CN101183008A - Inertia compensation method used for earth-based vehicle GPS navigation - Google Patents

Inertia compensation method used for earth-based vehicle GPS navigation Download PDF

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Publication number
CN101183008A
CN101183008A CNA2007101571236A CN200710157123A CN101183008A CN 101183008 A CN101183008 A CN 101183008A CN A2007101571236 A CNA2007101571236 A CN A2007101571236A CN 200710157123 A CN200710157123 A CN 200710157123A CN 101183008 A CN101183008 A CN 101183008A
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vehicle
gps
theta
speed
navigation
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CNA2007101571236A
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CN100533066C (en
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何志伟
高明煜
黄继业
曾毓
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Hangzhou Dianzi University
Hangzhou Electronic Science and Technology University
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Hangzhou Electronic Science and Technology University
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Abstract

The invention relates to an inertial compensation method for vehicle-mounted GPS navigation. The prior GPS navigation software depends on the positioning information emitted by the GPS system and the navigation software cannot work normally when GPS signal is out of reach or weak. The hardware of the invention comprises a GPS receiver, a gyroscope and an accelerometer. The specific method comprises the follows that when the GPS receiver cannot receive the GPS signal normally, the last received information about the speed and the position of the vehicle is taken as the initial speed and the initial position; the gyroscope is adopted to measure the running direction of the vehicle; the accelerometer is adopted to measure the acceleration of the vehicle and determines the updating speed of the vehicle; the updating position of the vehicle is determined; the updated speed and the updated position are input as the navigation information. The method of the invention is adopted to conduct auxiliary positioning of the vehicle and the positioning result is taken as the necessary input positioning information of the navigation software so that the navigation software can work normally when the GPS signal is out of reach.

Description

A kind of inertia compensation method that is used for the surface car GPS navigation
Technical field
The present invention relates to a kind of GPS (GPS) technical field, in particular for more weak when gps signal or adopt when not having gps signal the method for inertia compensation to carry out a kind of method of vehicle location and velocity estimation, this method can guarantee the normal steady operation of navigation software under the situation that gps signal lacks in short-term.
Background technology
Vehicle mounted guidance is the technology that has very much application prospect at present, and its widespread use has benefited from american global positioning system (Global Position System, GPS) The Application of Technology and development.Gps system calculates the locating information of target by the radio satellite signals that is distributed in 24 satellite transmissions in the space, has the whole world, round-the-clock, advantage such as precision is high, real-time is good.But because satellite-signal rectilinear propagation, gps signal easily by high building, tree or tunnel stop greatly, cause in these positions and can't receive corresponding gps signal, form the no-man's-land of gps signal.Existing navigation software generally needs the uninterrupted input of gps signal could operate as normal, and is too weak or when not existing when gps signal, causes navigation software can't judge the accurate position that vehicle is current, thereby can't normally move.
Continuous development along with present MEMS (Micro Electro-Mechanical System) sensor technology, direction in the time of can obtaining mobile vehicle (automobile) operation in real time based on sensors such as the gyroscope of MEMS technology and accelerometers, acceleration etc., thus can estimate accurately the moment of inertia such as attitude, the position etc. of mobile vehicle.Therefore, these inertial parameters can be by assistance application in vehicle mounted guidance.
Summary of the invention
Purpose of the present invention overcomes the deficiencies in the prior art exactly, proposes a kind of inertia compensation method that is used for GPS navigation, has solved the shortcoming that existing navigation software needs the uninterrupted input of gps signal.
The inertia compensation method of GPS navigation of the present invention depends on following hardware unit:
-be used for from the gps receiver of gps system reception positioning signal;
-be used for measuring the gyroscope of vehicle operating process travel direction;
-be used for measuring the accelerometer of vehicle operating process acceleration.
The concrete grammar step is:
(1) when gps receiver normally receives gps signal, directly obtains of the input of the information of the speed of vehicle operating and position as navigation information; When gps receiver can't normally receive gps signal, with the information of the speed of the vehicle operating that normally receives at last and position as initial velocity v 0With initial position P 0
(2) by the travel direction of gyroscope survey vehicle,, determine the renewal speed of vehicle by the acceleration of accelerometer measures vehicle ':
v t = v t - 1 cos ( θ t - θ t - 1 ) + a t - 1 2 · Δ t 2 - v t - 1 2 sin 2 ( θ t - θ t - 1 )
V wherein T-1Be t-1 speed constantly, v tIt is t renewal speed constantly; a T-1Be t-1 vehicle resultant acceleration constantly, θ T-1And θ tBe respectively the travel direction of vehicle at the t-1 moment and t moment vehicle, Δ t is the time interval of gyroscope and accelerometer measures;
T-1 vehicle resultant acceleration a constantly T-1Definite method be to obtain the acceleration of vehicle in two horizontal quadrature directions by accelerometer, determine according to following formula:
a t - 1 = a t - 1 x 2 + a t - 1 y 2
A wherein T-1xAnd a T-1, be respectively the acceleration of t-1 moment vehicle in these two horizontal quadrature directions.
(3) determine the renewal position of vehicle:
| OP t | = | OP t - 1 | cos ( θ t - θ t - 1 ) + v t - 1 2 · Δ t 2 - | OP t - 1 | 2 sin 2 ( θ t - θ t - 1 )
P t＝(x t，y t)＝(|OP t|cosθ t，|OP t|sinθ t)
P wherein T-1Be t-1 position constantly, P tBe t renewal position constantly, | OP t| be to upgrade position P tTo initial position P 0Distance.
(4) with renewal speed v tWith renewal position P tInput as navigation information.
(5) repeating step (2), (3) and (4) can normally receive gps signal up to gps receiver, then directly obtain the input of the information of the speed of vehicle operating and position as navigation information by gps receiver.
According to a first aspect of the invention, a kind of operation carrier that is used for the inertia compensation method of GPS navigation is disclosed.Above-mentioned inertia compensation device comprises a gps receiver that receives the GPS locating information when being used for normally navigating, a gyroscope that is used for the measuring vehicle traffic direction, an accelerometer that is used for measure vehicle acceleration.Utilize vehicle ' angle and the acceleration measured, and, measure the follow-up location of vehicle, use for navigation software by initial position and velocity information that gps system provides.
According to a second aspect of the invention, a kind of method of obtaining car speed when not having gps signal is disclosed.Said method may further comprise the steps: the velocity information when from gps system, obtaining its recently last operate as normal, as the initial velocity of method; Utilize the traffic direction of gyroscope survey vehicle; Utilize the acceleration of accelerometer measures vehicle at east orientation and north orientation; Utilize these information to obtain each most current speed and direction thereof of vehicle constantly, as the necessary input of navigation software by alternative manner.
According to a third aspect of the invention we, a kind of method of obtaining vehicle location when not having gps signal is disclosed.Said method may further comprise the steps: the positional information when from gps system, obtaining its recently last operate as normal, as the initial position of method; Utilize the traffic direction of gyroscope survey vehicle; Utilize the acceleration of accelerometer measures vehicle at east orientation and north orientation; Utilize these information to obtain each latest position of vehicle constantly, as necessary another input of navigation software by alternative manner.
According to a forth aspect of the invention, the mode that a kind of GPS navigation combines with inertial navigation is disclosed.The inertia compensation method is more weak or activate operation when not having gps signal automatically at gps signal, obtains the speed of vehicle and the position input information as navigation software; Recover just often and work as gps signal, the inertia compensation method is not reruned, and changeing provides necessary car speed of navigation software and positional information by gps system.
Utilize the inventive method can be at gps signal more weak or automatically perform when not having gps signal, the moment of inertia that utilizes current existing information and obtain carries out auxiliary positioning to vehicle and is input in the navigation software, thereby makes navigation software normal steady operation still when not having gps signal; On the other hand, when gps signal recovers just often, the required locating information of navigation software is still provided by gps system, thereby guarantees the accuracy of location.
Description of drawings
Fig. 1 among the present invention based on the GPS navigation system architecture synoptic diagram of inertia compensation;
Fig. 2 is the view of the embodiment in the vehicle operating process;
Fig. 3 is the conversion synoptic diagram of the present invention in GPS navigation software;
Fig. 4 is a process flow diagram of the present invention.
Embodiment
Describe the preferred embodiments of the present invention below in detail, their example provides in the accompanying drawings.
Fig. 1 represents the exemplary inertia compensation device based on GPS navigation of the present invention, and this inertia compensation device comprises: CPU processor unit 1, be used to receive latitude and longitude information gps receiver 2, be used for measuring vehicle course and acceleration MEMS inertial sensor 3, be used for multiplexed serial analog to digital converter 4 and navigation software module 5 with the analog signal digital of sensor.
Gps receiver 2 comprises the GPS receiver module 22 that is used for the GPS RF Amplifier Module 21 that gps signal is amplified and is used to receive gps signal.The output terminal of GPS RF Amplifier Module 21 links to each other with the input end of GPS receiver module 22, and the input of radio frequency amplifier 21 derives from gps antenna.The two-way electrical connection of navigator fix signal input part of the output terminal of gps receiver and CPU processing unit 1.
MEMS inertial sensor module 3 comprises two kinds of MEMS inertial sensors: the gyroscope 32 and the accelerometer 31 that is used for the measuring vehicle acceleration of motion that are used for the measuring vehicle course.The output terminal of gyroscope 32 and accelerometer 31 all links to each other with the input end of multiplexed serial analog to digital converter 4.
The analog voltage signal that multiplexed serial analog to digital converter 4 is used for the MEMS inertial sensor is converted to carries out multiplexed, and after these simulating signals are amplified in inside, carry out high precision analogue conversion (ADC) again, be input to the CPU processing unit 1 from serial line interface at last and handle accordingly and computing.
CPU processing unit 1 is used to carry out inertia compensation method described in the invention, can be digital signal processor or the special-purpose FPGA that has certain storage unit.Under normal circumstances 1 of CPU processing unit needs to preserve vehicle location and the velocity information of being obtained from gps receiver 2, when gps signal was crossed weak or do not had, CPU processing unit 1 need be handled from the vehicle inertia data of multiplexed serial analog to digital converter 4 and carry out corresponding inertia compensation method.CPU processing unit 1 is handled the data input as navigation software module 5 of the vehicle location that obtains and velocity information, makes normally true(-)running of navigation software module 5.
The exemplary operation state of vehicle when Fig. 2 has represented inertia compensation method operation among the present invention.Shown in the figure for the vertical view in vehicle operating path.Vehicle is positioned at position P during the last operate as normal of gps signal 0, the vehicle that obtained by GPS this moment speed at the beginning is v 0Be in position P at t-1 moment vehicle T-1, this moment, traffic direction was θ T-1, and be in position P at t moment vehicle t, traffic direction is θ tIn the drawings, the velocity reversal of vehicle and resultant acceleration direction are consistent with allowing direction.
Fig. 3 represent among the present invention the inertia compensation method whole based on the transfer process in the GPS navigation.As can be seen from the figure, the inertia compensation method is to replenish as the strong of GPS in the present invention, and it does not obtain operation when just very faint or gps signal does not exist at gps signal, and navigation software provides necessary vehicle location and velocity information; When gps signal was enough strong, the positioning signal that total system still adopts GPS to provide was navigated.
Fig. 4 has represented the concrete workflow of inertia compensation method among the present invention.At first, the inertia compensation method obtain the operation before, gps system operate as normal certain hour, promptly gps system can receive stronger locating information in the certain hour at the beginning.At this moment, located in connection information such as vehicle location that real time record and upgrade is obtained by gps system in the CPU processing unit and speed.Then, method continue to detect the intensity of gps signal, as long as can detect the gps signal of suitable intensity the time, the locating information that just adopts gps system and obtained is as the input of navigation software, total system is in normal workflow, and the required locating information of navigation software is directly given by gps system.
In case it is very faint or can't detect gps signal that system detects gps signal, for example, automobile is under the blocking of high building, big tree or automobilism among the tunnel time, carries out the inertia compensation workflow.This moment is by the travel direction θ of gyroscope survey vehicle, by the acceleration a of accelerometer measures vehicle ', and the initial velocity v that preserves during based on the last operate as normal of GPS 0, according to each running velocity constantly of following formula iterative computation:
v t = v t - 1 cos ( θ t - θ t - 1 ) + a t - 1 2 · Δ t 2 - v t - 1 2 sin 2 ( θ t - θ t - 1 )
Wherein subscript is represented moment of measuring, as v T-1What represent is the running velocity that t-1 is obtained constantly, and Δ t is the measuring intervals of TIME of sensor.
According to the top measured inertial parameter and the car speed of calculating gained, the initial position P that preserves during based on the last operate as normal of GPS 0, according to each vehicle location constantly of following formula iterative computation:
P t＝(x t，y t)＝(|OP t|cosθ t，|OP t|sinθ t)，
Wherein
| OP t | = | OP t - 1 | cos ( θ t - θ t - 1 ) + v t - 1 2 · Δ t 2 - | OP t - 1 | 2 sin 2 ( θ t - θ t - 1 )
Be position P tArrive position P at the beginning 0Distance.
When system can't detect enough strong gps signal always, it was in above-mentioned inertia compensation workflow all the time, and the required locating information of navigation software is also provided by this inertia compensation method.Certainly, in order to improve the estimated accuracy of inertia compensation method, can carry out further aftertreatment such as smothing filtering etc. to the locating information that calculates by the inertia compensation method.
After system detected enough strong gps signal again, the inertia compensation workflow finished, and reenters the gps system normal workflow.

Claims (2)

1. inertia compensation method that is used for the surface car GPS navigation depends on following hardware unit:
-be used for from the gps receiver of gps system reception positioning signal;
-be used for measuring the gyroscope of vehicle operating process travel direction;
-be used for measuring the accelerometer of vehicle operating process acceleration;
It is characterized in that these method concrete steps are:
(1) when gps receiver normally receives gps signal, directly obtains of the input of the information of the speed of vehicle operating and position as navigation information; When gps receiver can't normally receive gps signal, with the information of the speed of the vehicle operating that normally receives at last and position as initial velocity v 0With initial position P 0
(2) by the travel direction of gyroscope survey vehicle,, determine the renewal speed of vehicle by the acceleration of accelerometer measures vehicle ':
v t = v t - 1 cos ( θ t - θ t - 1 ) + a t - 1 2 · Δ t 2 - v t - 1 2 sin 2 ( θ t - θ t - 1 )
V wherein T-1Be t-1 speed constantly, v tIt is t renewal speed constantly; a T-1Be t-1 vehicle resultant acceleration constantly, θ T-1And θ tBe respectively the travel direction of vehicle at the t-1 moment and t moment vehicle, Δ t is the time interval of gyroscope and accelerometer measures;
(3) determine the renewal position of vehicle:
| OP t | = | OP t - 1 | cos ( θ t - θ t - 1 ) + v t - 1 2 · Δ t 2 - | OP t - 1 | 2 sin 2 ( θ t - θ t - 1 )
P t＝(x t，y t)＝(|OP t|cosθ t，|OP t|sinθ t)
P wherein T-1Be t-1 position constantly, P tBe t renewal position constantly, | OP t| be to upgrade position P tTo initial position P 0Distance;
(4) with renewal speed v tWith renewal position P tInput as navigation information;
(5) repeating step (2), (3) and (4) can normally receive gps signal up to gps receiver, then directly obtain the input of the information of the speed of vehicle operating and position as navigation information by gps receiver.
2. a kind of according to claim 1 inertia compensation method that is used for the surface car GPS navigation is characterized in that t-1 vehicle resultant acceleration a constantly T-1Definite method be to obtain the acceleration of vehicle in two horizontal quadrature directions by accelerometer, determine according to following formula:
a t - 1 = a t - 1 x 2 + a t - 1 y 2
A wherein T-1xAnd a T-1yBe respectively the acceleration of t-1 moment vehicle in these two horizontal quadrature directions.
CNB2007101571236A 2007-11-22 2007-11-22 Inertia compensation method used for earth-based vehicle GPS navigation Expired - Fee Related CN100533066C (en)

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