terminal device may be a device having a wireless transceiving function, and the user terminal 101c may be a mobile phone (mobile phone), a tablet computer (Pad), a computer with a wireless transceiving function, a Virtual Reality (VR) user device, an Augmented Reality (AR) user device, and the like, which are not limited herein.

The network side device 102 may include a data processing center in the CORS system, a road network information database, a geomagnetic fingerprint database, and the like.

The network-side device 102 communicates with the terminal device via a network, for example, the vehicle-mounted

devices

101a and 101b obtain satellite data observed from a reference station in the CORS system from a data processing center in the CORS system, or obtain road network information from a road network information database, or obtain geomagnetic information from a geomagnetic fingerprint database, and perform the vehicle positioning method according to the embodiment of the present invention based on at least one of the satellite data, the road network information, and the geomagnetic information to obtain the position information of the vehicle.

The network may be a 2G, 3G, 4G, 5G communication network or a next generation communication network.

Fig. 3 is a schematic diagram of a fusion positioning system according to an embodiment of the present application, and as shown in fig. 3, a vehicle-mounted terminal, a magnetometer, an inertial sensor, a satellite positioning device, and the like are mounted on a vehicle, where the vehicle terminal is in communication connection with the magnetometer, the inertial sensor, and the satellite positioning device, respectively.

The vehicle-mounted terminal can acquire geomagnetic information from the magnetometer, wherein the geomagnetic information comprises the magnetic field intensity at the position of the vehicle and the direction position of the vehicle.

The inertial sensor is used to check and measure acceleration, inclination, shock, vibration, rotation, etc. of the vehicle. The vehicle-mounted terminal can acquire the data measured by the inertial sensor from the inertial sensor. Optionally, the data measured by the inertial sensor includes an angular velocity measurement value and an acceleration measurement value of the vehicle, and the like.

The satellite positioning device is used to receive pseudoranges and carrier phase observations, etc. transmitted by the satellites. The vehicle-mounted terminal can acquire the pseudo range and the carrier phase observed value received by the vehicle-mounted satellite positioning device from the satellite positioning device.

In some embodiments, the vehicle-mounted device may further obtain road network information from a road network information database.

In some embodiments, the vehicle-mounted device can also acquire satellite navigation ephemeris and observation data observed by the CORS reference station network from the CORS server. For example, the vehicle-mounted device sends an ephemeris request to the CORS server, and after receiving the ephemeris request sent by the vehicle-mounted terminal, the CORS server sends satellite navigation ephemeris and observation data observed by a CORS reference station network to the vehicle-mounted device. Wherein the CORS server can be understood as the data processing center in fig. 1.

As shown in fig. 3, the vehicle-mounted terminal performs fusion positioning according to at least three data among the satellite observation data, the road network information, the geomagnetic information, and the inertial sensor measurement data, so as to realize accurate positioning of the vehicle, and thus, accurate positioning can be realized even in a scene with poor satellite signals such as a city and a tunnel.

The technical solutions of the embodiments of the present application are described in detail below with reference to some embodiments. The following several embodiments may be combined with each other and may not be described in detail in some embodiments for the same or similar concepts or processes.

Fig. 4 is a schematic flowchart of a vehicle positioning method according to an embodiment of the present application. The execution subject of the embodiment of the present application is a device having a vehicle positioning function, for example, a vehicle positioning device. In some embodiments, the vehicle locating device is an in-vehicle terminal such as an in-vehicle computer or OBU as shown in fig. 2. In some embodiments, the vehicle positioning device is a unit having a data processing function in the vehicle-mounted terminal, for example, a processor in the vehicle-mounted terminal.

The following embodiments are described taking the execution subject as an in-vehicle terminal as an example.

As shown in fig. 4, the method of the embodiment of the present application includes:

s401, obtaining the motion state information of the vehicle at the first moment.

The motion state information of the vehicle in the embodiment of the application includes position information of the vehicle.

In some embodiments, the motion state information of the vehicle further includes one or more of speed information and attitude information of the vehicle.

In some embodiments, the in-vehicle device of embodiments of the present application includes a fusion filter.

The embodiment of the present application does not limit the specific type of the fusion filter, and optionally, the fusion filter is a kalman filter.

Illustratively, the kalman filter estimates the parameters as:

wherein the content of the first and second substances,

correction amounts, which are respectively the position, speed, and attitude of the vehicle, are calculated using the measured values;

the zero offset of the inertial sensor gyroscope and the accelerometer is used for correcting the measurement offset of the angular velocity and the acceleration of the inertial sensor.

In some embodiments, the vehicle attitude represents the Euler angles of the three axes of the inertial sensor with the ECEF (Earth centered Earth fixed coordinate System)

I.e. by

Wherein the content of the first and second substances,

and converting the coordinate system of the three axes of the inertial sensor to an Euler angle rotated by ECEF around the z axis, the y axis and the x axis.

The transformation relationship between the coordinate system of the three axes of the inertial sensor and the ECEF can be expressed in a matrix form, for example, as follows:

in the embodiment of the present application, the above matrix is used

Indicating the attitude of the vehicle.

The embodiment of the application is used for realizing real-time positioning of the vehicle, for example, motion state information of the vehicle at the previous moment is corrected, and the motion state information of the vehicle at the current moment is obtained.

The first time in the embodiment of the application can be understood as the time before the second time, and the motion state information of the vehicle at the first time is corrected to obtain the motion state information of the vehicle at the second time. Therefore, the vehicle positioning method can be understood as a process of updating the motion state information of the vehicle in real time.

The motion state information at the first time is known, that is, the vehicle motion state information at the first time is updated based on the vehicle motion state information at the time immediately before the first time.

The vehicle positioning method of the embodiment of the application can be applied to the fusion positioning system shown in fig. 3.

When the integrated positioning system shown in fig. 3 is turned on, for example, when a user starts a positioning function of a vehicle, the integrated positioning system completes initialization.

Wherein, the initialization of the fusion positioning system comprises at least one of the following steps:

(1) and acquiring the initial position and the azimuth information of the vehicle-mounted terminal based on the geomagnetic fingerprint data and the geomagnetic information.

The embodiment of the application does not limit the mode of acquiring the initial position and the azimuth information of the vehicle-mounted terminal based on the geomagnetic fingerprint data and the geomagnetic information, for example, the initial position and the azimuth information of the vehicle-mounted terminal are acquired by using a KMP (K-nearest neighbor) pattern matching algorithm based on the geomagnetic fingerprint data and the geomagnetic information.

In one possible implementation manner, initial orientation information of the vehicle terminal is obtained by using geomagnetic information measured by the magnetometer, wherein the initial orientation information of the vehicle comprises an initial azimuth angle of the vehicle.

Illustratively, the initial azimuth angle of the vehicle is obtained according to the following formula (1):

wherein the content of the first and second substances,

is the orthogonal component of the geomagnetic field, is the geomagnetic declination,

for the roll angle and the pitch angle of the vehicle,

is the initial azimuth angle of the vehicle,

is the output value of the three-axis magnetometer at the initial moment, namely the geomagnetic information.

In one possible implementation manner, the initial position of the vehicle-mounted terminal is acquired based on the geomagnetic fingerprint data and the geomagnetic information.

Illustratively, the geomagnetic fingerprint data comprises geomagnetic data including a correspondence between geographic coordinates and geomagnetic information, the geomagnetic data is matched in a geomagnetic database based on the geomagnetic information collected by the magnetometer to obtain geographic coordinates matched with the geomagnetic information measured by the magnetometer, and the initial position of the vehicle-mounted terminal is obtained according to the matched geographic coordinates.

For example, the initial position r0 of the in-vehicle terminal is as shown in equation (2):

it should be noted that, in the embodiment of the present application, a manner of obtaining the initial position of the vehicle-mounted terminal based on the geomagnetic fingerprint data and the geomagnetic information is not limited, for example, the initial position of the vehicle-mounted terminal is obtained by using a KMP pattern matching algorithm based on the geomagnetic fingerprint data and the geomagnetic information.

In some embodiments, the initial azimuth angle of the vehicle is determined

Initial attitude matrix of vehicle can be calculated

。

For example, an initial attitude matrix of the vehicle is obtained according to the following formula (3)

：

Wherein the content of the first and second substances,

in the formula (I), the compound is shown in the specification,

latitude and longitude coordinates of the vehicle.

S402, correcting the motion state information of the vehicle at the first moment by using N correction modes to obtain the motion state information of the vehicle at the second moment.

The N correction methods include at least three correction methods among a correction method based on an inertial sensor, a correction method based on road network information, a correction method based on a geomagnetic sensor, and a correction method based on satellite observation data.

In some embodiments, the motion state information of the vehicle at the first time is corrected by using any 3 correction modes of a correction mode based on an inertial sensor, a correction mode based on road network information, a correction mode based on a geomagnetic sensor and a correction mode based on satellite observation data, so as to obtain the motion state information of the vehicle at the second time.

The 3 correction methods may be any combination of 3 correction methods among a correction method by an inertial sensor, a correction method by road network information, a correction method by a geomagnetic sensor, and a correction method by satellite observation data. In addition, the embodiment of the present application does not limit the sequence of correcting the motion state information of the vehicle at the first time point by using the selected 3 correction methods.

In some embodiments, the motion state information of the vehicle at the first time is corrected by using 4 correction modes, namely, a correction mode based on the inertial sensor, a correction mode based on the road network information, a correction mode based on the geomagnetic sensor and a correction mode based on the satellite observation data, so as to obtain the motion state information of the vehicle at the second time. The order of correcting the motion state information of the vehicle at the first time using the selected 4 correction methods is also not limited.

The N correction manners used in S402 above to correct the motion state information of the vehicle at the first time to obtain the motion state information of the vehicle at the second time include, but are not limited to, the following:

in the first mode, the motion state information of the vehicle at the first time is corrected by using each of the N correction modes, and a correction value corresponding to each correction mode is obtained. And determining the motion state information of the vehicle at the second moment according to the correction value corresponding to each correction mode. For example, the arithmetic average value of the correction values corresponding to each correction method is used as the motion state information of the vehicle at the second time. Or, a weight is set for each correction mode, and a weighted average value of the correction values corresponding to each correction mode is used as the motion state information of the vehicle at the second moment.

In the first mode, all correction modes can be performed in parallel, so that the speed of determining the motion state information of the vehicle at the second moment is increased, and the vehicle can be accurately and quickly positioned.

In a second mode, the S402 includes S402-A1 and S402-A2:

S402-A1, correcting the vehicle motion state information corrected by the ith correction mode by using the (i + 1) th correction mode to obtain the vehicle motion state information corrected by the (i + 1) th correction mode;

and S402-A2, determining the vehicle motion state information corrected by the Nth correction mode as the motion state information of the vehicle at the second moment.

Wherein i is an integer greater than or equal to 0 and less than N, and the (i + 1) th correction mode and the (i) th correction mode are two different correction modes in the N correction modes.

In the second aspect, the process of correcting the motion state information of the vehicle at the first time using the N correction methods may be understood as an iterative process, and if i =0, the motion state information of the vehicle corrected by the i-th correction method is the motion state information of the vehicle at the first time. For example, assuming that N =3, the motion state information of the vehicle at the first time is corrected by using a first correction method of the N correction methods, so as to obtain the vehicle motion state information corrected by the first correction method; correcting the first motion state information by using a second correction mode of the N correction modes to obtain vehicle motion state information corrected by the second correction mode; and correcting the second motion state information by using a third correction mode in the N correction modes to obtain vehicle motion state information corrected by the third correction mode. And determining the vehicle motion state information corrected by the third correction mode as the vehicle motion state information at the second moment.

In the second mode, the vehicle motion state information corrected by the former correction mode is corrected again by the latter correction mode, so that the error can be gradually reduced by correcting step by step, the correction accuracy is improved, and the accurate positioning of the vehicle is further realized.

According to the vehicle positioning method provided by the embodiment of the application, the motion state information of the vehicle at the first moment is acquired; correcting the motion state information of the vehicle at the first moment by using N correction modes to obtain the motion state information of the vehicle at the second moment, wherein the motion state information of the vehicle comprises the position information of the vehicle; the first time is a time before the second time, and the N correction modes include at least three correction modes selected from a correction mode based on an inertial sensor, a correction mode based on road network information, a correction mode based on a geomagnetic sensor, and a correction mode based on satellite observation data. That is, in the embodiment of the present application, the motion state information of the vehicle at the first time is corrected by using at least 3 correction methods, so as to obtain the motion state information of the vehicle at the second time, thereby realizing accurate positioning of the vehicle, and even in a scene with poor satellite signals such as a city, a tunnel, and the like, accurate positioning can be realized.

The following describes in detail a process of using the i +1 th correction manner in S402-a1 to correct the vehicle motion state information corrected by the i +1 th correction manner to obtain the vehicle motion state information corrected by the i +1 th correction manner, with reference to a specific embodiment.

As can be seen from the above, the correction methods according to the embodiments of the present application include a correction method based on an inertial sensor, a correction method based on road network information, a correction method based on a geomagnetic sensor, and a correction method based on satellite observation data, and the i +1 th correction method in S402-a1 may be any one of the correction methods described above. The following describes various modifications.

First, the i +1 th correction method is exemplified as a correction method by an inertial sensor.

Fig. 5 is a schematic flowchart of a vehicle positioning method according to an embodiment of the present application, and as shown in fig. 5, the step S402-a1 includes:

and S501, acquiring angular speed measurement values and acceleration measurement values of the inertial sensor on the vehicle at a second moment.

The vehicle of the embodiment of the application is provided with the inertial sensor which detects and measures the angular velocity, the angular velocity and the like of the vehicle in real time.

When the vehicle is located at the second time, the in-vehicle terminal acquires the angular velocity measurement value and the acceleration measurement value of the vehicle at the second time, which are measured by the inertial sensor, from the inertial sensor, as shown in fig. 3.

In one example, the angular velocity measurement of the vehicle at the second time is represented as follows:

wherein, t_kIs the time of the second moment in time,

representing a measure of the angular velocity of the vehicle at a second moment in time,

the 3 components of the angular velocity measurement about the x, y, z axes, respectively.

In one example, the acceleration measurement of the vehicle at the second time is represented as follows:

wherein the content of the first and second substances,

representing the measured acceleration of the vehicle at the second moment in time,

the 3 components of the acceleration measurements about the x, y, z axes, respectively.

It should be noted that the above description is only one method for representing the angular velocity measurement value and the acceleration measurement value, and the methods for representing the angular velocity measurement value and the acceleration measurement value of the embodiments of the present application include, but are not limited to, the above-described methods.

And S502, correcting the vehicle attitude information corrected by the ith correction mode according to the angular velocity measured value to obtain the vehicle attitude information corrected by the (i + 1) th correction mode.

And in the step, the vehicle attitude information corrected by the i-th correction mode is corrected by using the angular velocity measured value of the vehicle at the second moment, which is measured by the inertial sensor, so as to obtain the vehicle attitude information corrected by the i + 1-th correction mode.

The present embodiment is not limited to the manner of obtaining the vehicle attitude information corrected by the i +1 th correction manner by correcting the vehicle attitude information corrected by the i-th correction manner according to the angular velocity measurement value, and for example, the vehicle attitude information corrected by the i +1 th correction manner is obtained by multiplying the vehicle attitude information corrected by the i-th correction manner by the angular velocity measurement value. Or, the angular velocity measurement value is deformed to obtain an angular velocity measurement value coefficient matrix, and the vehicle attitude information corrected by the i +1 correction method is obtained by multiplying the angular velocity measurement value coefficient matrix by the vehicle attitude information corrected by the i correction method.

In one possible implementation manner, the vehicle posture information corrected by the i +1 th correction manner is obtained according to the following formula (4):

wherein the content of the first and second substances,

vehicle attitude information for the vehicle at the second time,

vehicle attitude information for the vehicle at a first time,

is the value of the acceleration of the rotation of the earth,

in order to update the time interval,

is the first time.

It should be noted that the above formula (4) is only an example, and any modification of the above formula (4) also belongs to the protection scope of the embodiments of the present application, and for example, any equivalent modification of the above formula (4), or any one or more parameters of the above formula (4) multiplied by, divided by, added to, or subtracted from, etc., all belong to the protection scope of the embodiments of the present application.

And S503, correcting the vehicle speed corrected by the i-th correction mode according to the measured acceleration value to obtain the vehicle speed information corrected by the i + 1-th correction mode.

And in the step, the vehicle speed corrected by the i-th correction mode is corrected by using the acceleration measured value of the vehicle at the second moment, which is measured by the inertial sensor, so as to obtain the vehicle speed corrected by the i + 1-th correction mode.

The embodiment is not limited to the method of obtaining the vehicle speed information corrected by the i +1 th correction method by correcting the vehicle speed corrected by the i-th correction method according to the measured acceleration value, for example, the vehicle attitude information corrected by the i +1 th correction method is obtained by adding the product of the measured acceleration value and the vehicle speed corrected by the i-th correction method.

In one possible implementation, the vehicle speed corrected by the (i + 1) th correction manner is obtained according to the following formula (5):

wherein the content of the first and second substances,

is the speed of the vehicle at the second moment,

is the speed of the vehicle at the first moment,

for the gravity value in the ECEF coordinate system at the second instant,

is a measure of the acceleration of the vehicle at the second time.

The above formula (5) is only an example, and any modification of the above formula (5) also falls within the scope of the embodiments of the present application, and for example, any equivalent modification of the above formula (5), or any one or more of the parameters multiplied, divided, added, or subtracted by the above formula (5) falls within the scope of the embodiments of the present application.

S504, the vehicle position information corrected by the ith correction mode is corrected according to the vehicle speed information corrected by the (i + 1) th correction mode and the vehicle speed corrected by the ith correction mode, and the vehicle position information corrected by the (i + 1) th correction mode is obtained.

And in the step, the vehicle position information corrected by the ith correction method is corrected according to the determined vehicle speed information corrected by the (i + 1) th correction method and the vehicle speed corrected by the ith correction method, so that the vehicle position information corrected by the (i + 1) th correction method is obtained.

In the embodiment, the vehicle position information corrected by the i +1 th correction method and the vehicle speed corrected by the i +1 th correction method are corrected according to the vehicle speed information corrected by the i +1 th correction method, and the method for obtaining the vehicle position information corrected by the i +1 th correction method is not limited, for example, the vehicle position information corrected by the i +1 th correction method is obtained by adding the vehicle displacement change value caused by the vehicle speed change in time to the vehicle position information corrected by the i +1 th correction method.

In one possible implementation manner, the vehicle position information corrected by the i +1 th correction manner is obtained according to the following formula (6):

（6）

wherein the content of the first and second substances,

is the position information of the vehicle at the second moment,

is the position information of the vehicle at the first moment.

The above formula (6) is only an example, and any modification of the above formula (6) also falls within the scope of the embodiments of the present application, and for example, any modification equivalent to the above formula (6), or any parameter or parameters multiplied by, divided by, added to, or subtracted from the above formula (6) all fall within the scope of the embodiments of the present application.

In some embodiments, if i =0, the vehicle motion state information corrected by the i-th correction manner is vehicle motion state information of the vehicle at the first time, where the method in the embodiment of the present application includes: and correcting the vehicle motion state information of the vehicle at the first time based on the correction mode of the inertial sensor to obtain the vehicle motion state information of the vehicle corrected by the correction mode of the inertial sensor at the second time.

Specifically, the method comprises the following steps:

step a1, angular velocity measurements and acceleration measurements of inertial sensors on the vehicle at a second time are obtained.

And step A2, correcting the vehicle posture information of the vehicle at the first time according to the angular velocity measurement value, and obtaining the vehicle posture information corrected by the correction mode based on the inertial sensor.

Illustratively, the vehicle attitude information corrected by the correction method based on the inertial sensor is obtained according to the following formula (7):

（7）

wherein the content of the first and second substances,

for vehicle attitude information corrected based on the correction mode of the inertial sensor, i.e.

The coordinate system transformation matrix of the inertial sensor and the ECEF at the time (i.e. the second time), can be understood as the attitude information of the vehicle at the second time,

the time of day (i.e., the first time of day) inertial sensor transforms the matrix with the coordinate system of the ECEF.

And step A3, correcting the vehicle speed corrected by the i-th correction mode according to the measured acceleration value to obtain the vehicle speed information corrected by the i + 1-th correction mode.

Illustratively, the vehicle speed information corrected by the correction method based on the inertial sensor is obtained according to the following formula (8):

（8）

wherein the content of the first and second substances,

the value of gravity in the ECEF coordinate system at the instant,

the speed of the vehicle at the moment of time,

the speed of the vehicle at that moment, i.e. the updated speed of the vehicle.

And step A4, correcting the vehicle position information corrected by the i-th correction method according to the vehicle speed information corrected by the i + 1-th correction method and the vehicle speed corrected by the i-th correction method to obtain the vehicle position information corrected by the i + 1-th correction method.

Illustratively, the vehicle position information corrected by the correction method based on the inertial sensor is obtained according to the following formula (9):

（9）

wherein the content of the first and second substances,

the position of the vehicle at the moment of time,

position of vehicles at the moment, i.e. updatingThe rear vehicle position.

The above equations (7), (8) and (9) are merely examples, and any modifications of the above equations (7), (8) and (9) are within the scope of the embodiments of the present application, and for example, equivalent modifications of the above equations (7), (8) and (9), or any one or more parameters of the above equations (7), (8) and (9) multiplied by, divided by, added to or subtracted from each other are within the scope of the embodiments of the present application.

In this embodiment, if the (i + 1) th correction mode is a correction mode based on the inertial sensor, the angular velocity measurement value and the acceleration measurement value of the inertial sensor on the vehicle at the second time are obtained; according to the angular velocity measurement value, correcting the vehicle attitude information corrected by the ith correction mode to obtain vehicle attitude information corrected by the (i + 1) th correction mode; correcting the vehicle speed corrected by the ith correction mode according to the measured acceleration value to obtain vehicle speed information corrected by the (i + 1) th correction mode; and correcting the vehicle position information corrected by the ith correction mode according to the vehicle speed information corrected by the (i + 1) th correction mode and the vehicle speed corrected by the ith correction mode to obtain the vehicle position information corrected by the (i + 1) th correction mode, thereby realizing accurate positioning of the vehicle.

In some embodiments, the correction manner based on the road network information includes at least one of a correction manner of matching the position of the vehicle based on the road network information and a correction manner of matching the traveling direction of the vehicle based on the road network information.

In some embodiments, the geomagnetic sensor-based correction manner includes at least one of a correction manner in which the vehicle position is matched based on the geomagnetic sensor and a correction manner in which the vehicle traveling direction is matched based on the geomagnetic sensor.

In some embodiments, the above-described correction manner of matching the vehicle position based on the road network information and the correction manner of matching the vehicle position based on the geomagnetic sensor are collectively referred to as a correction manner of vehicle position constraint.

Next, a process of correcting the vehicle motion state information corrected by the i-th correction method using the i + 1-th correction method in S402-a1 to obtain the vehicle motion state information corrected by the i + 1-th correction method will be described, taking the i + 1-th correction method as a correction method for matching the vehicle position based on the road network information or a correction method for matching the vehicle position based on the geomagnetic sensor as an example.

Fig. 6 is a schematic flowchart of a vehicle positioning method according to an embodiment of the present application, and as shown in fig. 6, the step S402-a1 includes:

s601, first predicted position information of the vehicle at the second moment is determined.

In some embodiments, if the (i + 1) th correction method is a correction method for matching the vehicle position based on the road network information, the step S601 includes: and acquiring the current road network information of the vehicle from the road network information base, and matching to obtain first predicted position information of the vehicle at the second moment based on the current road network information.

For example, based on the initial position and orientation information of the in-vehicle terminal determined in S401, the current road network information of the vehicle is obtained by matching in the road network information database by using a matching algorithm. And matching the current road network information according to the historical motion track of the vehicle, for example, the motion track of the vehicle within 30 seconds to obtain first predicted position information of the vehicle at the second moment.

The embodiment of the present application does not limit the type of the matching algorithm, for example, a hidden gaussian markov model matching algorithm is used.

In some embodiments, if the (i + 1) th correction method is a correction method based on matching the vehicle position by the geomagnetic sensor, the step S601 includes: and acquiring geomagnetic information from a geomagnetic sensor of the vehicle, and matching to obtain first predicted position information of the vehicle at the second moment based on the geomagnetic information and the geomagnetic fingerprint data.

For example, geomagnetic information is acquired from a geomagnetic sensor of the vehicle, position information matching the geomagnetic information is searched for in geomagnetic fingerprint data according to the geomagnetic information, and the matching position information is determined as first predicted position information of the vehicle at the second time.

In some embodiments, the first predicted position information of the vehicle at the second time is represented as follows:

wherein the content of the first and second substances,

first predicted position information for the vehicle at the second time,

the first predicted position information for the vehicle at the second time instant has 3 components in the x, y, z directions.

And S602, determining the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode according to the first predicted position information of the vehicle and the vehicle position information corrected by the (i) th correction mode.

In a possible implementation manner, the position difference of the vehicle is obtained according to the first predicted position information and the vehicle position information corrected by the ith correction manner; and obtaining the correction quantity of the vehicle motion state corresponding to the (i + 1) th correction mode according to the position difference of the vehicle.

In one possible implementation, the above S602 includes the following S602-a1 to S602-a 4:

and S602-A1, acquiring a covariance matrix of the preset fusion filter at the second moment relative to the ith correction mode.

Optionally, the preset fusion filter in the embodiment of the present application may be understood as a piece of software code, and is used to fuse correction values obtained in different correction manners to obtain the motion state information of the vehicle at the second time.

Here, the covariance matrix of the fusion filter corresponding to the i-th correction method at the second time is determined when the motion state information of the vehicle is corrected using the i-th correction method, and therefore, when the motion state information of the vehicle is corrected using the i + 1-th correction method, the covariance matrix of the fusion filter corresponding to the i-th correction method is known.

Optionally, an initial value of the covariance matrix of the fusion filter is 0.

S602-a2, a first measured variance value in determining the first predicted location information is obtained.

In some embodiments, if the i +1 th correction mode is a correction mode for matching the vehicle position based on the road network information, the first measured variance value is a measured variance value when the first predicted position information of the vehicle is obtained based on the road network information matching.

In some embodiments, if the i +1 th correction mode is a correction mode based on matching the vehicle position by the geomagnetic sensor, the first measured variance value is a measured variance value when the first predicted position information of the vehicle is obtained based on matching the geomagnetic information.

S602-A3, determining a first correction matrix according to the covariance matrix and the first measurement variance value.

In this step, the manner of determining the first correction matrix according to the covariance matrix and the first measured variance value is not limited. For example, according to a preset operation rule, the covariance matrix and the first measured variance value are processed to obtain a first correction matrix. Optionally, the preset operation rule at least includes at least one operation of multiplication, division, addition, and subtraction.

Wherein the first measured variance values are also matrices.

In a possible implementation manner, the S602-a3 includes: multiplying the covariance matrix by a first preset matrix to obtain a first product matrix; multiplying the second preset matrix, the covariance matrix and the first prediction matrix, and adding the second preset matrix, the covariance matrix and the first measurement variance value to obtain an inverse value so as to obtain a first inverse matrix; the first correction matrix is determined based on the first product matrix and the first inverse matrix, for example, a product of the first product matrix and the first inverse matrix is used as the first correction matrix.

In some embodiments, the first correction matrix is derived according to equation (10) as follows:

（10）

wherein the content of the first and second substances,

is a first one of the correction matrices,

in the form of a covariance matrix,

is a first preset matrix and consists of a 0 matrix and an identity matrix I,

in order to be the second pre-set matrix,

is the first measurement variance value, ()^-1The inverse operation is taken for the matrix.

It should be noted that the above formula (10) is only an example, and any modification to the above formula (10) also belongs to the protection scope of the embodiments of the present application, and for example, any equivalent modification to the above formula (10), or any one or several parameters of the above formula (10) multiplied, divided, added or subtracted, and the like, all belong to the protection scope of the embodiments of the present application.

In addition, the specific form of the first preset matrix and the second preset matrix related to the embodiments of the present application includes, but is not limited to, the above formula (10).

And S602-A4, determining the correction quantity of the vehicle motion state corresponding to the (i + 1) th correction mode according to the first predicted position information of the vehicle, the vehicle position information corrected by the (i) th correction mode and the first correction matrix.

In some embodiments, the above S602-a4 includes: obtaining the position difference of the vehicle according to the difference between the first predicted position information of the vehicle and the vehicle position information corrected by the ith correction mode; and determining the correction quantity of the vehicle motion state corresponding to the (i + 1) th correction mode according to the first correction matrix and the position difference.

In some embodiments, the correction amount of the vehicle motion state corresponding to the i +1 th correction manner is determined according to the following formula (11):

（11）

wherein the content of the first and second substances,

the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode,

in order to predict the location information for the first time,

the vehicle position information corrected by the i-th correction method.

Note that the above formula (11) is only an example, and any modification to the above formula (11) also falls within the scope of the embodiments of the present application, and for example, any modification equivalent to the above formula (11), or any parameter or parameters multiplied by, divided by, added to, or subtracted from the above formula (11) all fall within the scope of the embodiments of the present application.

And S603, according to the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode, correcting the vehicle motion state information corrected by the (i) th correction mode to obtain the vehicle motion state information corrected by the (i + 1) th correction mode.

In the embodiment of the present application, the correction amount of the vehicle motion state corresponding to the i +1 th correction mode includes the position correction amount

Speed correction amount

Posture correction amount

At least one of (1).

In some embodiments, if the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode includes a position correction amount

Then, the above S603 includes: position correction amount among correction amounts using vehicle motion state

And correcting the vehicle position information corrected by the ith correction mode to obtain the vehicle position information corrected by the (i + 1) th correction mode.

In one possible implementation manner, the vehicle position information corrected by the i +1 th correction manner is obtained according to the following formula (12):

（12）

wherein the content of the first and second substances,

for the vehicle position information corrected by the (i + 1) th correction manner,

for the vehicle position information corrected by the i-th correction manner,

is a position correction amount among the correction amounts of the moving state of the vehicle.

Note that the above formula (12) is only an example, and any modification to the above formula (12) also falls within the scope of the embodiments of the present application, and for example, any equivalent modification to the above formula (12), or any one or several parameters of the above formula (12) multiplied, divided, added, or subtracted, and the like, all fall within the scope of the embodiments of the present application.

In some embodiments, if the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode includes a speed correction amount

Then, the above S603 includes: speed correction amount among correction amounts using vehicle motion state

And correcting the vehicle speed information corrected by the ith correction mode to obtain the vehicle speed information corrected by the (i + 1) th correction mode.

In one possible implementation, the vehicle speed information corrected by the i +1 th correction manner is obtained according to the following formula (13):

（13）

wherein the content of the first and second substances,

for the vehicle speed information corrected by the (i + 1) th correction manner,

for the vehicle speed information corrected by the i-th correction manner,

is a speed correction amount among the correction amounts of the moving state of the vehicle.

It should be noted that the above formula (13) is only an example, and any modification to the above formula (13) also belongs to the protection scope of the embodiment of the present application, and for example, equivalent modification to the above formula (13), or multiplication, division, addition, or subtraction of any one or more parameters to the above formula (13) all belong to the protection scope of the embodiment of the present application.

In some embodiments, if the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode includes an attitude correction amount

Then, the above S603 includes: and correcting the vehicle posture information corrected by the ith correction mode by using the posture correction quantity in the correction quantity of the vehicle motion state to obtain the vehicle posture information corrected by the (i + 1) th correction mode.

In one possible implementation manner, the vehicle posture information corrected by the i +1 th correction manner is obtained according to the following formula (14):

（14）

wherein the content of the first and second substances,

for the vehicle attitude information corrected by the (i + 1) th correction manner,

for the vehicle attitude information corrected by the i-th correction manner,

respectively represent

With respect to x, y, z 3 components.

The above formula (14) is only an example, and any modification of the above formula (14) also falls within the scope of the embodiments of the present application, and for example, any equivalent modification of the above formula (14), or any one or more of the parameters of the above formula (14) multiplied by, divided by, added to, or subtracted from, etc., all fall within the scope of the embodiments of the present application.

In some embodiments, if i =0, the vehicle motion state information corrected by the i-th correction manner is vehicle motion state information of the vehicle at the first time, where the method in the embodiment of the present application includes: and correcting the vehicle motion state information of the vehicle at the first moment based on a correction mode of matching the vehicle position based on the road network information or a correction mode of matching the vehicle position based on the geomagnetic sensor to obtain the vehicle motion state information corrected by the correction mode of matching the vehicle position based on the road network information or the correction mode of matching the vehicle position based on the geomagnetic sensor at the second moment.

Specifically, the method comprises the following steps:

step B1, determining first predicted position information of the vehicle at a second time.

And step B2, determining a correction amount of the vehicle motion state corresponding to a correction method of matching the vehicle position based on the road network information or a correction method of matching the vehicle position based on the geomagnetic sensor, based on the first predicted position information of the vehicle and the vehicle position information of the vehicle at the first time.

For example, the correction amount of the vehicle motion state corresponding to the correction method of matching the vehicle position based on the road network information or the correction method of matching the vehicle position based on the geomagnetic sensor is obtained according to the following formula (15):

（15）

wherein the content of the first and second substances,

is the position information of the vehicle at the first moment.

And step B3, correcting the motion state information of the vehicle at the first time according to the correction amount of the vehicle motion state corresponding to the correction method of matching the vehicle position based on the road network information or the correction method of matching the vehicle position based on the geomagnetic sensor, and obtaining the vehicle motion state information corrected according to the correction method of matching the vehicle position based on the road network information or the correction method of matching the vehicle position based on the geomagnetic sensor.

Illustratively, vehicle position information corrected by a correction method based on the road network information matching vehicle position or a correction method based on the geomagnetic sensor matching vehicle position is obtained according to the following formula (16):

（16）

wherein the content of the first and second substances,

is the position information of the vehicle at the first moment.

Illustratively, vehicle speed information corrected by a correction method for matching vehicle positions based on road network information or a correction method for matching vehicle positions based on a geomagnetic sensor is obtained according to the following equation (17):

（17）

wherein the content of the first and second substances,

is the speed information of the vehicle at the first moment.

Illustratively, vehicle attitude information corrected by a correction method based on road network information matching vehicle positions or a correction method based on geomagnetic sensor matching vehicle positions is obtained according to the following formula (18):

（18）

wherein the content of the first and second substances,

is the attitude information of the vehicle at the first time.

The above equations (15), (16), (17) and (18) are only examples, and any modifications of the above equations (15), (16), (17) and (18) are within the scope of the embodiments of the present application, and for example, equivalent modifications of the above equations (15), (16), (17) and (18), or multiplication, division, addition or subtraction of one or more parameters of the above equations (15), (16), (17) and (18) are within the scope of the embodiments of the present application.

In some embodiments, the present application further comprises:

s604, correcting the covariance matrix of the fusion filter related to the ith correction mode at the second time by using the first correction matrix to obtain the covariance matrix of the fusion filter related to the (i + 1) th correction mode at the second time.

In other words, in the embodiment of the present application, after the motion state information of the vehicle is corrected by using the current correction method, the covariance matrix of the fusion filter is also corrected, and the corrected covariance matrix of the fusion filter is used for correcting the motion state information of the vehicle next time, so that the accuracy of correcting the motion state information of the vehicle is improved, and the accuracy of positioning the vehicle is further improved.

The embodiment of the present application does not limit the specific manner of using the first correction matrix to correct the covariance matrix of the fusion filter at the second time point with respect to the i-th correction manner.

In some embodiments, the step S604 includes: obtaining a first covariance correction coefficient matrix according to the third prediction matrix, the first correction matrix and the second preset matrix; and correcting the covariance matrix of the fusion filter related to the ith correction mode at the second moment by using the first covariance correction coefficient matrix to obtain the covariance matrix of the fusion filter related to the (i + 1) th correction mode at the second moment.

Optionally, the third prediction matrix is an identity matrix.

In one possible implementation, the covariance matrix of the fusion filter at the second time with respect to the i +1 th modification is obtained according to the following equation (19):

（19）

wherein the content of the first and second substances,

the modified covariance matrix, i.e. the covariance matrix of the fusion filter at the second time instance with respect to the (i + 1) th modification mode,

the covariance matrix before correction, i.e. the covariance matrix of the fusion filter at the second moment with respect to the i-th correction mode,

is a first one of the correction matrices,

is a third prediction matrix, optionally an identity matrix,

a second predetermined matrix.

It should be noted that the above formula (19) is only an example, and any modification of the above formula (19) also falls within the scope of the embodiments of the present application, and for example, any equivalent modification of the above formula (19), or any one or more of the parameters multiplied, divided, added, or subtracted by the above formula (19) falls within the scope of the embodiments of the present application.

In the vehicle positioning method according to the embodiment of the present application, if the i +1 th correction method is a correction method of matching the vehicle position based on the road network information or a correction method of matching the vehicle position based on the geomagnetic sensor, the correction amount of the vehicle motion state corresponding to the i +1 th correction method is determined by determining the first predicted position information of the vehicle at the second time, and the vehicle motion state information corrected by the i +1 th correction method is corrected based on the first predicted position information of the vehicle and the vehicle position information corrected by the i th correction method, so that the vehicle motion state information corrected by the i +1 th correction method is obtained, and the vehicle is accurately positioned.

Next, a process of correcting the vehicle motion state information corrected by the i-th correction method using the i + 1-th correction method in the above-described S402-a1 to obtain the vehicle motion state information corrected by the i + 1-th correction method will be described, taking the i + 1-th correction method as an example of a correction method of matching the vehicle traveling direction based on the road network information or a correction method of matching the vehicle traveling direction based on the geomagnetic sensor as an example.

Fig. 7 is a schematic flowchart of a vehicle positioning method according to an embodiment of the present application, and as shown in fig. 7, the step S402-a1 includes:

and S701, determining first driving direction information of the vehicle at the second moment.

In some embodiments, if the (i + 1) th correction method is a correction method for matching the driving direction of the vehicle based on the road network information, the step S701 includes: and acquiring the current road network information of the vehicle from the road network information base, and matching to obtain the first running direction information of the vehicle at the second moment based on the current road network information.

For example, based on the initial position and orientation information of the in-vehicle terminal determined in S401, the current road network information of the vehicle is obtained by matching in the road network information database by using a matching algorithm. And matching the current road network information according to the historical motion track of the vehicle, for example, the motion track of the vehicle within 30 seconds to obtain the first running direction information of the vehicle at the second moment.

In some embodiments, if the (i + 1) th correction method is a correction method based on matching the driving direction of the vehicle with the geomagnetic sensor, the step S701 includes: and acquiring geomagnetic information from a geomagnetic sensor of the vehicle, and matching to obtain first driving direction information of the vehicle at the second moment based on the geomagnetic information and the geomagnetic fingerprint data.

For example, the geomagnetic information is acquired from a geomagnetic sensor of the vehicle, the running direction information matched with the geomagnetic information is searched for in the geomagnetic fingerprint data according to the geomagnetic information, and the matched running direction information is determined as running direction information of the vehicle at the second time.

And S702, determining second driving direction information of the vehicle according to the posture information of the vehicle corrected by the ith correction mode.

In some embodiments, the S702 includes S702-A1 and S702-A2:

S702-A1, determining a first parameter and a second parameter according to the attitude information of the vehicle corrected by the ith correction mode;

and S702-A2, determining second driving direction information of the vehicle according to the first parameter and the second parameter.

In one possible implementation form of the method,

the following relationship is shown in equation (20):

（20）

wherein Log is the Log operation of the spinning plum group SO (3),

the above equation (20) is modified for the vehicle attitude information corrected by the i-th correction method to obtain the following equation (21)

（21）

The following equations (22) and (23) are obtained by operating the above equation (21):

（22）

（23）

wherein the content of the first and second substances,

is a first parameter of the plurality of parameters,

is the second parameter.

In one possible implementation, the second driving direction information of the vehicle is determined according to a ratio of the first parameter and the second parameter.

In one possible implementation, the second driving direction information of the vehicle is determined according to the following formula (24):

（24）

wherein the content of the first and second substances,

is the second driving direction information of the vehicle, i.e. the second azimuth angle of the vehicle.

It should be noted that the above equations (20), (21), (22), (23) and (24) are only examples, and any modifications of the above equations ((20), (21), (22), (23) and (24) also belong to the protection scope of the embodiments of the present application, and for example, equivalent modifications of the above equations (20), (21), (22), (23) and (24), or multiplication, division, addition or subtraction of one or more parameters of the above equations (20), (21), (22), (23) and (24) belong to the protection scope of the embodiments of the present application.

And S703, determining the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode according to the first driving direction information and the second driving direction information of the vehicle.

In one possible implementation, the driving direction difference of the vehicle is obtained according to the first driving direction information and the second driving direction information of the vehicle; and obtaining the correction quantity of the vehicle motion state corresponding to the (i + 1) th correction mode according to the running direction difference of the vehicle.

In some embodiments, the above S703 includes the following S703-A1 to S703-A3:

and S703-A1, acquiring a covariance matrix of the preset fusion filter at the second moment relative to the ith correction mode. Reference is made specifically to the description of S602-a1 above, which is not repeated here.

And S703-A2, acquiring a second measurement variance value when the first driving direction information is determined.

In some embodiments, if the i +1 th correction mode is a correction mode for matching the driving direction of the vehicle based on the road network information, the second local measurement variance value is a measurement variance value when the first driving direction information of the vehicle is obtained based on the road network information matching.

In some embodiments, if the i +1 th correction mode is a correction mode in which the driving direction of the vehicle is matched based on the geomagnetic sensor, the second measurement variance value is a measurement variance value when the first driving direction information of the vehicle is obtained based on the geomagnetic information matching.

And S703-A3, determining a second correction matrix according to the covariance matrix and the second measurement variance value.

In this step, the manner of determining the second correction matrix according to the covariance matrix and the second measured variance value is not limited. For example, the covariance matrix and the second measured variance value are processed according to a preset operation rule to obtain a second correction matrix. Optionally, the preset operation rule at least includes at least one operation of multiplication, division, addition, and subtraction.

Wherein the second measured variance value is also a matrix.

In a possible implementation manner, the above S703-a3 includes: determining a first matrix according to the second driving direction information; deforming the first matrix to obtain a second matrix; multiplying the covariance matrix and the second matrix to obtain a second product matrix; multiplying the first matrix, the covariance matrix and the second matrix, and adding the first matrix, the covariance matrix and the second measured variance value to obtain an inverse value, so as to obtain a second inverse matrix; the second correction matrix is determined based on the second product matrix and the second inverse matrix, for example, a product of the second product matrix and the second inverse matrix is used as the second correction matrix.

In some embodiments, the second correction matrix is obtained according to equation (25) as follows:

（25）

wherein the content of the first and second substances,

is a first matrix, H is a second matrix,

for the second measured variance value is the variance value,

is a second one of the correction matrices,

a covariance matrix.

Optionally, the second matrix comprises a transpose of the first matrix.

Alternatively to this, the first and second parts may,

the above formula (25) is only an example, and any modification of the above formula (25) also falls within the scope of the embodiments of the present application, and for example, any equivalent modification of the above formula (25), or any one or more of the parameters of the above formula (25) multiplied by, divided by, added to, or subtracted from, etc., all fall within the scope of the embodiments of the present application.

And S703-A4, determining the correction quantity of the vehicle motion state corresponding to the (i + 1) th correction mode according to the first driving direction information and the second driving direction information of the vehicle and the second correction matrix.

In some embodiments, the S703-a4 above includes: obtaining a driving direction difference matrix according to the difference between the first driving direction information and the second driving direction information of the vehicle; and determining the correction quantity of the vehicle motion state corresponding to the (i + 1) th correction mode according to the second correction matrix and the driving direction difference matrix.

In some embodiments, the correction amount of the vehicle motion state corresponding to the i +1 th correction manner is determined according to the following formula (26):

(26)

wherein the content of the first and second substances,

is the second traveling direction information of the vehicle,

is the first driving direction information of the vehicle.

Note that the above formula (26) is only an example, and any modification to the above formula (26) also falls within the scope of the embodiments of the present application, and for example, any modification to the equivalent of the above formula (26), or any parameter or parameters multiplied by, divided by, added to, or subtracted from the above formula (26) all fall within the scope of the embodiments of the present application.

And S704, correcting the vehicle motion state information corrected by the ith correction mode according to the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode to obtain the vehicle motion state information corrected by the (i + 1) th correction mode.

Speed correction amount

Posture correction amount

At least one of (1).

The process of S704 is identical to that of S603, and reference is made to the description of S603, which is not repeated herein.

In some embodiments, if i =0, the vehicle motion state information corrected by the i-th correction manner is vehicle motion state information of the vehicle at the first time, where the method in the embodiment of the present application includes: and correcting the vehicle motion state information of the vehicle at the first moment based on a correction mode of matching the vehicle driving direction based on the road network information or a correction mode of matching the vehicle driving direction based on the geomagnetic sensor to obtain the vehicle motion state information after the correction mode of matching the vehicle driving direction based on the road network information or the correction mode of matching the vehicle driving direction based on the geomagnetic sensor at the second moment.

Specifically, the method comprises the following steps:

step C1, first driving direction information of the vehicle at the second time is determined.

And step C2, determining second driving direction information of the vehicle according to the attitude information of the vehicle at the first moment.

And step C3, determining the correction amount of the vehicle motion state corresponding to the i +1 th correction mode according to the first driving direction information and the second driving direction information of the vehicle.

For example, the correction amount of the vehicle motion state corresponding to the correction method of matching the vehicle traveling direction based on the road network information or the correction method of matching the vehicle traveling direction based on the geomagnetic sensor is obtained according to the following formula (27):

（27）

wherein the content of the first and second substances,

is the driving direction information of the vehicle at the first moment.

And C4, correcting the motion state information of the vehicle at the first moment according to the correction amount of the vehicle motion state corresponding to the correction method of matching the vehicle driving direction based on the road network information or the correction method of matching the vehicle driving direction based on the geomagnetic sensor, and obtaining the vehicle motion state information after the correction of the correction method of matching the vehicle driving direction based on the road network information or the correction method of matching the vehicle driving direction based on the geomagnetic sensor.

The detailed description of step B3 is specifically referred to above, and will not be repeated herein.

In some embodiments, the method of embodiments of the present application further comprises:

s705, using the second correction matrix, correcting the covariance matrix of the fusion filter at the second time point according to the i-th correction mode to obtain the covariance matrix of the fusion filter at the second time point according to the i + 1-th correction mode.

In a possible implementation manner, the step S705 includes: obtaining a second covariance correction coefficient matrix according to the third prediction matrix, the second correction matrix and the second matrix; and correcting the covariance matrix of the fusion filter related to the ith correction mode at the second moment by using the second covariance correction coefficient matrix to obtain the covariance matrix of the fusion filter related to the (i + 1) th correction mode at the second moment.

Optionally, the third prediction matrix is an identity matrix.

In one possible implementation, the covariance matrix of the fusion filter at the second time with respect to the i +1 th modification is obtained according to the following equation (28):

（28）

wherein the content of the first and second substances,

is a second one of the correction matrices,

is a third prediction matrix, optionally an identity matrix.

It should be noted that the above formula (28) is only an example, and any modification of the above formula (28) also falls within the scope of the embodiments of the present application, and for example, any equivalent modification of the above formula (28), or any parameter or parameters obtained by multiplying, dividing, adding, or subtracting the above formula (28) or the like all fall within the scope of the embodiments of the present application.

In the vehicle positioning method according to the embodiment of the present application, if the i +1 th correction mode is a correction mode for matching the traveling direction of the vehicle based on the road network information or a correction mode for matching the traveling direction of the vehicle based on the geomagnetic sensor, by determining the first traveling direction information of the vehicle at the second time, determining second driving direction information of the vehicle according to the attitude information of the vehicle corrected by the ith correction mode, determining a correction amount of the moving state of the vehicle corresponding to the (i + 1) th correction mode according to the first traveling direction information and the second traveling direction information of the vehicle, determining a correction amount of the moving state of the vehicle corresponding to the (i + 1) th correction mode according to the correction amount of the moving state of the vehicle corresponding to the (i + 1) th correction mode, and correcting the vehicle motion state information corrected by the ith correction mode to obtain the vehicle motion state information corrected by the (i + 1) th correction mode, thereby realizing accurate positioning of the vehicle.

Next, a process of correcting the vehicle motion state information corrected by the i-th correction method using the i + 1-th correction method in S402-a1 to obtain the vehicle motion state information corrected by the i + 1-th correction method will be described, taking the i + 1-th correction method as an example of the correction method based on the satellite observation data.

Fig. 8 is a schematic flowchart of a vehicle positioning method according to an embodiment of the present application, and as shown in fig. 8, the step S402-a1 includes:

s801, acquiring satellite observation data observed by an observation base station and satellite observation data observed by vehicle-mounted positioning equipment of a vehicle.

As shown in fig. 9A, the vehicle-mounted terminal sends a navigation ephemeris request to the CORS server, for example, the vehicle-mounted terminal sends the navigation ephemeris request to the CORS server in real time through 4G or WIFI, where the navigation ephemeris request is used to request satellite observation data observed by an observation base station in the CORS system, where the satellite observation data mainly includes a GNSS ephemeris parameter table, for example, at least one of a compass parameter table of the big dipper, a ephemeris parameter table of the GPS, a ephemeris parameter table of the GLONASS, and a ephemeris parameter table of the galileo. And after receiving the navigation ephemeris request sent by the vehicle-mounted terminal, the CORS server broadcasts the GNSS ephemeris parameter table to the vehicle-mounted terminal in real time.

The vehicle of the embodiment of the present application is equipped with the onboard positioning device, as shown in fig. 9B, the onboard positioning device may receive the GNSS ephemeris parameter table sent by the satellite in real time, for example, the GNSS ephemeris parameter table includes at least one of a compass ephemeris parameter table, a GPS ephemeris parameter table, a GLONASS ephemeris parameter table, and a galileo ephemeris parameter table.

S802, according to the satellite observation data observed by the observation base station and the satellite observation data observed by the vehicle-mounted positioning equipment, the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode is determined.

As shown in fig. 9A, after receiving the GNSS ephemeris parameter table, the in-vehicle terminal processes the GNSS ephemeris parameter table by the satellite information processing unit to calculate satellite information such as a satellite position, a satellite operating speed, a clock error conversion rate, and the like. And determining a pseudo range and a phase observation value of the observation base station according to the calculated satellite information such as the satellite position, the operating speed, the clock error conversion rate and the like.

As shown in fig. 9B, after receiving the GNSS ephemeris parameter table, the in-vehicle terminal calculates satellite information such as a satellite position, an operation speed, a clock error conversion rate, and the like according to the GNSS ephemeris parameter table. And determining the pseudo range and the phase observation value of the vehicle-mounted positioning equipment according to the calculated satellite information such as the satellite position, the operating speed, the clock error conversion rate and the like.

And determining the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode according to the pseudo range and the phase observed value of the observation base station and the pseudo range and the phase observed value of the vehicle-mounted positioning equipment.

In some embodiments, the S802 includes S802-A1 through S802-A5:

and S802-A1, determining pseudo range and phase observed values of the observation base station, pseudo range and phase observed values of the vehicle-mounted positioning equipment, geometric distance between the vehicle and the satellite, and geometric distance between the observation base station and the satellite according to the satellite observed data of the observation base station and the satellite observed data of the vehicle-mounted positioning equipment.

Specifically, the satellite observation data observed by the observation base station is processed, and the pseudo range and the phase observation value of the observation base station and the geometric distance between the observation base station and the satellite are determined.

And processing satellite observation data observed by the vehicle-mounted positioning equipment, and determining a pseudo range, a phase observation value, a unit observation vector and a geometric distance of the vehicle and the satellite of the vehicle-mounted positioning equipment.

And S802-A2, obtaining a pseudo range matrix according to the pseudo range of the observation base station, the pseudo range of the vehicle-mounted positioning equipment, the geometric distance between the vehicle and the satellite and the geometric distance between the observation base station and the satellite.

In some embodiments, the pseudorange matrix is determined according to equation (29) as follows:

（29）

wherein the content of the first and second substances,

is a matrix of pseudoranges,

j =2,3, …, n, n is the number of satellites,

representing the pseudoranges of the onboard positioning devices to the satellites 1,

representing the pseudoranges of the on-board positioning device to the satellite j,

representing the pseudoranges of the observed base stations to satellite 1,

representing the pseudorange of the observed base station to satellite j,

representing the geometrical distance of the vehicle terminal from the satellite i,

represents the geometric distance of the observation base station from satellite i, i =1,2, …, n,

to observe the double difference ionosphere of the base station and the in-vehicle terminal with respect to satellite j,

to observe the double-differenced troposphere of the base station and the vehicle terminal with respect to satellite j.

The above formula (29) is merely an example, and any modification of the above formula (29) also falls within the scope of the embodiments of the present application, and for example, any equivalent modification of the above formula (29), or any one or more of the parameters of the above formula (29) multiplied, divided, added, or subtracted, and the like, all fall within the scope of the embodiments of the present application.

S802-A3, obtaining a phase observation value matrix according to the phase observation value of the observation base station, the phase observation value of the vehicle-mounted positioning equipment, the geometric distance between the vehicle and the satellite, the geometric distance between the observation base station and the satellite and the carrier wave wavelength of the satellite.

In some embodiments, a phase observation matrix is determined according to equation (30) below:

（30）

wherein the content of the first and second substances,

in order to be a matrix of phase observations,

j =2,3, …, n, n is the number of satellites,

representing the phase observations of the on-board positioning device to satellite 1,

representing phase observations observing the base station to satellite 1,

representing a phase observation observing the base station to satellite j,

represents the geometric distance between the vehicle-mounted terminal and the satellite i, i =1,2, …, n, and the parameter

To be integratedNumber, the carrier wavelength of the satellite.

The above formula (30) is only an example, and any modification of the above formula (30) also falls within the scope of the embodiments of the present application, and for example, any equivalent modification of the above formula (30), or any one or more of the parameters of the above formula (30) multiplied by, divided by, added to, or subtracted from, etc., all fall within the scope of the embodiments of the present application.

S802-A4, acquiring a covariance matrix of the preset fusion filter at the second moment relative to the ith correction mode, acquiring a third measurement variance value of the observation base station and the vehicle-mounted positioning equipment, and determining a third correction matrix according to the covariance matrix and the third measurement variance value.

The specific process of obtaining the covariance matrix of the preset fusion filter at the second time in the ith correction mode may refer to the description of S602-a1, and is not described herein again.

When the observation base station measures the satellite signal, a measurement error exists, and the observation base station sends the measurement error to the vehicle-mounted terminal.

When the vehicle-mounted positioning device measures satellite signals, there is also a measurement error, which is known to the vehicle-mounted terminal device.

Thus, the vehicle-mounted terminal can determine a third measurement variance value according to the measurement error of the observation base station and/or the measurement error of the vehicle-mounted positioning equipment.

Optionally, the third measured variance value is a matrix.

And the vehicle-mounted terminal determines a third correction matrix according to the covariance matrix of the fusion filter and the third measurement variance value.

In one possible implementation, S802-a4 includes: multiplying the covariance matrix by the fourth matrix to obtain a third product matrix; multiplying the fifth matrix, the covariance matrix and the third prediction matrix, and adding the multiplied fifth matrix, the covariance matrix and the third measurement variance value to obtain an inverse value, so as to obtain a third inverse matrix; and determining a third correction matrix according to the third product matrix and the third inverse matrix, for example, taking the product of the third product matrix and the third inverse matrix as the third correction matrix.

In some embodiments, the third correction matrix is derived according to equation (30) as follows:

（31）

wherein the content of the first and second substances,

is a third one of the correction matrices,

in order to measure the variance of the third measurement,

in order to be the fourth matrix, the first matrix,

is a fifth matrix.

The above formula (31) is merely an example, and any modification of the above formula (31) also falls within the scope of the embodiments of the present application, and for example, any equivalent modification of the above formula (31), or any one or more parameters of the above formula (31) multiplied, divided, added, or subtracted, and the like, all fall within the scope of the embodiments of the present application.

Optionally, the fourth matrix is a transposed matrix of the fifth matrix.

Optionally, a fifth matrix

Is represented as follows:

wherein the content of the first and second substances,

is a unit observation vector from the vehicle-mounted terminal to the satellite,

is the carrier wavelength of the satellite.

In this case, the fifth matrix is described above

A representation of (2), a fifth matrix

The expression policy of (1) is not limited to the above expression, and for example, equivalent variations of the above expression, or multiplication, division, addition, or subtraction of one or more parameters of the above expression, etc. all belong to the scope of protection of the embodiments of the present application.

And S802-A5, determining the correction quantity of the vehicle motion state corresponding to the i +1 correction mode according to the pseudo-range matrix, the phase observation value matrix and the third correction matrix.

In some embodiments, the S802-a5 described above includes: a splicing matrix is formed according to the pseudo-range matrix and the phase observation value matrix; and determining the correction quantity of the vehicle motion state corresponding to the (i + 1) th correction mode according to the third correction matrix and the splicing matrix, for example, determining the product of the third correction matrix and the splicing matrix as the correction quantity of the vehicle motion state corresponding to the (i + 1) th correction mode.

In some embodiments, the correction amount of the vehicle motion state corresponding to the i +1 th correction manner is determined according to the following formula (32):

（32）

wherein the content of the first and second substances,

is a matrix of pseudoranges,

is a matrix of phase observations.

It should be noted that the above formula (32) is only an example, and any modification of the above formula (32) also belongs to the protection scope of the embodiments of the present application, and for example, any equivalent modification of the above formula (32), or any one or more parameters of the above formula (32) multiplied, divided, added or subtracted, and the like, all belong to the protection scope of the embodiments of the present application.

And S803, according to the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode, correcting the vehicle motion state information corrected by the (i) th correction mode to obtain the vehicle motion state information corrected by the (i + 1) th correction mode.

Speed correction amount

Posture correction amount

At least one of (1).

The process of S803 is identical to that of S603, and reference is made to the description of S603, which is not repeated herein.

In some embodiments, if i =0, the vehicle motion state information corrected by the i-th correction manner is vehicle motion state information of the vehicle at the first time, where the method in the embodiment of the present application includes: and correcting the vehicle motion state information of the vehicle at the first time based on the correction mode of the satellite observation data to obtain the vehicle motion state information of the vehicle corrected by the correction mode based on the satellite observation data at the second time.

Specifically, the method comprises the following steps:

and D1, acquiring satellite observation data observed by the observation base station and satellite observation data observed by the vehicle-mounted positioning equipment of the vehicle.

And a step D2 of determining a correction amount of the vehicle motion state corresponding to the correction mode based on the satellite observation data, based on the satellite observation data observed by the observation base station and the satellite observation data observed by the vehicle-mounted positioning device. Specifically, the description of S802 is not repeated herein.

For example, a correction amount of the vehicle motion state corresponding to a correction method based on satellite observation data is obtained according to the following equation (33):

（33）

and a step D3 of correcting the motion state information of the vehicle at the first time according to the correction amount of the motion state of the vehicle corresponding to the correction mode based on the satellite observation data, and obtaining the motion state information of the vehicle corrected by the correction mode based on the satellite observation data.

and S804, correcting the covariance matrix of the fusion filter related to the ith correction mode at the second moment by using the third correction matrix to obtain the covariance matrix of the fusion filter related to the (i + 1) th correction mode at the second moment.

In a possible implementation manner, the step S804 includes: obtaining a third covariance correction coefficient matrix according to the fourth prediction matrix, the third correction matrix and the fifth matrix; and correcting the covariance matrix of the fusion filter related to the ith correction mode at the second moment by using the third covariance correction coefficient matrix to obtain the covariance matrix of the fusion filter related to the (i + 1) th correction mode at the second moment.

Optionally, the fourth prediction matrix is an identity matrix.

In one possible implementation, a covariance matrix of the fusion filter at the second time with respect to the i +1 th modification is obtained according to the following equation (34):

（34）

wherein the content of the first and second substances,

is a third one of the correction matrices,

is a fourth prediction matrix, optionally an identity matrix,

is a fifth matrix.

It should be noted that the above formula (34) is only an example, and any modification of the above formula (34) also belongs to the protection scope of the embodiments of the present application, and for example, any equivalent modification of the above formula (34), or any one or more parameters of the above formula (34) multiplied, divided, added or subtracted, and the like, all belong to the protection scope of the embodiments of the present application.

According to the vehicle positioning method, if the (i + 1) th correction mode is a correction mode based on satellite observation data, satellite observation data observed by an observation base station and satellite observation data observed by vehicle-mounted positioning equipment of a vehicle are obtained; determining the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode according to the satellite observation data observed by the observation base station and the satellite observation data observed by the vehicle-mounted positioning equipment; and according to the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode, correcting the vehicle motion state information corrected by the (i) th correction mode to obtain the vehicle motion state information corrected by the (i + 1) th correction mode, and further realizing accurate positioning of the vehicle.

In addition to the above embodiment, if N =4, the N correction methods include a correction method by the inertial sensor, a correction method by the road network information, a correction method by the geomagnetic sensor, and a correction method by the satellite observation data.

Fig. 10 is a schematic flowchart of a vehicle positioning method according to an embodiment of the present application, and as shown in fig. 10, the method includes:

and S901, acquiring the motion state information of the vehicle at the first moment. Specifically, the description of S401 above is referred to, and is not repeated herein.

And S902, updating the motion state information of the vehicle at the first time by using the correction method based on the inertial sensor to obtain the vehicle motion state information corrected by the correction method based on the inertial sensor.

Illustratively, the attitude information of the vehicle at the first time is updated according to the following equation (35):

（35）

wherein the content of the first and second substances,

for the purpose of the updated vehicle attitude information,

as attitude information of the vehicle at a first time, t_k-1Is a first time t_kIs the second time.

Illustratively, the speed information of the vehicle at the first time is updated according to the following equation (35):

（36）

wherein, g (t)_k) Is at t_kGravity value v (t) in the time ECEF coordinate system_k-1) Is t_k-1The speed of the vehicle at time, v (t)_k) Is t_kThe speed of the vehicle at that moment, i.e. the updated speed of the vehicle.

Illustratively, the position information of the vehicle at the first time is updated according to the following equation (36):

（37）

wherein the content of the first and second substances,

the position of the vehicle at the moment of time,

and the position of the vehicle at the moment, namely the updated vehicle position.

The above equations (35), (36), and (37) are merely examples, and any modifications of the above equations (35), (36), and (37) are within the scope of the embodiments of the present application, and for example, equivalent modifications of the above equations (35), (36), and (37), or any one or more parameters of the above equations (35), (36), and (37) multiplied by, divided by, added to, or subtracted from each other are within the scope of the embodiments of the present application.

And S903, correcting the vehicle motion state information corrected by the correction method based on the inertial sensor by using the correction method based on the road network information to match the vehicle position or the correction method based on the geomagnetic sensor to match the vehicle position to obtain the vehicle motion state information corrected by the correction method based on the road network information to match the vehicle position or the correction method based on the geomagnetic sensor to match the vehicle position.

For example, the correction amount of the vehicle motion state corresponding to the correction method of matching the vehicle position based on the road network information or the correction method of matching the vehicle position based on the geomagnetic sensor is determined according to the following formula (38):

（38）

wherein, P (t)_k) Is at t_kThe covariance matrix of the temporal fusion filter is,

for the first measured variance value, the variance value is,

the amount of correction of the vehicle motion state at the moment.

The vehicle motion state information corrected by the correction method based on the inertial sensor is corrected using the attitude correction amount, the velocity correction amount, and the displacement correction amount determined in the formula (38), respectively, to obtain the vehicle motion state information corrected by the correction method based on the matching of the road network information with the vehicle position or the correction method based on the matching of the geomagnetic sensor with the vehicle position.

In one possible implementation, the vehicle displacement information is corrected according to the following formula (39) to obtain vehicle displacement information corrected by a correction method for matching the vehicle position based on the road network information or a correction method for matching the vehicle position based on the geomagnetic sensor:

（39）

wherein the content of the first and second substances,

correction method for matching vehicle position based on road network information or correction method for matching vehicle position based on geomagnetic sensorThe position information of the vehicle at the rear,

for the vehicle position information corrected based on the correction manner of the inertial sensor,

the position correction amount is a position correction amount corresponding to a correction method for matching the vehicle position based on the road network information or a correction method for matching the vehicle position based on the geomagnetic sensor.

In one possible implementation, the speed information of the vehicle is corrected according to the following formula (40), and vehicle speed information corrected by a correction method based on matching the vehicle position with the road network information or a correction method based on matching the vehicle position with the geomagnetic sensor is obtained:

（40）

wherein the content of the first and second substances,

the corrected vehicle speed information is the vehicle speed information based on the correction mode of matching the vehicle position based on the road network information or the correction mode of matching the vehicle position based on the geomagnetic sensor,

for the vehicle speed information corrected based on the correction manner of the inertial sensor,

the speed correction amount is a speed correction amount corresponding to a correction method for matching the vehicle position based on the road network information or a correction method for matching the vehicle position based on the geomagnetic sensor.

In one possible implementation, the vehicle attitude information is corrected according to the following formula (41) to obtain vehicle attitude information corrected by a correction method based on road network information matching the vehicle position or a correction method based on a geomagnetic sensor matching the vehicle position:

（41）

wherein the content of the first and second substances,

the vehicle attitude information corrected by the correction method for matching the vehicle position based on the road network information or the correction method for matching the vehicle position based on the geomagnetic sensor,

for the vehicle attitude information corrected based on the correction manner of the inertial sensor,

an attitude correction amount corresponding to a correction method for matching the vehicle position based on the road network information or a correction method for matching the vehicle position based on the geomagnetic sensor,

respectively represent

The first, second and third elements of (1).

The method of the embodiment of the application further comprises the following steps: and correcting the covariance matrix of the fusion filter at the first moment by using the first correction matrix to obtain the covariance matrix of the fusion filter at the second moment about the correction mode of matching the vehicle position based on the road network information or the correction mode of matching the vehicle position based on the geomagnetic sensor.

In one possible implementation, a covariance matrix of the fusion filter at the second time point with respect to the correction method based on the road network information matching the vehicle position or the correction method based on the geomagnetic sensor matching the vehicle position is obtained according to the following formula (42):

（42）

wherein the content of the first and second substances,

a covariance matrix P (t) for fusing the filter at the second time point with respect to the correction mode for matching the vehicle position based on the road network information or the correction mode for matching the vehicle position based on the geomagnetic sensor_k) For fusion filters at t_kThe covariance matrix of the temporal fusion filter is, for example, the covariance matrix of the fusion filter at the first temporal instance.

And S904, correcting the vehicle motion state information after the correction mode of matching the vehicle driving direction based on the road network information or the correction mode of matching the vehicle driving direction based on the geomagnetic sensor by using the correction mode of matching the vehicle driving direction based on the road network information or the correction mode of matching the vehicle driving direction based on the geomagnetic sensor to obtain the vehicle motion state information after the correction mode of matching the vehicle driving direction based on the road network information or the correction mode of matching the vehicle driving direction based on the geomagnetic sensor.

For example, the correction amount of the vehicle motion state corresponding to the correction method of matching the vehicle traveling direction based on the road network information or the correction method of matching the vehicle traveling direction based on the geomagnetic sensor is determined according to the following formula (43):

（43）

wherein the content of the first and second substances,

the correction amount of the vehicle motion state corresponding to the correction mode of matching the vehicle driving direction based on the road network information or the correction mode of matching the vehicle driving direction based on the geomagnetic sensor,

for the second measured variance value is the variance value,

is a first matrix, H is a second matrix,

is the second traveling direction information of the vehicle,

is the first driving direction information of the vehicle.

The vehicle motion state information corrected by the correction method for matching the vehicle position based on the road network information or the correction method for matching the vehicle position based on the geomagnetic sensor is corrected using the attitude correction amount, the speed correction amount, and the displacement correction amount determined in the formula (43), respectively, to obtain the vehicle motion state information corrected by the correction method for matching the vehicle traveling direction based on the road network information or the correction method for matching the vehicle traveling direction based on the geomagnetic sensor.

In one possible implementation manner, the vehicle displacement information is corrected according to the following formula (44), and vehicle displacement information corrected according to a correction method for matching the vehicle driving direction based on the road network information or a correction method for matching the vehicle driving direction based on the geomagnetic sensor is obtained:

（44）

wherein the content of the first and second substances,

the vehicle displacement information is corrected based on the correction mode of matching the driving direction of the vehicle based on the road network information or the correction mode of matching the driving direction of the vehicle based on the geomagnetic sensor,

the vehicle position information corrected by the correction method for matching the vehicle position based on the road network information or the correction method for matching the vehicle position based on the geomagnetic sensor,

the position correction amount is a position correction amount corresponding to a correction method for matching the vehicle traveling direction based on the road network information or a correction method for matching the vehicle traveling direction based on the geomagnetic sensor.

In one possible implementation manner, the speed information of the vehicle is corrected according to the following formula (45), and vehicle speed information corrected by a correction method for matching the driving direction of the vehicle based on the road network information or a correction method for matching the driving direction of the vehicle based on the geomagnetic sensor is obtained:

（45）

wherein the content of the first and second substances,

the vehicle speed information corrected based on the correction method of matching the driving direction of the vehicle based on the road network information or the correction method of matching the driving direction of the vehicle based on the geomagnetic sensor,

the speed correction amount is a speed correction amount corresponding to a correction method for matching the vehicle traveling direction based on the road network information or a correction method for matching the vehicle traveling direction based on the geomagnetic sensor.

In one possible implementation, the vehicle attitude information is corrected according to the following formula (46), and vehicle attitude information corrected by a correction method for matching the vehicle traveling direction based on the road network information or a correction method for matching the vehicle traveling direction based on the geomagnetic sensor is obtained:

（46）

wherein the content of the first and second substances,

the vehicle attitude information corrected based on the correction method of matching the driving direction of the vehicle based on the road network information or the correction method of matching the driving direction of the vehicle based on the geomagnetic sensor,

in order to correct the posture corresponding to the correction mode of matching the driving direction of the vehicle based on the road network information or the correction mode of matching the driving direction of the vehicle based on the geomagnetic sensor,

respectively represent

The first, second and third elements of (1).

The method of the embodiment of the application further comprises the following steps: and correcting the covariance matrix of the fusion filter at the first moment by using the second correction matrix to obtain the covariance matrix of the fusion filter at the second moment about a correction mode for matching the driving direction of the vehicle based on the road network information or a correction mode for matching the driving direction of the vehicle based on the geomagnetic sensor.

In one possible implementation, a covariance matrix of the fusion filter at the second time point with respect to a correction manner of matching the vehicle traveling direction based on the road network information or a correction manner of matching the vehicle traveling direction based on the geomagnetic sensor is obtained according to the following formula (47):

（47）

wherein the content of the first and second substances,

a covariance matrix for fusing the filter at the second time point with respect to a correction mode for matching the traveling direction of the vehicle based on the road network information or a correction mode for matching the traveling direction of the vehicle based on the geomagnetic sensor,

and a covariance matrix for the fusion filter at the second time point with respect to a correction mode for matching the vehicle position based on the road network information or a correction mode for matching the vehicle position based on the geomagnetic sensor.

And S905, correcting the vehicle motion state information corrected by the correction mode of matching the vehicle running direction based on the road network information or the correction mode of matching the vehicle running direction based on the geomagnetic sensor by using the correction mode based on the satellite observation data to obtain the motion state information of the vehicle at the second time.

For example, a correction amount of the vehicle motion state corresponding to the correction manner based on the satellite observation data is determined according to the following equation (48):

（48）

wherein the content of the first and second substances,

the correction amount of the vehicle motion state corresponding to the correction mode based on the satellite observation data, the pseudo-range matrix,

in order to be a matrix of phase observations,

correction method for matching vehicle driving direction based on road network information or matching vehicle driving direction based on geomagnetic sensorThe covariance matrix of the directional correction mode,

in order to be the fifth matrix, the first matrix,

is a fourth matrix.

The vehicle motion state information corrected by the correction method for matching the vehicle traveling direction based on the road network information or the correction method for matching the vehicle traveling direction based on the geomagnetic sensor is corrected using the attitude correction amount, the speed correction amount, and the displacement correction amount determined in the equation (48), respectively, to obtain the vehicle motion state information of the vehicle at the second time.

In one possible implementation, the vehicle displacement information at the second time is obtained by correcting the vehicle displacement information according to the following formula (49):

（49）

wherein the content of the first and second substances,

vehicle displacement information for the vehicle at the second time,

the position correction amount is a position correction amount corresponding to a correction method based on satellite observation data.

In one possible implementation, the speed information of the vehicle is corrected according to the following formula (50) to obtain the vehicle speed information of the vehicle at the second time:

（50）

wherein the content of the first and second substances,

vehicle speed information for the vehicle at the second time,

the speed correction amount is a speed correction amount corresponding to a correction method based on satellite observation data.

In one possible implementation, the vehicle posture information is corrected according to the following formula (51) to obtain the vehicle posture information of the vehicle at the second time:

（51）

wherein the content of the first and second substances,

vehicle attitude information for the vehicle at the second time,

the attitude correction amount is based on the correction mode of the satellite observation data,

respectively represent

The first, second and third elements of (1).

The method of the embodiment of the application further comprises the following steps: and correcting the covariance matrix of the fusion filter at the first moment by using the third correction matrix to obtain the covariance matrix of the correction mode of the fusion filter at the second moment based on the satellite observation data.

In one possible implementation, a covariance matrix of the fusion filter at the second time with respect to the satellite observation data-based correction is obtained according to the following equation (52):

（52）

wherein the content of the first and second substances,

to fuse the covariance matrix of the filter at the second time instance with respect to the satellite observation data based modification,

and a covariance matrix for the fusion filter at the second time point with respect to a correction mode for matching the vehicle traveling direction based on the road network information or a correction mode for matching the vehicle traveling direction based on the geomagnetic sensor.

And S906, displaying the motion state information of the vehicle at the second moment.

In some embodiments, if the vehicle-mounted terminal of the embodiment of the present application has a display function, the motion state information of the vehicle at the second time may be displayed on the vehicle-mounted terminal.

In some embodiments, if the in-vehicle terminal of the embodiment of the present application does not have a specific display function, the determined motion state information of the vehicle at the second time may be sent to a display device, and the display device displays the motion state information of the vehicle at the second time.

The vehicle positioning method provided by the embodiment of the application integrates road network information, an RTK differential positioning technology, an inertial sensor and a geomagnetic sensor, and is used for assisting vehicle positioning in road matching based on a road network database, realizing vehicle lane-level positioning by utilizing the RTK differential positioning technology and the CORS system service, solving the problem of poor vehicle positioning accuracy of weak satellite signal scenes such as urban environments and tunnels based on the inertial sensor and the geomagnetic sensor, effectively improving the robustness and navigation positioning accuracy of a vehicle positioning system, assisting lane-level navigation and vehicle networking position service, and optimizing user experience.

The preferred embodiments of the present application have been described in detail with reference to the accompanying drawings, however, the present application is not limited to the details of the above embodiments, and various simple modifications can be made to the technical solution of the present application within the technical idea of the present application, and these simple modifications are all within the protection scope of the present application. For example, the various features described in the foregoing detailed description may be combined in any suitable manner without contradiction, and various combinations that may be possible are not described in this application in order to avoid unnecessary repetition. For example, various embodiments of the present application may be arbitrarily combined with each other, and the same should be considered as the disclosure of the present application as long as the concept of the present application is not violated.

It should also be understood that, in the various method embodiments of the present application, the sequence numbers of the above-mentioned processes do not imply an execution sequence, and the execution sequence of the processes should be determined by their functions and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

Fig. 11 is a schematic structural diagram of a vehicle positioning device according to an embodiment of the present application. The vehicle positioning apparatus may be an electronic device, and may also be a component (e.g., an integrated circuit, a chip, etc.) of the electronic device, and the electronic device may be the vehicle-mounted terminal described above.

As shown in fig. 11, the vehicle positioning apparatus 100 may include:

an acquisition unit 110 for acquiring motion state information of a vehicle at a first time;

the positioning unit 120 is configured to correct motion state information of the vehicle at a first time by using N correction manners to obtain motion state information of the vehicle at a second time, where the motion state information of the vehicle includes position information of the vehicle;

wherein the first time is a time before the second time, and the N correction methods include at least three correction methods among a correction method based on an inertial sensor, a correction method based on road network information, a correction method based on a geomagnetic sensor, and a correction method based on satellite observation data.

In some embodiments, the positioning unit 120 is specifically configured to correct the vehicle motion state information corrected by the i-th correction manner by using an i + 1-th correction manner, so as to obtain the vehicle motion state information corrected by the i + 1-th correction manner, where i is an integer greater than or equal to 0 and less than N, the i + 1-th correction manner and the i-th correction manner are two different correction manners among the N correction manners, and if i =0, the vehicle motion state information corrected by the i-th correction manner is the motion state information of the vehicle at the first time; and determining the vehicle motion state information corrected by the Nth correction mode as the motion state information of the vehicle at the second moment.

In some embodiments, the road network information-based correction manner includes at least one of a correction manner of matching the position of the vehicle based on the road network information and a correction manner of matching the traveling direction of the vehicle based on the road network information; the correction manner based on the geomagnetic sensor includes at least one of a correction manner in which the vehicle position is matched based on the geomagnetic sensor and a correction manner in which the vehicle traveling direction is matched based on the geomagnetic sensor.

In some embodiments, if the i +1 th correction mode is a correction mode matching the vehicle position based on the road network information or a correction mode matching the vehicle position based on the geomagnetic sensor, the positioning unit 120 is specifically configured to determine first predicted position information of the vehicle at the second time; determining the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode according to the first predicted position information of the vehicle and the vehicle position information corrected by the (i) th correction mode; and correcting the vehicle motion state information corrected by the ith correction mode according to the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode to obtain the vehicle motion state information corrected by the (i + 1) th correction mode.

In some embodiments, the positioning unit 120 is specifically configured to obtain a covariance matrix of a preset fusion filter at the second time with respect to the ith correction mode; obtaining a first measured variance value in determining the first predicted position information; determining a first correction matrix according to the covariance matrix and the first measurement variance value; and determining the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode according to the first predicted position information of the vehicle, the vehicle position information corrected by the (i) th correction mode and the first correction matrix.

In some embodiments, the positioning unit 120 is specifically configured to multiply the covariance matrix by a first preset matrix to obtain a first product matrix; multiplying a second preset matrix, the covariance matrix and the first prediction matrix, and adding the second preset matrix, the covariance matrix and the first measurement variance value to obtain an inverse value, so as to obtain a first inverse matrix; and determining the first correction matrix according to the first product matrix and the first inverse matrix.

In some embodiments, the positioning unit 120 is specifically configured to obtain a position difference of the vehicle according to a difference between the first predicted position information of the vehicle and the vehicle position information corrected by the i-th correction manner; and determining the correction quantity of the vehicle motion state corresponding to the i +1 th correction mode according to the first correction matrix and the position difference.

In some embodiments, the positioning unit 120 is further configured to modify, using the first modification matrix, the covariance matrix of the fusion filter at the second time with respect to the i +1 th modification manner, so as to obtain the covariance matrix of the fusion filter at the second time with respect to the i +1 th modification manner.

In some embodiments, the positioning unit 120 is specifically configured to obtain a first covariance correction coefficient matrix according to a third prediction matrix, the first correction matrix, and a second preset matrix; and correcting the covariance matrix of the fusion filter related to the i-th correction mode at the second moment by using the first covariance correction coefficient matrix to obtain the covariance matrix of the fusion filter related to the i + 1-th correction mode at the second moment.

In some embodiments, the positioning unit 120 is specifically configured to, if the i +1 th correction manner is a correction manner that matches vehicle positions based on road network information, obtain current road network information of the vehicle from a road network information base, and match to obtain first predicted position information of the vehicle at the second time based on the current road network information; or, if the i +1 th correction mode is a correction mode for matching the vehicle position based on a geomagnetic sensor, acquiring geomagnetic information from the geomagnetic sensor of the vehicle, and matching to obtain first predicted position information of the vehicle at the second time based on the geomagnetic information and geomagnetic fingerprint data.

In some embodiments, if the i +1 th correction mode is a correction mode matching the driving direction of the vehicle based on the road network information or a correction mode matching the driving direction of the vehicle based on the geomagnetic sensor, the positioning unit 120 is specifically configured to determine the first driving direction information of the vehicle at the second time; determining second driving direction information of the vehicle according to the attitude information of the vehicle corrected by the ith correction mode; determining the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode according to the first driving direction information and the second driving direction information of the vehicle; and correcting the vehicle motion state information corrected by the ith correction mode according to the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode to obtain the vehicle motion state information corrected by the (i + 1) th correction mode.

In some embodiments, the positioning unit 120 is specifically configured to determine a first parameter and a second parameter according to the vehicle posture information corrected by the i-th correction manner; and determining second driving direction information of the vehicle according to the first parameter and the second parameter.

In some embodiments, the positioning unit 120 is specifically configured to obtain a covariance matrix of a preset fusion filter at the second time with respect to the ith correction mode; acquiring a second measurement variance value when the first driving direction information is determined; determining a second correction matrix according to the covariance matrix and the second measurement variance value; and determining the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode according to the first driving direction information and the second driving direction information of the vehicle and the second correction matrix.

In some embodiments, the positioning unit 120 is specifically configured to determine a first matrix according to the second driving direction information; deforming the first matrix to obtain a second matrix; multiplying the covariance matrix and the second matrix to obtain a second product matrix; multiplying the first matrix, the covariance matrix and the second matrix, and adding the multiplied first matrix, the covariance matrix and the second measured variance value to obtain a second inverse matrix; and determining the second correction matrix according to the second product matrix and the second inverse matrix.

In some embodiments, the positioning unit 120 is specifically configured to derive a driving direction difference matrix according to a difference between the first driving direction information and the second driving direction information of the vehicle; and determining the correction quantity of the vehicle motion state corresponding to the (i + 1) th correction mode according to the second correction matrix and the driving direction difference matrix.

In some embodiments, the positioning unit 120 is further configured to modify the covariance matrix of the fusion filter at the second time with respect to the i +1 th modification manner by using the second modification matrix, so as to obtain the covariance matrix of the fusion filter at the second time with respect to the i +1 th modification manner.

In some embodiments, the positioning unit 120 is specifically configured to obtain a second covariance correction coefficient matrix according to a third prediction matrix, the second correction matrix, and the second matrix; and correcting the covariance matrix of the fusion filter related to the i-th correction mode at the second moment by using the second covariance correction coefficient matrix to obtain the covariance matrix of the fusion filter related to the i + 1-th correction mode at the second moment.

In some embodiments, the location unit 120 is specifically configured to, if the i +1 th correction manner is a correction manner that matches a driving direction of a vehicle based on road network information, obtain current road network information of the vehicle from a road network information base, and match to obtain first driving direction information of the vehicle at the second time based on the current road network information; or, if the i +1 th correction mode is a correction mode for matching the vehicle driving direction based on a geomagnetic sensor, acquiring geomagnetic information from the geomagnetic sensor of the vehicle, and matching to obtain first driving direction information of the vehicle at the second time based on the geomagnetic information and geomagnetic fingerprint data.

In some embodiments, if the i +1 th correction mode is a correction mode based on satellite observation data, the positioning unit 120 is specifically configured to obtain satellite observation data observed by an observation base station and satellite observation data observed by a vehicle-mounted positioning device of the vehicle; determining the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode according to the satellite observation data observed by the observation base station and the satellite observation data observed by the vehicle-mounted positioning equipment; and correcting the vehicle motion state information corrected by the ith correction mode according to the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode to obtain the vehicle motion state information corrected by the (i + 1) th correction mode.

In some embodiments, the positioning unit 120 is specifically configured to determine, according to the satellite observation data observed by the observation base station and the satellite observation data observed by the vehicle-mounted positioning device, a pseudo range and a phase observation value of the observation base station, a pseudo range and a phase observation value of the vehicle-mounted positioning device, a vehicle-to-satellite and geometric distance, and a geometric distance of the observation base station to a satellite; obtaining a pseudo-range matrix according to the pseudo-range of the observation base station, the pseudo-range of the vehicle-mounted positioning equipment, the geometric distance between the vehicle and the satellite and the geometric distance between the observation base station and the satellite; obtaining a phase observation value matrix according to the phase observation value of the observation base station, the phase observation value of the vehicle-mounted positioning equipment, the geometric distance between the vehicle and the satellite, the geometric distance between the observation base station and the satellite and the carrier wavelength of the satellite; acquiring a covariance matrix of a preset fusion filter at a second moment relative to the ith correction mode, acquiring a third measurement variance value of the observation base station and the vehicle-mounted positioning equipment, and determining a third correction matrix according to the covariance matrix and the third measurement variance value; and determining the correction quantity of the vehicle motion state corresponding to the (i + 1) th correction mode according to the pseudo-range matrix, the phase observation value matrix and the third correction matrix.

In some embodiments, the positioning unit 120 is further configured to modify, using the third modification matrix, the covariance matrix of the fusion filter at the second time with respect to the i +1 th modification manner, so as to obtain the covariance matrix of the fusion filter at the second time with respect to the i +1 th modification manner.

In some embodiments, the positioning unit 120 is specifically configured to correct the vehicle position information corrected by the i-th correction manner by using a position correction amount of the correction amounts of the vehicle motion state, so as to obtain the vehicle position information corrected by the i + 1-th correction manner; correcting the vehicle speed information corrected by the i-th correction mode by using a speed correction amount in the correction amounts of the vehicle motion state to obtain vehicle speed information corrected by the i + 1-th correction mode; and correcting the vehicle attitude information corrected by the i-th correction method by using the attitude correction amount in the correction amounts of the vehicle motion state to obtain the vehicle attitude information corrected by the i + 1-th correction method.

In some embodiments, if the i +1 th correction mode is an inertial sensor-based correction mode, the positioning unit 120 is specifically configured to obtain an angular velocity measurement value and an acceleration measurement value of the inertial sensor on the vehicle at the second time; correcting the vehicle attitude information corrected by the ith correction mode according to the angular velocity measured value to obtain vehicle attitude information corrected by the (i + 1) th correction mode; correcting the vehicle speed corrected by the ith correction mode according to the measured acceleration value to obtain vehicle speed information corrected by the (i + 1) th correction mode; and correcting the vehicle position information corrected by the ith correction mode according to the vehicle speed information corrected by the (i + 1) th correction mode and the vehicle speed corrected by the ith correction mode to obtain the vehicle position information corrected by the (i + 1) th correction mode.

In some embodiments, the positioning unit 120 is further configured to display the motion state information of the vehicle at the second time.

It is to be understood that apparatus embodiments and method embodiments may correspond to one another and that similar descriptions may refer to method embodiments. To avoid repetition, further description is omitted here. Specifically, the apparatus shown in fig. 11 may perform the embodiment of the method described above, and the foregoing and other operations and/or functions of each module in the apparatus are respectively for implementing the embodiment of the method corresponding to the encoder, and are not described herein again for brevity.

The apparatus of the embodiments of the present application is described above in connection with the drawings from the perspective of functional modules. It should be understood that the functional modules may be implemented by hardware, by instructions in software, or by a combination of hardware and software modules. Specifically, the steps of the method embodiments in the present application may be implemented by integrated logic circuits of hardware in a processor and/or instructions in the form of software, and the steps of the method disclosed in conjunction with the embodiments in the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. Alternatively, the software modules may be located in random access memory, flash memory, read only memory, programmable read only memory, electrically erasable programmable memory, registers, and the like, as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps in the above method embodiments in combination with hardware thereof.

Fig. 12 is a block diagram of an electronic device according to an embodiment of the present application, where the electronic device may be an in-vehicle terminal, and is configured to execute the vehicle positioning method according to the foregoing embodiment, specifically referring to the description in the foregoing method embodiment.

As shown in fig. 12, the electronic device 30 may include: a memory 31 and a processor 32, the memory 31 being arranged to store a computer program 33 and to transfer the program code 33 to the processor 32. In other words, the processor 32 may call and run the computer program 33 from the memory 31 to implement the method in the embodiment of the present application.

For example, the processor 32 may be adapted to perform the above-mentioned method steps according to instructions in the computer program 33.

In some embodiments of the present application, the processor 32 may include, but is not limited to:

general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like.

In some embodiments of the present application, the memory 31 includes, but is not limited to:

volatile memory and/or non-volatile memory. The non-volatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of example, but not limitation, many forms of RAM are available, such as Static random access memory (Static RAM, SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic random access memory (Synchronous DRAM, SDRAM), Double Data Rate Synchronous Dynamic random access memory (DDR SDRAM), Enhanced Synchronous SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), and Direct Rambus RAM (DR RAM).

In some embodiments of the present application, the computer program 33 may be divided into one or more modules, which are stored in the memory 31 and executed by the processor 32 to perform the method of recording pages provided herein. The one or more modules may be a series of computer program instruction segments capable of performing certain functions, which are used to describe the execution of the computer program 33 in the electronic device.

As shown in fig. 12, the electronic device 30 may further include:

a transceiver 34, the transceiver 34 being connectable to the processor 32 or the memory 31.

The processor 32 may control the transceiver 34 to communicate with other devices, and specifically, may transmit information or data to the other devices or receive information or data transmitted by the other devices. The transceiver 34 may include a transmitter and a receiver. The transceiver 34 may further include one or more antennas.

It should be understood that the various components in the electronic device 30 are connected by a bus system that includes a power bus, a control bus, and a status signal bus in addition to a data bus.

Embodiments of the present application also provide a computer storage medium, on which a computer program is stored, and when the computer program is executed by a computer, the computer is enabled to execute the method of the above method embodiments.

Embodiments of the present application also provide a computer program product containing instructions, which when executed by a computer, cause the computer to perform the method of the above method embodiments.

Embodiments of the present application also provide a computer program product or computer program comprising computer instructions stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the method of the above-described method embodiment.

In other words, when implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The procedures or functions described in accordance with the embodiments of the present application occur, in whole or in part, when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a Digital Video Disk (DVD)), or a semiconductor medium (e.g., a Solid State Disk (SSD)), among others.

Those of ordinary skill in the art will appreciate that the various illustrative modules and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the module is merely a logical division, and other divisions may be realized in practice, for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.

Modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. For example, functional modules in the embodiments of the present application may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module.

The above disclosure is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A vehicle positioning method, characterized by comprising:

acquiring motion state information of a vehicle at a first moment;

using an (i + 1) th correction mode to correct the vehicle motion state information corrected by the (i) th correction mode to obtain the vehicle motion state information corrected by the (i + 1) th correction mode;

determining the vehicle motion state information corrected by the Nth correction mode as the motion state information of the vehicle at the second moment;

wherein the motion state information of the vehicle includes position information of the vehicle, the first time is a time before the second time, i is an integer greater than or equal to 0 and less than N, the i +1 th and i-th correction modes are two different correction modes out of N correction modes, if i =0, the motion state information of the vehicle after the i-th correction mode correction is the motion state information of the vehicle at the first time, and the N correction modes include at least three correction modes out of a correction mode based on an inertial sensor, a correction mode based on road network information, a correction mode based on a geomagnetic sensor, and a correction mode based on satellite observation data;

wherein the correction mode based on the road network information comprises at least one of a correction mode of matching the position of the vehicle based on the road network information and a correction mode of matching the driving direction of the vehicle based on the road network information; the correction mode based on the geomagnetic sensor comprises at least one of a correction mode of matching the position of the vehicle based on the geomagnetic sensor and a correction mode of matching the driving direction of the vehicle based on the geomagnetic sensor;

if the i +1 th correction method is a correction method for matching the vehicle position based on the road network information or a correction method for matching the vehicle position based on the geomagnetic sensor, the vehicle motion state information corrected by the i +1 th correction method is corrected by using the i +1 th correction method to obtain the vehicle motion state information corrected by the i +1 th correction method, and the method comprises the following steps: determining first predicted position information of the vehicle at a second time; determining the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode according to the first predicted position information of the vehicle and the vehicle position information corrected by the (i) th correction mode; according to the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode, correcting the vehicle motion state information corrected by the (i) th correction mode to obtain the vehicle motion state information corrected by the (i + 1) th correction mode;

if the i +1 th correction method is a correction method for matching the driving direction of the vehicle based on the road network information or a correction method for matching the driving direction of the vehicle based on the geomagnetic sensor, the vehicle motion state information corrected by the i +1 th correction method is corrected by using the i +1 th correction method to obtain the vehicle motion state information corrected by the i +1 th correction method, and the method comprises the following steps: determining first driving direction information of the vehicle at a second moment; determining second driving direction information of the vehicle according to the attitude information of the vehicle corrected by the ith correction mode; determining the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode according to the first driving direction information and the second driving direction information of the vehicle; according to the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode, correcting the vehicle motion state information corrected by the (i) th correction mode to obtain the vehicle motion state information corrected by the (i + 1) th correction mode;

if the i +1 th correction mode is a correction mode based on satellite observation data, correcting the vehicle motion state information corrected by the i +1 th correction mode by using the i +1 th correction mode to obtain the vehicle motion state information corrected by the i +1 th correction mode, wherein the method comprises the following steps: acquiring satellite observation data observed by an observation base station and satellite observation data observed by vehicle-mounted positioning equipment of the vehicle; determining the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode according to the satellite observation data observed by the observation base station and the satellite observation data observed by the vehicle-mounted positioning equipment; according to the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode, correcting the vehicle motion state information corrected by the (i) th correction mode to obtain the vehicle motion state information corrected by the (i + 1) th correction mode;

if the i +1 th correction mode is a correction mode based on an inertial sensor, the vehicle motion state information corrected by the i +1 th correction mode is corrected by using the i +1 th correction mode to obtain the vehicle motion state information corrected by the i +1 th correction mode, and the method comprises the following steps: obtaining angular velocity measurements and acceleration measurements of inertial sensors on the vehicle at the second time; correcting the vehicle attitude information corrected by the ith correction mode according to the angular velocity measured value to obtain vehicle attitude information corrected by the (i + 1) th correction mode; correcting the vehicle speed corrected by the ith correction mode according to the measured acceleration value to obtain vehicle speed information corrected by the (i + 1) th correction mode; and correcting the vehicle position information corrected by the ith correction method according to the vehicle speed information corrected by the (i + 1) th correction method and the vehicle speed corrected by the ith correction method to obtain the vehicle position information corrected by the (i + 1) th correction method.

2. The method according to claim 1, wherein the determining the correction amount of the vehicle motion state corresponding to the i +1 th correction manner based on the first predicted position information of the vehicle and the vehicle position information corrected by the i-th correction manner includes:

acquiring a covariance matrix of a preset fusion filter at a second moment relative to the ith correction mode, wherein the covariance matrix of the ith correction mode is obtained by correcting the covariance matrix of the (i-1) th correction mode by using a correction matrix corresponding to the (i-1) th correction mode;

acquiring a first measurement variance value when the first predicted position information is determined, wherein the first measurement variance value is a measurement variance value when the first predicted position information of the vehicle is obtained based on geomagnetic information matching, or is a measurement variance value when the first predicted position information of the vehicle is obtained based on road network information matching;

determining a first correction matrix according to the covariance matrix and the first measurement variance value;

determining the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode according to the first predicted position information of the vehicle, the vehicle position information corrected by the (i) th correction mode and the first correction matrix;

wherein the determining the correction amount of the vehicle motion state corresponding to the i +1 th correction manner based on the first predicted position information of the vehicle, the vehicle position information corrected by the i-th correction manner, and the first correction matrix includes:

obtaining the position difference of the vehicle according to the difference between the first predicted position information of the vehicle and the vehicle position information corrected by the ith correction mode;

and determining the product of the first correction matrix and the position difference as the correction quantity of the vehicle motion state corresponding to the (i + 1) th correction mode.

3. The method of claim 2, wherein determining a first correction matrix based on the covariance matrix and the first measured variance value comprises:

multiplying the covariance matrix by a first preset matrix to obtain a first product matrix, wherein the first preset matrix consists of a 0 matrix and an identity matrix;

multiplying a second preset matrix, the covariance matrix and the first prediction matrix, and adding the second preset matrix and the first measurement variance value for inversion to obtain a first inversion matrix, wherein the second preset matrix is a transposed matrix of the first preset matrix;

and determining the product of the first product matrix and the first inverse matrix as the first correction matrix.

4. The method according to claim 1, wherein the determining a correction amount of the vehicle motion state corresponding to the i +1 th correction manner based on the first traveling direction information and the second traveling direction information of the vehicle includes:

acquiring a second measurement variance value when the first driving direction information is determined, wherein the second measurement variance value is a measurement variance value when the first driving direction information of the vehicle is obtained based on road network information matching, or is a measurement variance value when the first driving direction information of the vehicle is obtained based on geomagnetic information matching;

determining a second correction matrix according to the covariance matrix and the second measurement variance value;

determining the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode according to the first driving direction information and the second driving direction information of the vehicle and the second correction matrix;

wherein the determining the correction amount of the vehicle motion state corresponding to the i +1 th correction mode according to the first driving direction information and the second driving direction information of the vehicle and the second correction matrix comprises:

obtaining a driving direction difference matrix according to the difference between the first driving direction information and the second driving direction information of the vehicle;

and determining the product of the second correction matrix and the driving direction difference matrix as the correction quantity of the vehicle motion state corresponding to the (i + 1) th correction mode.

5. The method of claim 4, wherein determining a second correction matrix based on the covariance matrix and the second measured variance value comprises:

performing partial derivative operation on the second driving direction information to obtain a first matrix;

transposing the first matrix to obtain a second matrix;

multiplying the covariance matrix and the second matrix to obtain a second product matrix;

multiplying the first matrix, the covariance matrix and the second matrix, and adding the multiplied first matrix, the covariance matrix and the second measured variance value to obtain a second inverse matrix;

and determining the second correction matrix as the product of the second product matrix and the second inverse matrix.

6. A vehicle positioning device, comprising:

if the i +1 th correction mode is a correction mode for matching the driving direction of the vehicle based on road network information or a correction mode for matching the driving direction of the vehicle based on a geomagnetic sensor, the positioning unit is specifically configured to determine first driving direction information of the vehicle at a second time; determining second driving direction information of the vehicle according to the attitude information of the vehicle corrected by the ith correction mode; determining the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode according to the first driving direction information and the second driving direction information of the vehicle; according to the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode, correcting the vehicle motion state information corrected by the (i) th correction mode to obtain the vehicle motion state information corrected by the (i + 1) th correction mode;

if the (i + 1) th correction mode is a correction mode based on satellite observation data, the positioning unit is specifically configured to obtain satellite observation data observed by an observation base station and satellite observation data observed by vehicle-mounted positioning equipment of the vehicle; determining the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode according to the satellite observation data observed by the observation base station and the satellite observation data observed by the vehicle-mounted positioning equipment; according to the correction amount of the vehicle motion state corresponding to the (i + 1) th correction mode, correcting the vehicle motion state information corrected by the (i) th correction mode to obtain the vehicle motion state information corrected by the (i + 1) th correction mode;

if the (i + 1) th correction mode is a correction mode based on an inertial sensor, the positioning unit is specifically configured to obtain an angular velocity measurement value and an acceleration measurement value of the inertial sensor on the vehicle at the second time; correcting the vehicle attitude information corrected by the ith correction mode according to the angular velocity measured value to obtain vehicle attitude information corrected by the (i + 1) th correction mode; correcting the vehicle speed corrected by the ith correction mode according to the measured acceleration value to obtain vehicle speed information corrected by the (i + 1) th correction mode; and correcting the vehicle position information corrected by the ith correction mode according to the vehicle speed information corrected by the (i + 1) th correction mode and the vehicle speed corrected by the ith correction mode to obtain the vehicle position information corrected by the (i + 1) th correction mode.

7. An electronic device, comprising: a memory, a processor;

the memory for storing a computer program;

the processor for executing the computer program to implement the method of any of the preceding claims 1 to 5.

8. A computer-readable storage medium having computer-executable instructions stored thereon, which when executed by a processor, are configured to implement the method of any one of claims 1 to 5.