CN101556160B - Onboard navigation system and method capable of realizing vehicle speed signal self-learning - Google Patents
Onboard navigation system and method capable of realizing vehicle speed signal self-learning Download PDFInfo
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- CN101556160B CN101556160B CN2008100359803A CN200810035980A CN101556160B CN 101556160 B CN101556160 B CN 101556160B CN 2008100359803 A CN2008100359803 A CN 2008100359803A CN 200810035980 A CN200810035980 A CN 200810035980A CN 101556160 B CN101556160 B CN 101556160B
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Abstract
The invention provides an onboard navigation system and method capable of realizing vehicle speed signal self-learning. The system comprises a vehicle speed signal self-learning device which comprisesa vehicle speed signal frequency pulse number storage memory, an average vehicle moving speed calculating module, a module for establishing a corresponding relation between average vehicle speed and vehicle speed signal frequency pulse number, a module for optimizing the corresponding relation between the average vehicle speed and the vehicle speed signal frequency pulse number, a unit-pulse vehicle moving distance outputting module and a database overflow handling module. The onboard navigation system and method not only can satisfy the requirement on accuracy, but also can satisfy the requirements on multi-vehicle-model, cross-platform and low cost.
Description
Technical field
The present invention relates to onboard navigation system, more specifically, but relate to the onboard navigation system of vehicle speed signal self study.
Background technology
Perfect day by day along with satellite navigation technology and inertial navigation technology, onboard navigation system popularizes and becomes the standard configuration of family-sized car gradually.Onboard navigation system utilizes positioning signal that the position location satellite of geostationary orbit sends as the basis usually, gps satellite positioning system for example, the real time kinematics signal that cooperates the electronic gyroscope (both acceleration transducers) of loading in the onboard navigation system, calculating (being generally probability of motion location Calculation method) through navigator fix software draws the vehicle latitude and longitude coordinates information that is equipped with navigational system.After this, deformation process through the location encrypting module, current vehicle location is shown in through in the electronic map data of same deformation process, and based on this, by using guidance path algorithm (being generally dijkstra's algorithm or derivative algorithm) to obtain path of navigation, and finally finish navigation task such as information such as destination setting, road attribute setting, path planning principle inputs.
As from the foregoing, determine that in real time current vehicle location is basis and a prerequisite of finishing navigation task.Yet, because the basic satellite positioning signal that is used to locate can be subjected to the weather of vehicle present position, peripheral landforms, the influence of aspects such as signal receiving device precision and refreshing frequency, thereby can cause system to rely on satellite positioning signal accurately to locate in real time.Therefore, the bearing accuracy of vehicle-mounted gyroscope positioning system will directly influence the accuracy of vehicle vehicle location and navigation when satellite-signal is not good.Because the precision of acceleration transducer determines that normally therefore, the precision of vehicle speed signal becomes the key factor of the bearing accuracy of determining vehicle-mounted gyroscope positioning system.
In existing onboard navigation system, in order to obtain accurate vehicle speed signal, automatic navigator all is to develop synchronously with relevant product vehicle, both at first from car load power assembly exploitation standard, obtained the standard definition of vehicle speed signal, again according to standard definition design speed signal receiving circuit, utilize GPS velocity determination utility appliance that the vehicle speed signal of Related product car is carried out the real vehicle test calibration then, obtain the relevant file of demarcating and later the navigational system gyroscope is carried out the setting of running parameter, finally by complete vehicle test checking gyroscope duty, the line parameter of going forward side by side fine setting.After all these related works were finished, the demarcation file was distributed to and is used for volume production in the formal product.
The content of speed of a motor vehicle parameter calibration file mainly comprises: vehicle in demarcating driving process under each standard speed of a motor vehicle the actual pulse count value of vehicle speed signal; The correlation data table of the stressed and actual deflection angle of acceleration transducer under each standard speed of a motor vehicle; Acceleration transducer mounting process error correction contrast table.
Though the gyrostatic output accuracy of these existing onboard navigation systems is higher, and operating accuracy is identical all the time and can not fluctuate, and this class scheme has a lot of limitation.At first, this class onboard navigation system must be developed synchronously with car load, and must at first obtain the design standards and the tolerance definition of car load vehicle speed signal, thereby make the exploitation of part be subjected to the influence of car load development progress, anyly all can have a strong impact on the development process of navigational system, cause cost of development to increase about the change of vehicle speed signal aspect.Secondly, this class onboard navigation system is demarcated file because there is unique vehicle speed signal inside, therefore can only be used to possess the vehicle of this kind vehicle speed signal type, and when using identical product on different product vehicle, must pass through new a vehicle speed signal of taking turns and gyroscope parameter calibration, thereby make cost of development and cycle increase greatly.In addition, because being used for the product vehicle of gyroscope demarcation is the less individuality of sample size, therefore for the product vehicle of producing in enormous quantities, still have the error of vehicle speed signal and gyroscope parameter calibration, only the overproof situation in the bootup process still might appear in dependence demarcation file.In addition, this class onboard navigation system has area requirement to the pulsed frequency of vehicle speed signal, even need add Acquisition Circuit outside the increasing of navigating instrument, and can not support the vehicle speed signal of PWM type.
Therefore, provide a kind of and when satisfying accuracy requirement, can satisfy multi-vehicle-type again simultaneously, cross-platform, the low-cost onboard navigation system that requires accords with the demands of the market.
Summary of the invention
Defective at prior art, the invention provides a kind of when satisfying accuracy requirement, can satisfy simultaneously again multi-vehicle-type, cross-platform, low-cost onboard navigation system and the method that requires, thereby can continue to optimize the speed of a motor vehicle parameter calibration file that generates by the self study mode, run over effect accurately so that reach the navigation accuracy overtaking.
But the onboard navigation system of vehicle speed signal self study of the present invention comprises:
The gps signal receiving trap is used to receive the positioning signal that synchronous satellite sends, and sends the gps coordinate locating information;
Acceleration sensor apparatus is used for obtaining in real time the size and Orientation of vehicle acceleration, and sends vehicle real time kinematics signal;
Navigation positional device is used for according to speed information and vehicle real time kinematics signal accurately calculate vehicle latitude and longitude coordinates information in real time;
Vehicle speed signal self study device is used for finishing and optimize the content of speed of a motor vehicle parameter calibration file according to gps coordinate locating information and vehicle speed signal by the self study mode, and sends the used real-time speed information of navigation positional device.
Preferably, described onboard navigation system also comprises the digital map navigation device, is used for calculating according to electronic map data the path of navigation of vehicle.
Preferably, this vehicle speed signal self study device comprises:
Vehicle speed signal frequency pulse quantity memory module is used for obtaining the vehicle speed signal frequency pulse quantity that collects in the unit interval at different speed of a motor vehicle points, and is stored in the middle of the register;
The average translational speed computing module of vehicle is used for calculating the corresponding average translational speed of vehicle in the unit interval in the coordinate setting information that different speed of a motor vehicle points transmit according to described gps signal receiving trap;
Speed of a motor vehicle mean value and vehicle speed signal number of pulses corresponding relation building module are used for setting up corresponding relation between described vehicle speed signal frequency pulse quantity and the average translational speed of described vehicle at different speed of a motor vehicle points, and described corresponding relation are recorded in the database;
Speed of a motor vehicle mean value and vehicle speed signal number of pulses corresponding relation optimal module are used at each identical speed of a motor vehicle point, many group pulses numerical value of record are calculated the number of pulses average of this speed of a motor vehicle point by optimized Algorithm;
Unit pulse vehicle displacement output module is used for calculating unit pulse vehicle displacement average according to the described number of pulses average of all speed of a motor vehicle points of entire database, and exports to described navigation positional device.
Wherein, described optimized Algorithm is preferably normal distribution statistic algorithm and/or difference of two squares optimized Algorithm.
In addition, preferably, described speed of a motor vehicle mean value and vehicle speed signal number of pulses corresponding relation building module comprise that also database overflows processing module, when being used for database volume and overflowing, and deletion one group of data of error maximum of comparing with the average numerical value that draws by described optimized Algorithm automatically.
But the onboard navigation system of vehicle speed signal self study of the present invention also comprises the vehicle speed signal harvester.Preferably, described vehicle speed signal harvester comprises the RC filtering circuit, and has at least one and draw high level.Preferably, described at least one to draw high level be 14V and/or 5V, and the response frequency of described vehicle speed signal harvester is 1kHz, and load is less than 5mA.
The acceleration transducer of onboard navigation system of the present invention is preferably electronic gyroscope.
But the vehicle mounted guidance method of vehicle speed signal self study of the present invention comprises the steps:
A. receive the positioning signal that synchronous satellite sends;
B. according to described positioning signal, finish and optimize the content of speed of a motor vehicle parameter calibration file by the self study mode;
C. obtain the size and Orientation of vehicle acceleration in real time;
D. the size and Orientation according to described speed of a motor vehicle parameter calibration file and the described vehicle acceleration that is obtained accurately calculates vehicle latitude and longitude coordinates information;
E. the path of navigation that calculates vehicle according to the vehicle latitude and longitude coordinates information that calculates and electronic map data;
Wherein, preferably, described step b further comprises:
B1. obtain vehicle speed signal frequency pulse quantity in the unit interval that collects at different speed of a motor vehicle points, and be stored in the middle of the register;
B2. the coordinate setting information that transmits according to described gps signal receiving trap at different speed of a motor vehicle points calculates the corresponding average translational speed of vehicle in the unit interval;
B3. set up corresponding relation between described vehicle speed signal frequency pulse quantity and the average translational speed of described vehicle at different speed of a motor vehicle points, and described corresponding relation is recorded in the database;
B4. on each identical speed of a motor vehicle point, many group pulses numerical value of record is calculated the number of pulses average of this speed of a motor vehicle point by optimized Algorithm;
B5. the described number of pulses average according to all speed of a motor vehicle points in the entire database calculates unit pulse vehicle displacement average, thereby finishes and optimize the content of speed of a motor vehicle parameter calibration file.
Preferably, described optimized Algorithm is normal distribution statistic algorithm and/or difference of two squares optimized Algorithm.
Preferably, described step b3 further comprises: when database volume overflows, and automatic deletion one group of data of error maximum of comparing with the average numerical value that draws by described optimized Algorithm.
Preferably, vehicle mounted guidance method of the present invention also comprises the vehicle speed signal acquisition step.
The purpose of vehicle speed signal self study is after allowing gyroscope and navigational system be installed on the real vehicle, finishes the content that gyroscope is demarcated file by the mode of self study.Therefore, a new car only needs distance travelled seldom just can finish gyrostatic automatic staking-out work after loading onto navigational system, and the beginning cruising.Simultaneously, vehicle is in the process that continues to travel, and system can proceed the process of data acquisition and demarcation, and is progressively abundant and improve information in the database, thereby makes that navigation accuracy is more and more higher along with the increase of distance travelled.Therefore, but the system advantage of the onboard navigation system of vehicle speed signal self study of the present invention and method and cost advantage are very significant.
Description of drawings
But Fig. 1 is the schematic block diagram according to the onboard navigation system of vehicle speed signal self study of the present invention;
Fig. 2 is the structural representation according to the vehicle speed signal self study device of onboard navigation system of the present invention;
Fig. 3 is the circuit diagram according to the vehicle speed signal harvester of onboard navigation system of the present invention;
But Fig. 4 is the process flow diagram according to the vehicle mounted guidance method of vehicle speed signal self study of the present invention.
Embodiment
But Fig. 1 is the schematic block diagram according to the onboard navigation system of vehicle speed signal self study of the present invention.As shown in the figure, described onboard navigation system comprises gps signal receiving trap 1, acceleration sensor apparatus 2, navigation positional device 3, digital map navigation device 4, vehicle speed signal self study device 5 and vehicle speed signal harvester 6.
Wherein, gps signal receiving trap 1 is used to receive the positioning signal that synchronous satellite sends.Acceleration sensing device 2 is used for obtaining in real time the size and Orientation of vehicle acceleration.Navigation positional device 3 is used for accurate Calculation vehicle latitude and longitude coordinates information, and preferably uses probability of motion location Calculation method.Digital map navigation device 4 is used for calculating according to electronic map data the path of navigation of vehicle, promptly after having calculated vehicle latitude and longitude coordinates information, the location encrypting module carries out deformation process to it, and current vehicle location is shown in through in the middle of the electronic map data of same deformation process, and based on this by importing such as information such as destination setting, road attribute setting, path planning principles, use the guidance path algorithm to obtain path of navigation at last, and finally finish navigation task.
As shown in Figure 2, vehicle speed signal self study device 5 is used for finishing and optimizing by the self study mode content of speed of a motor vehicle parameter calibration file.The purpose of vehicle speed signal self study is after navigational system is installed on the real vehicle, by the mode of self study, finishes the content that gyroscope is demarcated file.Preferably, described vehicle speed signal self study device 5 comprises vehicle speed signal frequency pulse quantity memory module 7, is used for obtaining vehicle speed signal frequency pulse quantity in the unit interval that collects at different speed of a motor vehicle points, and is stored in the middle of the register; The average translational speed computing module 11 of vehicle is used for going out the corresponding average translational speed of vehicle in the unit interval in the coordinate setting information calculations that different speed of a motor vehicle points transmit according to described gps signal receiving trap; Speed of a motor vehicle mean value and vehicle speed signal number of pulses corresponding relation building module 8 are used for setting up corresponding relation between described vehicle speed signal frequency pulse quantity and the average translational speed of described vehicle at different speed of a motor vehicle points, and described corresponding relation are recorded in the database; Speed of a motor vehicle mean value and vehicle speed signal number of pulses corresponding relation optimal module 9 are used at each identical speed of a motor vehicle point, many group pulses numerical value of record are calculated the number of pulses average of this speed of a motor vehicle point by optimized Algorithm; Unit pulse vehicle displacement output module 10 is used for going out unit pulse vehicle displacement average according to the described number of pulses mean value computation of all speed of a motor vehicle points of entire database, and exports to described navigation positional device; And, preferably, comprise that also database overflows processing module 12, when being used for database volume and overflowing, deletion one group of data of error maximum of comparing with the average numerical value that draws by described optimized Algorithm automatically.Wherein, described optimized Algorithm is preferably normal distribution statistic algorithm and/or difference of two squares optimized Algorithm.And in a preferred embodiment of the invention, acceleration transducer is an electronic gyroscope.
Electronic gyroscope is actually the acceleration transducer of the stressing conditions that can respond to place, gyroscope position.In a preferred embodiment of the invention, employed electronic gyroscope is a two dimension acceleration sensor.This electronic gyroscope can be experienced the stressed variation on fore-and-aft direction and the left and right directions simultaneously, change in resistance according to the voltage dependent resistor in the electronic gyroscope element calculates actual acceleration change then, the vehicle real-time speed calculated signals of importing according to the outside goes out the side-play amount between components and parts position and the previous moment position again, navigational system is finished the precise coordinates location according to the size and Orientation of this side-play amount in map datum.
According to a preferred embodiment of the invention, in the process of onboard navigation system operate as normal, the employed original positioning signal of vehicle location comes from the synchronous satellite positioning signal.Yet, because the refreshing frequency of gps signal is lower, be generally 1Hz, and because gps signal is vulnerable to disturb, therefore after finished the initialization location, in driving process subsequently, the positioning signal that onboard navigation system mainly relies on electronic gyroscope to provide was carried out work, in this process, can utilize the GPS positioning signal electronic gyroscope signal once to be corrected every 1 second.The signal refreshing frequency of electronic gyroscope can reach 15Hz usually.In the process that the GPS positioning signal is used as correction signal, navigational system also can be carried out the analysis of a series of data confidence level.For example, if the vehicle location position of previous moment and next GPS positioning signal coordinate distance gap constantly are excessive, or be not inconsistent with the speed of a motor vehicle that the current vehicle speed signal provides, then system will can not accept and believe the locating information of GPS positioning signal, and continue to use the electronic gyroscope signal.In addition, under the situation that does not have gps signal fully, electronic gyroscope still can work alone, for system provides positioning service.
With reference to figure 2, in a preferred embodiment of the invention, the principle of work of vehicle speed signal self study device 5 is as follows: at first, vehicle speed signal harvester 6 finishes the frequency pulse collection of vehicle speed signal, subsequently, vehicle speed signal frequency pulse quantity memory module 7 obtains interior number of pulses of unit interval by host CPU counter (not shown), is stored in the middle of the register; Subsequently, the average translational speed computing module 11 of vehicle is by host CPU and according to the coordinate setting information that is transmitted by gps signal receiving trap 1, calculate the distance that vehicle passes through in the unit interval, obtain the mean value of vehicle translational speed in this unit interval thus; After this, speed of a motor vehicle mean value and vehicle speed signal number of pulses corresponding relation building module 8 are set up a pointer, and this velocity amplitude are pointed to corresponding number of pulses register address, thereby finish the foundation of pointer database information by the host CPU operation note.Because the effective unit time that navigational system is used is 1 second, speed compared to vehicle ', can think in any one time cycle of 1 second, vehicle all is a uniform motion, and therefore speed of a motor vehicle mean value and the corresponding relation between the vehicle speed signal pulse value that draws thus can reflect the vehicle speed signal state of vehicle under specific speed more exactly.According to this mode, through a large amount of unit interval speed of a motor vehicle and the collection of pulse signal, system can be more accurate calculate the distance that navigational system receives that whenever a vehicle speed pulse signal vehicle is moved, the direction that interior vehicle of the unit interval that cooperates the electronic gyroscope element to provide again moves, navigational system just can obtain the displacement of vehicle in the unit interval, thereby calculates the coordinate position of vehicle current time.For the numerical value of unit pulse vehicle displacement more accurately is provided, speed of a motor vehicle mean value can write down many group pulses numerical value with vehicle speed signal number of pulses corresponding relation optimal module 9 on each identical speed of a motor vehicle point, preferably by normal distribution statistic algorithm and difference of two squares algorithm, calculate the average of number of pulses under this vehicle speed condition then.Along with the increase of sample size, this average will be infinitely near actual value.And navigational system is accepted and believed, be by a plurality of speed of a motor vehicle points, the mean value that corresponding a plurality of measurement data obtain, on this basis, unit pulse vehicle displacement output module 10 calculates unit pulse vehicle moving distance information at last.Therefore its degree of accuracy will be along with the increase of vehicle ' distance, with the increase of different speed of a motor vehicle points record totally and more and more higher.The course of work of this database is as follows: the different vehicle speed pulse values that record occurred within the vehicle speed range of regulation, ought under same vehicle speed condition, record number of pulses once more once more then and carry out Data Update later on, after this use the mean value of normal distribution statistic algorithm and/or difference of two squares algorithm computation number of pulses, calculate the numerical value of unit pulse vehicle displacement at last according to the statistical information of entire database, offer navigation positional device 3, navigation positional device 3 calculates the real-time coordinate of vehicle according to the umber of pulse and the travel direction that obtain in real time then, and highest frequency can reach 15Hz.Simultaneously, in case the GPS positioning signal is good, database is accumulation data constantly, after database volume overflows, database overflows treating apparatus 12 compare with the average numerical value that draws by the normal distribution algorithm one group of data of error maximum of deletion automatically, use new data to accumulate then, thereby reach the increase along with distance travelled, the effect that bearing accuracy is more and more higher.
Figure 3 shows that circuit diagram according to the vehicle speed signal harvester of onboard navigation system of the present invention.As shown in Figure 3, in a preferred embodiment of the invention, resistance R 1 and/or R3 are suitable for respectively drawing demand on the different level, and the vehicle speed signal load that provides with navigational system size is relevant.Preferably, the described level of drawing high is 14V and/or 5V.The vehicle speed signal load current is controlled in mainly acting as of resistance R 2, burns so that prevent the excessive vehicle speed signal acquisition elements that causes of load current.R4 and C1 form typical R C filtering circuit, thereby guarantee that the vehicle speed signal frequency that collects is accurate.The circuit working principle of vehicle speed signal harvester 6 is as follows: when electric potential difference occurring between Speed point and the Speed-Gnd point, this circuit is amplified to the required amplitude of navigational system by the level of drawing high that power supply provides with the electric potential difference signal in the vehicle speed signal pulse, uses thereby offer navigational system.Preferably, the response frequency of vehicle speed signal harvester circuit is 1kHz, and load is less than 5mA.
But Fig. 4 is the process flow diagram according to the vehicle mounted guidance method of vehicle speed signal self study of the present invention.According to a further advantageous embodiment of the invention, but a kind of vehicle mounted guidance method of vehicle speed signal self study is provided.As shown in Figure 4, this method comprises the steps:
A. receive the positioning signal that synchronous satellite sends;
B. finish and optimize the content of speed of a motor vehicle parameter calibration file by the self study mode
C. obtain the size and Orientation of vehicle acceleration in real time;
D. accurately calculate vehicle latitude and longitude coordinates information;
E. calculate the path of navigation of vehicle according to electronic map data;
Wherein, preferably, described step b further comprises:
B1. obtain vehicle speed signal frequency pulse quantity in the unit interval that collects at different speed of a motor vehicle points, and be stored in the middle of the register;
B2. the coordinate setting information that transmits according to described gps signal receiving trap at different speed of a motor vehicle points calculates the corresponding average translational speed of vehicle in the unit interval;
B3. set up corresponding relation between described vehicle speed signal frequency pulse quantity and the average translational speed of described vehicle at different speed of a motor vehicle points, and described corresponding relation is recorded in the database;
B4. on each identical speed of a motor vehicle point, many group pulses numerical value of record is calculated the number of pulses average of this speed of a motor vehicle point by optimized Algorithm;
B5. the described number of pulses average according to all speed of a motor vehicle points in the entire database calculates unit pulse vehicle displacement average, and exports to described navigation positional device.
Preferably, described optimized Algorithm is normal distribution statistic algorithm and/or difference of two squares optimized Algorithm.
Preferably, described step b3 further comprises: when database volume overflows, and automatic deletion one group of data of error maximum of comparing with the average numerical value that draws by described optimized Algorithm.
Preferably, vehicle mounted guidance method of the present invention also comprises the vehicle speed signal acquisition step.
In the present invention, the concrete course of work of database can have multiple different implementation.For example: the record of the number of pulses that database obtains can be calculated as the information of unit pulse displacement earlier, and then carry out normal distribution and/or the difference of two squares and calculate, also can directly carry out mean value computation, these optional modes all can be understood by those skilled in the art and be realized, therefore do not repeat them here.
Although the present invention is described by above-mentioned preferred implementation, its way of realization is not limited to above-mentioned embodiment.Should be realized that: under the situation that does not break away from purport of the present invention and scope, those skilled in the art can make different variations and modification to the present invention.
Claims (13)
- But 1. the onboard navigation system of a vehicle speed signal self study, described system comprises:The gps signal receiving trap is used to receive the positioning signal that synchronous satellite sends, and sends the gps coordinate locating information;Acceleration sensor apparatus is used for obtaining in real time the size and Orientation of vehicle acceleration, and sends vehicle real time kinematics signal;Navigation positional device is used for according to speed information and described vehicle real time kinematics signal accurately calculate vehicle latitude and longitude coordinates information in real time;It is characterized in that described system also comprises vehicle speed signal self study device, be used for according to described gps coordinate locating information and vehicle speed signal, finish and optimize the content of speed of a motor vehicle parameter calibration file by the self study mode, and send the used described real-time speed information of navigation positional device, whereinDescribed vehicle speed signal self study device comprises:Vehicle speed signal frequency pulse quantity memory module is used for obtaining vehicle speed signal frequency pulse quantity in the unit interval that collects at different speed of a motor vehicle points, and is stored in the middle of the register;The average translational speed computing module of vehicle is used for calculating the corresponding average translational speed of vehicle in the unit interval in the coordinate setting information that different speed of a motor vehicle points transmit according to described gps signal receiving trap;Speed of a motor vehicle mean value and vehicle speed signal number of pulses corresponding relation building module are used for setting up corresponding relation between described vehicle speed signal frequency pulse quantity and the average translational speed of described vehicle at different speed of a motor vehicle points, and described corresponding relation are recorded in the database;Speed of a motor vehicle mean value and vehicle speed signal number of pulses corresponding relation optimal module are used at each identical speed of a motor vehicle point, many group pulses numerical value of record are calculated the number of pulses average of this speed of a motor vehicle point by optimized Algorithm;Unit pulse vehicle displacement output module is used for calculating unit pulse vehicle displacement average according to the described number of pulses average of all speed of a motor vehicle points of entire database, and exports to described navigation positional device.
- 2. onboard navigation system according to claim 1 is characterized in that described onboard navigation system also comprises the digital map navigation device, is used for calculating according to electronic map data the path of navigation of vehicle.
- 3. onboard navigation system according to claim 1 is characterized in that, described optimized Algorithm is normal distribution statistic algorithm and/or difference of two squares optimized Algorithm.
- 4. onboard navigation system according to claim 1, it is characterized in that, described speed of a motor vehicle mean value and vehicle speed signal number of pulses corresponding relation building module comprise that also database overflows processing module, when being used for database volume and overflowing, deletion one group of data of error maximum of comparing with the average numerical value that draws by described optimized Algorithm automatically.
- 5. according to the described onboard navigation system of any claim in the claim 1 to 4, it is characterized in that described system also comprises the vehicle speed signal harvester.
- 6. onboard navigation system according to claim 5 is characterized in that, described vehicle speed signal harvester comprises the RC filtering circuit, and has at least one and draw high level.
- 7. onboard navigation system according to claim 6 is characterized in that, described at least one to draw high level be 14V and/or 5V.
- 8. according to onboard navigation system according to claim 5, it is characterized in that the response frequency of described vehicle speed signal harvester is 1kHz, and load is less than 5mA.
- 9. onboard navigation system according to claim 1 is characterized in that, described acceleration sensor apparatus is an electronic gyroscope.
- 10. but the vehicle mounted guidance method of a vehicle speed signal self study, described method comprises the steps:A. receive the positioning signal that synchronous satellite sends;B. according to described positioning signal, finish and optimize the content of speed of a motor vehicle parameter calibration file by the self study mode;C. obtain the size and Orientation of vehicle acceleration in real time;D. according to the size and Orientation of described speed of a motor vehicle parameter calibration file, accurately calculate vehicle latitude and longitude coordinates information with the described vehicle acceleration that is obtained;E. the path of navigation that calculates vehicle according to the vehicle latitude and longitude coordinates information that calculates and electronic map data,Wherein, described step b further comprises:B1. obtain vehicle speed signal frequency pulse quantity in the unit interval that collects at different speed of a motor vehicle points, and be stored in the middle of the register;B2. the coordinate setting information that transmits according to the gps signal receiving trap at different speed of a motor vehicle points calculates the corresponding average translational speed of vehicle in the unit interval;B3. set up corresponding relation between described vehicle speed signal frequency pulse quantity and the average translational speed of described vehicle at different speed of a motor vehicle points, and described corresponding relation is recorded in the database;B4. on each identical speed of a motor vehicle point, many group pulses numerical value of record is calculated the number of pulses average of this speed of a motor vehicle point by optimized Algorithm;B5. the described number of pulses mean value computation according to all speed of a motor vehicle points in the entire database goes out unit pulse vehicle displacement average, thereby finishes and optimize the content of speed of a motor vehicle parameter calibration file.
- 11. vehicle mounted guidance method according to claim 10 is characterized in that, described optimized Algorithm is normal distribution statistic algorithm and/or difference of two squares optimized Algorithm.
- 12. vehicle mounted guidance method according to claim 10 is characterized in that, described step b3 further comprises: when database volume overflows, and automatic deletion one group of data of error maximum of comparing with the average numerical value that draws by described optimized Algorithm.
- 13., it is characterized in that described method also comprises the vehicle speed signal acquisition step according to the described vehicle mounted guidance method of any claim in the claim 10 to 12.
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| KR20110134633A (en) * | 2010-06-09 | 2011-12-15 | 엠텍비젼 주식회사 | Velocity measuring device and method for correcting measured velocity |
| CN102542804B (en) * | 2012-02-06 | 2014-04-02 | 张轶伦 | Method for monitoring running state of vehicle, roadside beacon and intelligent traffic monitoring system |
| CN102980592A (en) * | 2012-11-27 | 2013-03-20 | 厦门雅迅网络股份有限公司 | Method and device for automatically computing vehicle pulse factor via GPS (global positioning system) longitude and latitude |
| CN102980589A (en) * | 2012-11-27 | 2013-03-20 | 厦门雅迅网络股份有限公司 | Method and device for automatically computing vehicle pulse factor via GPS (global positioning system) speed |
| CN105630159A (en) | 2015-12-18 | 2016-06-01 | 歌尔声学股份有限公司 | Wearable device and control method therefor |
| WO2017143562A1 (en) * | 2016-02-25 | 2017-08-31 | 吴伟民 | Method and system for vehicle navigation path detection |
| CN106230836B (en) * | 2016-08-04 | 2020-12-04 | 惠州市德赛西威汽车电子股份有限公司 | O2 encryption embedded solution method for positioning module |
| CN109887336A (en) * | 2019-02-21 | 2019-06-14 | 武昌理工学院 | A kind of vehicle driving safety method for real-time monitoring and system |
| CN113447961B (en) * | 2021-06-28 | 2023-10-27 | 深圳市木千科技有限公司 | Dynamic GPS coordinate deviation correcting method |
| CN115629401B (en) * | 2022-12-22 | 2023-03-14 | 成都安则科技有限公司 | Unmanned aerial vehicle navigation decoy signal generation method, system, terminal and medium |
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