CN101571400A - Embedded onboard combined navigation system based on dynamic traffic information - Google Patents
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Abstract
The invention discloses an embedded onboard combined navigation system based on dynamic traffic information, and relates to the field of intelligent electronic equipment of automobile assistant driving. The system consists of an embedded onboard information device 1 which is connected with a GPS/DR combined navigation module 2, a map matching module 3, a dynamic traffic induction module 4, a state identifying module 5, an onboard multimedia module 6 and a wireless data communication module 8 respectively, and an onboard information communication module 7, a dynamic traffic information module 9 and a software module which are assistant. The system adopts a combined Kalman filtering method to fuse positioning system information of a GPS positioning module and a DR positioning module so as to acquire optimal combined positioning data; and then the combined positioning data are sent to a CPU to be displayed or matched with a GIS database which is an electronic map, and the processed longitude and latitude data with high precision are output for users to use. The system can intuitively display information such as current position, time, speed and the like, and simultaneously provides accurate and quick dynamic navigation service.
Description
Technical field
The invention belongs to the intelligent electronic device field of automobile assistant driving, particularly relate to embedded onboard combined navigation system based on dynamic information.
Background technology
Intelligent transportation system is mainly used to solve traffic congestion, road congestion, traffic safety and the traffic of the world today and the coordination problem of environment.The intelligent vehicle automated navigation system is the important component part of intelligent transportation system, it is the high-tech system that advanced global satellite positioning, integrated navigation technology, geographical information technology, database technology, multimedia technology, modern communication technology and embedded computer system are combined, can be in real time, provide multiple important information to the driver efficiently, have very strong practical value and vast market prospect.Navigation and positioning system for vehicles in the intelligent vehicle automated navigation system has three kinds of autonomous type, non-autonomous type and combined types.The autonomous land vehicle navigation positioning system is an inertial navigation principle of having utilized navigation, uses the displacement and the course information of sensor measurement vehicles such as gyro, mileage gauge, calculates the position of vehicle thus.DR (Dead Reckoning dead reckoning) is the typical case's representative in the self-aid navigation positioning system.Non-autonomous land vehicle navigation positioning system mainly with GPS (Global Positioning System) or differential GPS as positioning means.The combined type car navigation positioning system then is the combination of preceding two kinds of navigate modes.With regard to the land vehicle navigation, although the GPS Position Fixing Navigation System can provide high accuracy three-dimensional position and velocity information round-the-clock, continuously in real time, but when vehicle ' during in built-up urban district, because gps satellite signal is often blocked, and realizes that by gps system continuous accurate in locating is impossible in some cases.And vehicle dead reckoning navigational system (DR) is a kind of Vehicular navigation system of autonomous type, precision height in its short time, but navigation error accumulates in time.Therefore these two kinds of navigate modes all have its relative merits.If utilize the integrated navigation technology that above-mentioned two kinds of navigational system are combined, constitute the GPS/DR integrated navigation system, utilize its advantage separately, make up for each other's deficiencies and learn from each other, can obtain to be better than any independent a kind of accuracy of navigation systems and reliability, can guarantee that moving vehicle still can effectively determine the position at vehicle place when losing satellite-signal.National patent power (China Patent No. 200720082601.7) has been finished and obtained to this research work hardware components.However, realization based on the dynamic information embedded onboard combined navigation system also must utilize the embedded OS technology, induces the support of the comprehensive collaborative and software module of using electronic map technique, vehicle positioning technology, map matching technology, path planning technology, route guidance technology, human-machine interface technology and solve the influence of the DR sensor error of existence to system state estimation, to improve the problems such as whole filtering accuracy of combined system.
Summary of the invention
Purpose of the present invention is exactly to utilize above-mentioned complex art and embedded onboard combined navigation system based on dynamic information of software module framework, overcome the technological deficiency that exists in the GPS/DR integrated positioning mode, guarantee that GPS/DR combined vehicle navigational system has high orientation precision and good reliability.
The purpose technical solution that realizes the present invention is as follows:
Embedded onboard combined navigation system based on dynamic information is characterized in that: comprise that GPS/DR integrated navigation module 2, Embedded On-board Information Equipment 1, map-matching module 3, dynamic traffic guidance module 4, state recognition module 5, vehicle mounted multimedia module 6, vehicle-mounted information communication module 7, wireless data communications module 8, dynamic information module 9 and software module constitute; Said Embedded On-board Information Equipment 1 respectively with GPS/DR integrated navigation module 2, map-matching module 3, dynamic traffic guidance module 4, state recognition module 5, vehicle mounted multimedia module 6, wireless data communications module 8 connects; Software module is stored among the Embedded On-board Information Equipment 1.
Embedded onboard combined navigation system based on dynamic information is characterized in that: described GPS/DR integrated navigation module 2 adopts the Kalman filtering method in the software module to merge the positioning system information of GPS locating module and DR locating module to obtain optimum integrated positioning data.
Embedded onboard combined navigation system based on dynamic information, it is characterized in that: described Embedded On-board Information Equipment 1 adopts the Vehicular multifunctional navigation information platform of Leonardo da Vinci's (ARM+DSP) dual core processor and embedded Windows CE, to based on the data processing of gps data, DR gyro data and the vehicle speed sensor of federal Kalman filtering, based on the processing of fuzzy neural network, immune genetic algorithm map road Identification and analytical technology.
Embedded onboard combined navigation system based on dynamic information, it is characterized in that: described map-matching module 3 is utilized digital map, road net information in positioning track data and the electronic chart is compared coupling, determine road and its accurate position on road that vehicle travels, for car-mounted information apparatus is induced, the execution of route guidance module 4.1, revise the error of positioning system, improving the positioning system performance provides the basis.
Embedded onboard combined navigation system based on dynamic information is characterized in that: described dynamic traffic guidance module 4 comprises that path planning module 4.1, path induce module 4.2.
Embedded onboard combined navigation system based on dynamic information is characterized in that: described state recognition module 5 comprises traffic identification module 5.1, driver status identification module 5.2.
Embedded onboard combined navigation system based on dynamic information, it is characterized in that: described vehicle mounted multimedia module 6 provides Internet interconnected by vehicle-mounted information communication module 7 for the driver, and the driver can carry out data download, the transmitting-receiving of electronic mail, news and activity such as browse.
Embedded onboard combined navigation system based on dynamic information, it is characterized in that: described on-vehicle information communication module 7 has that the communication attributes parameter is provided with, dynamic information receives, storage, show, feedback information of vehicles and realize Internet function of browse in the vehicle mounted multimedia module 6, realize the reading of dynamic information that dynamic information module 9 provides, the pre-service of dynamic information, the issue that utilizes traffic information predictings such as the real-time magnitude of traffic flow, occupation rate, speed to go out journey time and other dynamic information.
Embedded onboard combined navigation system based on dynamic information is characterized in that: comprise the steps: in the described software module
(1) step of acquisition gps data reception Interrupt Process function is as follows:
1.1) gps data arrival; 1.2) collection of gps data; 1.3) gps data carried out the Kalman filtering of standard; 1.4) will
And P
1Write the output buffer of GPS wave filter; 1.5) finish;
(2) step of acquisition DR Data Receiving Interrupt Process function is as follows:
2.1) arrival of DR data; 2.2) collection of DR data; 2.3) Kalman filtering that the DR data are expanded; 2.4) will
And P
2Write the output buffer of DR wave filter; 2.5) judge whether GPS is blocked; 2.6) if, then import map-matching module, if not, then finish;
(3) the master controller CPU in the intelligent car-mounted information apparatus is as follows to the step that gps data and DR data merge:
3.1) enter system initialization; 3.2) other parallel processing; 3.3) from the output buffer of GPS wave filter, read current
And P
13.4) from the output buffer of DR wave filter, choose with
P
1The time phase difference minimum
P
23.5) information fusion; 3.6) map-matching module; 3.7) turn back to the first step behind the system initialization.
Based on the embedded onboard combined navigation system of dynamic information, when it is characterized in that adopting the federated Kalman filtering device to carry out filtering, wherein local filter I is used for gps data is carried out Kalman filtering; Local filter II is used for the data of DR system are carried out improved no mark particle filter, and this filtering also is the dead reckoning process; Senior filter is used for information fusion is carried out in the output of the two.
Beneficial effect of the present invention and positive role mainly show owing to adopted the support of above-mentioned complex art and software module thereof, especially utilized Leonardo da Vinci (ARM+DSP) dual core processor, based on gps data, gyro data and the vehicle speed sensor data processing of federal Kalman filtering, based on fuzzy neural network, immune genetic algorithm map road Identification and analytical technology, a kind of simple, reliable, the practical embedded onboard combined navigation instrument that just can develop and have multiple functions such as navigator fix, amusement, communication, record and warning.The present invention has the continental rise vehicle vehicle-mounted gyro in the process of moving of collection and the angular speed and the rate signal of mileage gauge, after it being carried out the A/D conversion, handle with the gps data information fusion that the vehicle GPS satellite antenna is collected, deliver to then that CPU shows or with Geographic Information System GIS database be that electronic chart mates, show information such as current position, time, speed for the user intuitively, provide dynamic navigation service accurately and fast for the user simultaneously.Carry out the Vehicular navigation system software design on this basis, make system response time accelerate greatly, adopt gps data, gyroscope DR data and vehicle speed sensor data processing, make its GPS/DR combined vehicle navigational system have high orientation precision and good reliability based on federated Kalman filtering.
Description of drawings
What numeral and letter were represented is: 1, Embedded On-board Information Equipment; 2:GPS/DR integrated navigation module; 3, map-matching module; 4, dynamic traffic guidance module; 5, state recognition module; 6, vehicle mounted multimedia module; 7, vehicle-mounted information communication module; 8, wireless data communications module; 9, dynamic information module; 4.1, path planning module; 4.2, the path induces module; 5.1, the traffic identification module; 5.2, the driver status identification module;
β
m=covariance.
Fig. 1 is a systemic-function schematic block diagram of the present invention;
Fig. 2 is a system hardware platform schematic block diagram of the present invention;
Fig. 3 is a system software module structural representation of the present invention;
Fig. 4 is that gps data of the present invention receives Interrupt Process function schematic flow sheet;
Fig. 5 is a DR Data Receiving Interrupt Process function schematic flow sheet of the present invention;
Fig. 6, be the schematic flow sheet that gps data and DR data are merged of the present invention.
Embodiment
With embodiment the present invention is done concrete detailed description in conjunction with the accompanying drawings.From Fig. 1, Fig. 2, Fig. 3 as can be known, said embedded onboard combined navigation system based on dynamic information comprises that GPS/DR integrated navigation module, Embedded On-board Information Equipment, map-matching module, dynamic traffic guidance module, state recognition module, vehicle mounted multimedia module, vehicle-mounted information communication module, wireless data communications module, dynamic information module and software module constitute; Said Embedded On-board Information Equipment is connected with GPS/DR integrated navigation module, map-matching module, dynamic traffic guidance module, state recognition module, vehicle mounted multimedia module, wireless data communications module respectively, and software module is stored among the Embedded On-board Information Equipment.This connection is that hardware platform with embedded onboard combined navigation system is support, for example be connected with GPS/DR locating module, wireless data communications module, by being connected of complex programmable logic device (CPLD) in local bus and memory module, map match, dynamic traffic guidance module, state recognition module, Computer Communications Interface, input/output interface, the Embedded On-board Information Equipment by serial port; Adopting Leonardo da Vinci DM6446CPU is core, and its inside has the ARM926E core frequency and reaches 297Mhz, and DSP C64xx core frequency reaches 594Mhz; Outside expansion provides 16M NOR Flash storer, 512M Nand Flash storer and 32 DDR2 SDRAM of 128M storer, storage unit such as the plug-in SD card of memory bank commonly used, ide interface; The audio/video module provides 1 road sign accurate video input interface, and the accurate video output interface of 1 road sign contains digital visual interface, and 1 road stereo audio input interface and 1 road stereo audio output interface are provided.Communication interface commonly used comprises USB2.0,100M network interface, SPI mouth, serial ports; Input/output interface provides voice control and alarm control function; The wireless data communications module is made of GPRS communication module, CDMA1X communication module or 3G communication module; The GPS/DR locating module, the GPS module receives GPS information in real time, and the DR module provides vehicle angular velocity and velocity information.Owing to adopt the Vehicular multifunctional navigation information platform of Leonardo da Vinci's (ARM+DSP) dual core processor and embedded Windows CE, can be to based on the data processing of gps data, DR gyro data and the vehicle speed sensor of federal Kalman filtering, based on the processing of fuzzy neural network, immune genetic algorithm map road Identification and analytical technology.
Described GPS/DR integrated navigation module adopts the Kalman filtering method in the software module to merge the positioning system information of GPS locating module and DR locating module to obtain optimum integrated positioning data.Specifically be to adopt the associating filter structure to replace the centralized filter structure of standard, carry out optimal estimation and merge.Utilize the initialization of the auxiliary dead reckoning system of the accurate positioning result of GPS, provide initial position accurately, simultaneously the site error of dead reckoning system is independently proofreaied and correct, reduce the accumulation of error; When GPS can't locate or positioning error when too big, just switch to the dead reckoning system, proofread and correct GPS information in the short time, until the GPS location recover normal after, switch to the GPS positioning system again and accurately locate.
Described map-matching module is utilized digital map, road net information in positioning track data and the electronic chart is compared coupling, determine road and its accurate position on road that vehicle travels, be the execution that car-mounted information apparatus is induced, module is induced in the path, revise the error of positioning system, improving the positioning system performance provides the basis.The map matching technology that adopts in the native system is based on the improvement map-matching algorithm of location point.Map-matching module treats matched sample by steps such as pre-service, feature extractions and all templates are analyzed, described, and extracts corresponding position or shape facility.According to the matched rule of algorithm, calculate the matching similarity between sample to be matched and all templates successively.Choose the highest location point of similarity or road curve template at last, as sample to be matched---coupling, the classification results of vehicle location point or track of vehicle curve.
Described dynamic traffic guidance module comprises that path planning module, path induce module.Path planning then is the process that helps driver's planning travel route before travelling or in the travelling, be vehicle guidance with navigation in basic problem, it also is that realizing route is induced the precondition with navigation feature.According to the difference of planning purpose, path planning can be divided into many vehicle path plannings and single vehicle path planning, and the former is used for fleet's scheduling and traffic control more, and the latter then is widely used in various navigational system.The path planning of vehicle-mounted inducible system belongs to the category of single vehicle path planning, and the subject matter that it will solve is the shortest running distance between seeking in given road network from the starting point to the destination, minimum journey time, minimum toll etc.On the basis of taking all factors into consideration the urban transportation characteristic, from the core of path planning technology, in conjunction with the driver psychology characteristic, native system adopts the paths planning method based on the traveler characteristic.
Module cooperative path planning module and map location matching module are induced in described path, and the guiding driver arrives the destination from the departure place.The path process of inducing is the ingredient that entire path is induced, and it is inseparable with other parts, and other functional module provides technical support for it.
The path induce module be with the result of calculation of path planning module as its initial initial conditions, by path planning is carried out analyzing and processing, extract the tendency information of road, judge vehicle heading.While is in conjunction with the latitude and longitude information of map-matching module output, whether the real-time judge vehicle departs from programme path, if depart from, then to handle according to the scheme that departs from introduction route, the guiding vehicles of giving optimal path of optimization of vehicle again or will departing from route is to original optimization route.
Described state recognition module comprises traffic identification module, driver status identification module.Here the function mainly finished of traffic identification module is that the traffic state data that utilizes sensor to obtain is discerned, and the data that recognize are offered the driver,, road surface situation whether crowded etc. as road, and give corresponding prompt.
The driver status identification module is in system of the present invention, and identification is a very important aspect to driver status.Designed following function: alcohol detection: have more the alcohol detection instrument and record data, whether the analysis alcohol content exceeds standard and for example points out and be provided with, overspeed detection: judge whether hypervelocity according to speed data, and give suitable prompting according to certain Rule of judgment.Degree of fatigue detects: the head image information that records by running time, by sensor is judged driver's degree of fatigue, and in good time points out.
Described on-vehicle information communication module mainly has following function:
(1) the communication attributes parameter is provided with.MSCOMM is provided with messaging parameter with communication control.Comprise the communication port setting, parameter for example baud rate, position of rest, check bit etc., Handshake Protocol, transmission buffer size, input length restriction etc. are set.
(2) dynamic information receives.Receive the data such as journey time of flow, occupation rate, speed and the prediction of the transmission of dynamic information module, as the basic data of dynamic inducible system.
(3) dynamic information storage.The dynamic information that receives is stored in the database, so that the roadlock of vehicle-mounted induction information device forms the module invokes relevant information.
(4) dynamic information shows.This module is mainly finished dynamically being presented on the screen of running informations such as logistics information, parking stall information, helps the facility in the trips such as traveler searching client, parking stall.
(5) feedback information of vehicles.Related datas such as self geographic position of living in that the on-vehicle information communication module can calculate inter-vehicle information system according to the satellite location data that receive and speed are by the GSM/GPRS network transmission attitude transport information module of reversing.Be convenient to the information interchange of vehicle and Surveillance center and the scheduling of vehicle etc.
Internet function of browse in the vehicle mounted multimedia module also realizes by the on-vehicle information communication module.
The GPS/DR integrated navigation system is the multisensor syste that is made of two separate subsystems of gps system and DR system as can be seen from Figure 3.In multisensor syste, the federated Kalman filtering device utilizes the information distribution principle can realize the optimal synthesis of multi-sensor information, and makes total system have certain fault-tolerant ability, thereby can obtain optimum on the whole performance.Finish gps signal, electronic compass and mileage gauge three circuit-switched data collection and fusion treatment, the positioning system information that key is to adopt the federated Kalman filtering method to merge GPS locating module and DR locating module is to obtain optimum integrated positioning data, and high precision warp, latitude data after the output processing are used to the user, if after coordinate conversion, and be aided with the GIS electronic chart, just intuitively guides user is carried out vehicle drive and self poisoning.The participation that equally, also needs the path to seek softwares such as footpath, map match then repeats no more here.From Fig. 3, Fig. 4, Fig. 5, Fig. 6 as can be known, the centralized filter structure fundamental purpose that the present invention adopts the associating filter structure to replace standard here is to solve the harmful effect of DR sensor error to system state estimation, to improve the whole filtering accuracy of combined system.In view of this consideration, reason has two: the one, have only two kinds of alignment sensors of GPS and DR in the system, and there is not frame of reference; The 2nd, get β
m=0, promptly senior filter does not have information distribution.At this moment
Senior filter does not carry out filtering, just carries out optimal estimation and merges.Say that from die angle the raw data of using is made up of two parts, the one, gps data, the 2nd, DR data.Two-part data are given corresponding local filter respectively and are handled.Gps data of GPS receiver automatic transmission p.s. is given central processing unit (CPU); The DR data also are to send to CPU at regular intervals automatically by each sensor of DR, and different is that transmitting time is not equally spaced.Data are come interim, and CPU will produce an interruption, and the system call respective interrupt is handled function, realize the Kalman filtering to gps data or DR data.The value of wave filter output leaves in the buffer zone, and main thread fetches data from buffer zone every the regular hour and carries out information fusion.Concretely, senior filter step that information fusion is carried out in the two the output of GPS wave filter and DR wave filter is as follows:
At first be that the GPS wave filter is that 1 pair of gps data of local filter carries out Kalman filtering.Its step that obtains gps data reception Interrupt Process function is:
1.1) gps data arrival; 1.2) collection of gps data; 1.3) gps data carried out the Kalman filtering of standard; 1.4) will
And P
1Write the output buffer of GPS wave filter; 1.5) finish;
Next DR wave filter is that the data of 2 pairs of DR systems of local filter are carried out improved no mark particle filter, and this filtering also is the dead reckoning process; The step that obtains DR Data Receiving Interrupt Process function is: 2.1) the DR data arrive; 2.2) collection of DR data; 2.3) the DR data are carried out improved no mark particle filter; 2.4) will
And P
2Write the output buffer of DR wave filter; 2.5) judge whether GPS is blocked; 2.6) if, then import map-matching module, if not, then finish.
Senior filter is used for information fusion is carried out in the output of the two under master controller CPU module controls at last.The step that gps data and DR data are merged is:
1) enters system initialization; 2) other parallel processing; 3) from the output buffer of GPS wave filter, read current
And P
14) from the output buffer of DR wave filter, choose with
P
1The time phase difference minimum
P
25) information fusion; 6) carry out map-matching module; 7) turn back to the first step behind the system initialization.
The course of work that the present invention practices in said onboard combined navigation system is such:
(1) system power supply is opened to each hardware module and is powered up, as the GPS/DR locating module, and GPRS communication module, central processing unit DM6446 etc.
(2) system software starts, each module initialization.
(3) the GPS module receives gps satellite signal and positions process Kalman filtering acquisition initial position, initialization DR dead reckoning module and carry out improved no mark particle filter and obtain exact value then, GPS locator data after will handling at last and the locator data of DR are carried out Intelligent Fusion, thereby obtain accurate position and velocity information.
(4) start two dimension or three management map modules, the output of GPS/DR is navigated on the map, proofread and correct positioning error, allow the location point of vehicle be positioned on the correct road by matching module.
(5) transport information by GPRS communication module receiving traffic information center issue, vehicle-mounted embedded type intelligence system enable that Intelligent Dynamic traffic guidance module is carried out optimal path planning and induce in the path.
(6) the state recognition module of system is handled near traffic related information by the traffic status identification module and is fed back to the transport information processing enter.
(7) driver status identification module meeting Real time identification driver's situation, and give the prompting of fatigue conditions and the suggestion of good will.
(8) driver can also surf the web by the embedded onboard system during rest onboard.
Claims (10)
1, based on the embedded onboard combined navigation system of dynamic information, it is characterized in that: comprise that GPS/DR integrated navigation module (2), Embedded On-board Information Equipment (1), map-matching module (3), dynamic traffic guidance module (4), state recognition module (5), vehicle mounted multimedia module (6), vehicle-mounted information communication module (7) wireless data communications module (8), dynamic information module (9) and software module constitute; Said Embedded On-board Information Equipment (1) respectively with GPS/DR integrated navigation module (2), map-matching module (3), dynamic traffic guidance module (4), state recognition module (5), vehicle mounted multimedia module (6), wireless data communications module (8) connects; Software module is stored among the Embedded On-board Information Equipment (1).
2, the embedded onboard combined navigation system based on dynamic information as claimed in claim 1 is characterized in that: described GPS/DR integrated navigation module (2) adopts the Kalman filtering method in the software module to merge the positioning system information of GPS locating module and DR locating module to obtain optimum integrated positioning data.
3, the embedded onboard combined navigation system based on dynamic information as claimed in claim 1, it is characterized in that: described Embedded On-board Information Equipment (1) adopts the Vehicular multifunctional navigation information platform of Leonardo da Vinci's (ARM+DSP) dual core processor and embedded Windows CE, to based on the data processing of gps data, DR gyro data and the vehicle speed sensor of federal Kalman filtering, based on the processing of fuzzy neural network, immune genetic algorithm map road Identification and analytical technology.
4, the embedded onboard combined navigation system based on dynamic information as claimed in claim 1, it is characterized in that: described map-matching module (3) is utilized digital map, road net information in positioning track data and the electronic chart is compared coupling, determine road and its accurate position on road that vehicle travels, for car-mounted information apparatus is induced, the execution of route guidance module, revise the error of positioning system, improving the positioning system performance provides the basis.
5, the embedded onboard combined navigation system based on dynamic information as claimed in claim 1 is characterized in that: described dynamic traffic guidance module (4) comprises that path planning module, path induce module.
6, the embedded onboard combined navigation system based on dynamic information as claimed in claim 1 is characterized in that: described state recognition module (5) comprises traffic identification module, driver status identification module.
7, the embedded onboard combined navigation system based on dynamic information as claimed in claim 1, it is characterized in that: described vehicle mounted multimedia module (6) provides Internet interconnected by vehicle-mounted information communication module (7) for the driver, and the driver can carry out data download, the transmitting-receiving of electronic mail, news and activity such as browse.
8, embedded onboard combined navigation system based on dynamic information as claimed in claim 1, it is characterized in that: described on-vehicle information communication module (7) has the setting of communication attributes parameter, dynamic information receives, storage, show, feedback information of vehicles and realize Internet function of browse in the vehicle mounted multimedia module (6) is realized reading of dynamic information that the dynamic information module provides, the pre-service of dynamic information, utilize the real-time magnitude of traffic flow, occupation rate, traffic information predictings such as speed go out the issue of journey time and other dynamic information.
9, as claim 1,2 described embedded onboard combined navigation systems, it is characterized in that, comprise the steps: in the described software module based on dynamic information
(1) step of acquisition gps data reception Interrupt Process function is as follows:
1.1) gps data arrival; 1.2) collection of gps data; 1.3) gps data carried out the Kalman filtering of standard; 1.4) will
And P
1Write the output buffer of GPS wave filter; 1.5) finish;
(2) step of acquisition DR Data Receiving Interrupt Process function is as follows:
2.1) arrival of DR data; 2.2) collection of DR data; 2.3) Kalman filtering that the DR data are expanded; 2.4) will
And P
2Write the output buffer of DR wave filter; 2.5) judge whether GPS is blocked; 2.6) if, then import map-matching module, if not, then finish;
(3) the master controller CPU in the intelligent car-mounted information apparatus is as follows to the step that gps data and DR data merge:
3.1) enter system initialization; 3.2) other parallel processing; 3.3) from the output buffer of GPS wave filter, read current
And P
13.4) from the output buffer of DR wave filter, choose with
P
1The time phase difference minimum
P
23.5) information fusion; 3.6) map-matching module; 3.7) turn back to the first step behind the system initialization.
10, the embedded onboard combined navigation system based on dynamic information as claimed in claim 9 is characterized in that, when adopting the federated Kalman filtering device to carry out filtering, wherein local filter I is used for gps data is carried out Kalman filtering; Local filter II is used for the data of DR system are carried out improved no mark particle filter, and this filtering also is the dead reckoning process; Senior filter is used for information fusion is carried out in the output of the two.
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