CN102645665A - BD (Beidou positioning system), GPS (global positioning system) and DR (dead-reckoning) based positioning information processing method and device - Google Patents

BD (Beidou positioning system), GPS (global positioning system) and DR (dead-reckoning) based positioning information processing method and device Download PDF

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Publication number
CN102645665A
CN102645665A CN2011100429494A CN201110042949A CN102645665A CN 102645665 A CN102645665 A CN 102645665A CN 2011100429494 A CN2011100429494 A CN 2011100429494A CN 201110042949 A CN201110042949 A CN 201110042949A CN 102645665 A CN102645665 A CN 102645665A
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gps
cpu
receiver
signal
locating information
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王喜超
何铁
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SHANGHAI ZENITECH ELECTRONIC TECHNOLOGY DEVELOPMENT Co Ltd
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SHANGHAI ZENITECH ELECTRONIC TECHNOLOGY DEVELOPMENT Co Ltd
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Abstract

The invention relates to a BD (Beidou positioning system), GPS (global positioning system) and DR (dead-reckoning) based positioning information processing method and device, wherein the method comprises the following steps that: 1) an operation of starting and initializing is performed; 2) an interface management module is started, and a CPU (central processing unit) reads satellite positioning message information from a GPS receiver and a BD receiver; and 3) the CPU simultaneously reads angular velocity measurement data and velocity measurement data, and calculates self-positioning data by using a dead-reckoning algorithm, and the like. The device comprises a CPU, an angular velocity sensor, three accelerometers, an odometer, a GPS receiver, a GPS antenna, a BD receiver, an LDO (low dropout regulator), a level conversion module, a mileage signal coupling circuit and a backup signal coupling circuit. Compared with the prior art, the method and device disclosed by the invention have the advantages of continuously and accurately carrying out positioning on vehicles, and the like.

Description

Locating information disposal route and device based on BD, GPS and DR
Technical field
The present invention relates to a kind of vehicle positioning technology, especially relate to a kind of locating information disposal route and device based on BD, GPS and DR.
Background technology
In the technology of modern vehicles satellite navigation and location, the satellite positioning tech that has been widely used, the for example Big Dipper positioning system (BD) of the GPS of the U.S. (GPS), Muscovite GLONASS, China; Particularly GPS is widely used, as long as on vehicle, load the GPS receiver, if can guarantee to receive well 4 satellite-signals, just can accurately know key elements such as vehicle location, speed, direction of motion.
Existing product technology state is following:
1) although satellite positioning tech is increasingly mature, in practical application, reasons such as, tunnel overhead, viaduct owing to the metropolis, many regional satellite-signals receive bad, cause the satellite positioning signal drift bigger, when particularly remaining static.
2) use gps satellite and dead reckoning method (Dead-Reckoning uses gyroscope and vehicle mileage signal) technology to solve the satnav blind zone problem now; But vehicle is in the real road state influence of heeling condition during owing to road climb and fall and turning, and in hypogees such as tunnel, the error ratio of dead reckoning is bigger;
3) in the existing dead reckoning product, also do not consider the fusion of Big Dipper locating information;
4) existing product does not use monocrystalline silicon gyroscope and accelerometer cheaply.
Summary of the invention
The object of the invention is exactly for the defective that overcomes above-mentioned prior art existence a kind of locating information disposal route and device based on BD, GPS and DR that exactly vehicle is positioned continuously to be provided.
The object of the invention can be realized through following technical scheme:
A kind of locating information disposal route based on BD, GPS and DR is characterized in that, may further comprise the steps:
1) open, and initialization;
2) open the interface management module, CPU reads the satnav message information to GPS receiver and BD receiver;
3) CPU reads angular velocity measurement data and velocity survey data simultaneously, and calculates the autonomous positioning data through the dead reckoning algorithm;
4) CPU judges that satellite-signal is whether stable, and whether the satnav precision less than the value of setting, if satellite-signal is stable or the satnav precision less than the value of setting, directly export the autonomous positioning data, otherwise execution in step 5);
5) CPU arrives satnav message information and autonomous positioning data-switching under the same coordinate, and output integrated positioning information is located message information via satellite and calibrated external sensor after the filtering of employing Kalman filter.
The acquisition of described angular velocity measurement data is following:
From gyroscope, obtain angular velocity signal, and carry out metrophia compensation, obtain per second vehicle angles changing value through three axis accelerometer acquisition acceleration signal.
The acquisition of described velocity survey data is following:
Obtain the rate signal of mileometer and the acceleration signal of three axis accelerometer simultaneously, and compensation back horizontal velocity value of resolving is united in output.
Described autonomous positioning data comprise positional information, the course information of vehicle.
Described external sensor comprises gyroscope, three axis accelerometer, mileometer.
A kind of locating information treating apparatus based on BD, GPS and DR; It is characterized in that; Comprise CPU, angular-rate sensor, three axis accelerometer, mileometer, GPS receiver, gps antenna, BD receiver, LDO (low pressure difference linear voltage regulator), level switch module, mileage signal coupling circuit, astern signal coupled circuit; Described CPU is connected with angular-rate sensor, three axis accelerometer, BD receiver, level switch module, mileage signal coupling circuit, astern signal coupled circuit respectively; Described LDO is connected with GPS receiver, level switch module respectively; Described GPS receiver is connected with level switch module, and described mileometer is connected with the mileage signal coupling circuit, and described GPS receiver is connected with gps antenna.
Also comprise gps antenna over-current detection module, gps antenna open circuit detection module, described gps antenna over-current detection module, gps antenna open circuit detection module are connected with CPU respectively.
Described angular-rate sensor is a single axis gyroscope.
Described CPU also is provided with I 2The C bus, CPU passes through I 2The C bus is connected with angular-rate sensor, three axis accelerometer respectively.
Described CPU is connected with mileage signal coupling circuit, astern signal coupled circuit, gps antenna over-current detection module, gps antenna open circuit detection module respectively through DI (digital signal input) interface, and described CPU is connected with angular-rate sensor through AI (simulating signal input) interface.
Compared with prior art, the present invention has the following advantages:
1) can offer the integrated use in any terminal that vehicle location is served.It utilizes gyrosensor to take measurement of an angle; When utilizing three axis accelerometer measuring speed and attitude; Utilize the mileometer measuring speed; Through confirm the exact position of moving vehicle effectively based on the multi-sensor information fusion technology of parameter estimation, have independence and reliable precision, will in the Technique of Satellite Navigation and Positioning development in future, occupy crucial status;
2) exactly vehicle is positioned continuously, has good bearing accuracy at short notice, in the bad place of satellite-signal, also can be stablized, continuously, vehicle location information accurately; The present invention has the electronic map match of acceptance and interface, improve bearing accuracy and prolong greatly vehicle in the satnav blind area effective positioning time;
3) except supporting gps satellite signal, also merge Big Dipper positioning signal, supported the fusion of Big Dipper locating information and dead reckoning;
4) use three axis accelerometer and Z axle gyroscope to resolve vehicle attitude, be used for the compensation of dead reckoning, horizontal level measuring accuracy and turning rate measuring accuracy when the raising vehicle is in ramp or ramp turning;
5) speed of use three axis accelerometer measuring vehicle, the angular velocity of associating gyroscope survey under the state that does not have vehicle mileometer signal, is realized the dead reckoning function;
6) the present invention is a complete integrated positioning mini system, and not only built-in satellite earth antenna open circuit detects and the short circuit automatic protection circuit, and the processing of built-in vehicle mileage signal, astern signal, can directly connect signals of vehicles;
7) the present invention is the complete integrated positioning device of small size, adopts the stamp hole welding connecting mode to be connected with main frame, is of a size of 25.5*25.4*3.5, makes things convenient for the system integration to use.
Description of drawings
Fig. 1 is a process flow diagram of the present invention;
Fig. 2 is a hardware configuration synoptic diagram of the present invention;
Fig. 3 is a dead reckoning algorithm synoptic diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is elaborated.
Embodiment
As shown in Figure 1, a kind of locating information disposal route based on BD, GPS and DR may further comprise the steps:
Step 101, unlatching, and initialization;
Step 102, unlatching interface management module, CPU reads the satnav message information to GPS receiver and BD receiver;
Step 103, CPU read angular velocity measurement data and velocity survey data simultaneously, and calculate the autonomous positioning data through the dead reckoning algorithm;
Step 104, CPU judge that satellite-signal is whether stable, and whether the satnav precision less than the value of setting, if satellite-signal is stable or the satnav precision less than the value of setting, directly export the autonomous positioning data, otherwise execution in step 105;
Step 105, CPU arrive satnav message information and autonomous positioning data-switching under the same coordinate, and output integrated positioning information is located message information via satellite and calibrated external sensor after the filtering of employing Kalman filter.
The acquisition of described angular velocity measurement data is following: from gyroscope, obtain angular velocity signal, and carry out metrophia compensation through three axis accelerometer acquisition acceleration signal, obtain per second vehicle angles changing value.
The acquisition of described velocity survey data is following: obtain the rate signal of mileometer and the acceleration signal of three axis accelerometer simultaneously, and compensation back horizontal velocity value of resolving is united in output.
Described autonomous positioning data comprise positional information, the course information of vehicle.
It is described that to calculate the process of autonomous positioning data through the dead reckoning algorithm following:
With last effectively satnav point is the starting point of reckoning, and dead reckoning is as shown in Figure 3:
After knowing initial point position, can change according to the displacement between current point and starting point and angle and extrapolate vehicle current point position; The position of each current point all is the starting point of calculating next time.
Consider to calculate distance usually in several kilometers, thus do not consider the radian of the earth in the algorithm of the present invention, and supposition earth plane is a level; Per second calculates that once the distance and the angle value of per second variation just equal current velocity amplitude and magnitude of angular velocity like this; Suppose from (X N, Y N) put (X N+1, Y N+1) some vehicle actual speed is V N, angle is changed to A N, B NBe inclination of vehicle angle, C NBe the vehicle angle of pitch, D NBe the vehicles roll angle.The dead reckoning formula of revising is:
X N+1＝X N+S NM*COSA NM
Y N+1＝Y N+S NM*SINA NM
Wherein: S NMFor vehicle in n-hour tangential movement distance
A NMFor vehicle at n-hour horizontal direction angle changing
In reckoning, use vehicle attitude data correction vehicle horizontal shift and level angle value:
S NM=V N* COSB N* 1 second=V N* COSB N
A NM＝3*A N/(b*COSB N+c*CosC N+d*COSD N)
B, c, d are constants, need actual measurement to demarcate
The position reckoning value that obtains converts the earth latitude and longitude value of regulation to, through exporting to host computer after the associating Filtering Processing.
As shown in Figure 2; A kind of locating information treating apparatus based on BD, GPS and DR; Comprise CPU1, angular-rate sensor 2, three axis accelerometer 3, mileometer, GPS receiver 4, gps antenna 5, BD receiver 6, LDO7, level switch module 8, mileage signal coupling circuit 9, astern signal coupled circuit 10, gps antenna over-current detection module 11, gps antenna open circuit detection module 12; Described CPU1 is connected with angular-rate sensor 2, three axis accelerometer 3, BD receiver 6, level switch module 8, mileage signal coupling circuit 9, astern signal coupled circuit 10 respectively; Described LDO7 is connected with GPS receiver 4, level switch module 8 respectively; Described GPS receiver 4 is connected with level switch module 8, and described mileometer is connected with mileage signal coupling circuit 9, and described GPS receiver 4 is connected with gps antenna 5.Described gps antenna over-current detection module 11, gps antenna open circuit detection module 12 are connected with CPU1 respectively.Described angular-rate sensor 2 is the MEMS single axis gyroscope.Described CPU1 also is provided with I 2The C bus, CPU1 passes through I 2The C bus is connected with angular-rate sensor 2, three axis accelerometer 3 respectively.
Selecting the M3 of ENERGY company framework 32-bit microprocessor EFM32G210F128 for use is CPU1 of the present invention; Operation application software of the present invention in CPU1.
Selecting the model of MEMS single axis gyroscope for use is SSZ0304 or SSZ0104, and 100 degree/seconds of the variation range that takes measurement of an angle, this gyroscope output angle velocity simulate value is delivered to the AI port of CPU1; This gyrostatic angular velocity measurement signal also passes through I 2The C bus is delivered to CPU1.
Select the attitude of the MMA7455 of Freescale company or MMA8452 three axis accelerometer 3 measurement of vehicle speed signals and vehicle for use, the accelerometer measures signal passes through I 2The C bus is given CPU1.；
Selecting GPS receiver 4 models for use is Jupiter F2, and this GPS receiver 4 is built on this integrated positioning module, and GPS receiver 4 output location texts are delivered to CPU1 through serial port.
The BD receiver 6 of selecting model C C100-BG for use is as the external Big Dipper location receiver of the present invention, and the location text of the Big Dipper is delivered to CPU1 through serial port.
Built-in 3.3V is to 1.8VLDO 7, for the built-in GPS receiver 4 of module provides power supply;
Use level switch module to accomplish the compatibility of 1.8V and 3.0V interface logic.
Use vehicle body mileometer signal, deliver to CPU 1 digital input port through mileage signal coupling module 9.
Use the vehicle body astern signal, deliver to the CPU1 digital input port through astern signal coupling module 10.
The present invention is connected with main frame through serial port; This serial ports not only is used for locator data of the present invention output, and through this serial ports, and host computer can configuration management parameter setting of the present invention; Can also be used to receive the map match data, realize module electronic map match location.

Claims (10)

1. the locating information disposal route based on BD, GPS and DR is characterized in that, may further comprise the steps:
1) open, and initialization;
2) open the interface management module, CPU reads the satnav message information to GPS receiver and BD receiver;
3) CPU reads angular velocity measurement data and velocity survey data simultaneously, and calculates the autonomous positioning data through the dead reckoning algorithm;
4) CPU judges that satellite-signal is whether stable, and whether the satnav precision less than the value of setting, if satellite-signal is stable or the satnav precision less than the value of setting, directly export the autonomous positioning data, otherwise execution in step 5);
5) CPU arrives satnav message information and autonomous positioning data-switching under the same coordinate, and output integrated positioning information is located message information via satellite and calibrated external sensor after the filtering of employing Kalman filter.
2. a kind of locating information disposal route based on BD, GPS and DR according to claim 1 is characterized in that the acquisition of described angular velocity measurement data is following:
From gyroscope, obtain angular velocity signal, and carry out metrophia compensation, obtain per second vehicle angles changing value through three axis accelerometer acquisition acceleration signal.
3. a kind of locating information disposal route based on BD, GPS and DR according to claim 1 is characterized in that the acquisition of described velocity survey data is following:
Obtain the rate signal of mileometer and the acceleration signal of three axis accelerometer simultaneously, and compensation back horizontal velocity value of resolving is united in output.
4. a kind of locating information disposal route based on BD, GPS and DR according to claim 1 is characterized in that described autonomous positioning data comprise positional information, the course information of vehicle.
5. a kind of locating information disposal route based on BD, GPS and DR according to claim 1 is characterized in that described external sensor comprises gyroscope, three axis accelerometer, mileometer.
6. locating information treating apparatus based on BD, GPS and DR; It is characterized in that; Comprise CPU, angular-rate sensor, three axis accelerometer, mileometer, GPS receiver, gps antenna, BD receiver, LDO, level switch module, mileage signal coupling circuit, astern signal coupled circuit; Described CPU is connected with angular-rate sensor, three axis accelerometer, BD receiver, level switch module, mileage signal coupling circuit, astern signal coupled circuit respectively; Described LDO is connected with GPS receiver, level switch module respectively; Described GPS receiver is connected with level switch module, and described mileometer is connected with the mileage signal coupling circuit, and described GPS receiver is connected with gps antenna.
7. a kind of locating information treating apparatus according to claim 6 based on BD, GPS and DR; It is characterized in that; Also comprise gps antenna over-current detection module, gps antenna open circuit detection module, described gps antenna over-current detection module, gps antenna open circuit detection module are connected with CPU respectively.
8. a kind of locating information treating apparatus based on BD, GPS and DR according to claim 6 is characterized in that described angular-rate sensor is a single axis gyroscope.
9. a kind of locating information treating apparatus based on BD, GPS and DR according to claim 6 is characterized in that described CPU also is provided with I 2The C bus, CPU passes through I 2The C bus is connected with angular-rate sensor, three axis accelerometer respectively.
10. a kind of locating information treating apparatus according to claim 6 based on BD, GPS and DR; It is characterized in that; Described CPU is connected with mileage signal coupling circuit, astern signal coupled circuit, gps antenna over-current detection module, gps antenna open circuit detection module respectively through the DI interface, and described CPU is connected with angular-rate sensor through the AI interface.
CN2011100429494A 2011-02-17 2011-02-17 BD (Beidou positioning system), GPS (global positioning system) and DR (dead-reckoning) based positioning information processing method and device Pending CN102645665A (en)

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103454663A (en) * 2013-08-15 2013-12-18 中国航天系统工程有限公司 Bus-mounted intelligent terminal based on Beidou/GPS compatible location
CN104280029A (en) * 2013-07-04 2015-01-14 大众汽车有限公司 Method and device for determining at least one state parameter of position of vehicle
CN105318877A (en) * 2015-11-21 2016-02-10 广西南宁至简至凡科技咨询有限公司 Embedded vehicle-mounted navigation system based on GPS or DR
WO2016145886A1 (en) * 2015-03-13 2016-09-22 北京握奇智能科技有限公司 On board unit
CN106101269A (en) * 2016-08-04 2016-11-09 神州优车（福建）信息技术有限公司 Vehicle position acquisition method and device
CN106643712A (en) * 2016-12-14 2017-05-10 北斗时空信息技术（北京）有限公司 Vehicle-mounted combined navigation system
CN106781271A (en) * 2016-11-21 2017-05-31 南京邮电大学 A kind of Falls in Old People salvage system and method based on acceleration transducer
CN108780157A (en) * 2016-03-23 2018-11-09 奥托立夫Asp公司 Utilize dynamic calibration and/or the automobile dead reckoning of dynamic weighting
CN110109161A (en) * 2018-02-01 2019-08-09 高德信息技术有限公司 A kind of fingerprint characteristic acquisition method and device

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CN1428596A (en) * 2001-12-24 2003-07-09 菱科电子技术（中国）有限公司 Multifunctional vehicle-mounted satellite navigation system
CN1908587A (en) * 2006-08-18 2007-02-07 湖南大学 GPS/DR vehicle-mounted combined location system and method

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Publication number Priority date Publication date Assignee Title
CN1428596A (en) * 2001-12-24 2003-07-09 菱科电子技术（中国）有限公司 Multifunctional vehicle-mounted satellite navigation system
CN1908587A (en) * 2006-08-18 2007-02-07 湖南大学 GPS/DR vehicle-mounted combined location system and method

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104280029A (en) * 2013-07-04 2015-01-14 大众汽车有限公司 Method and device for determining at least one state parameter of position of vehicle
CN103454663A (en) * 2013-08-15 2013-12-18 中国航天系统工程有限公司 Bus-mounted intelligent terminal based on Beidou/GPS compatible location
CN103454663B (en) * 2013-08-15 2015-10-28 中国航天系统工程有限公司 A kind of public transport vehicle-mounted intelligent terminal based on the Big Dipper/GPS compatible positioning
WO2016145886A1 (en) * 2015-03-13 2016-09-22 北京握奇智能科技有限公司 On board unit
CN105318877A (en) * 2015-11-21 2016-02-10 广西南宁至简至凡科技咨询有限公司 Embedded vehicle-mounted navigation system based on GPS or DR
CN108780157A (en) * 2016-03-23 2018-11-09 奥托立夫Asp公司 Utilize dynamic calibration and/or the automobile dead reckoning of dynamic weighting
CN108780157B (en) * 2016-03-23 2022-11-25 安致尔软件有限责任公司 Vehicle dead reckoning using dynamic calibration and/or dynamic weighting
CN106101269A (en) * 2016-08-04 2016-11-09 神州优车（福建）信息技术有限公司 Vehicle position acquisition method and device
CN106781271A (en) * 2016-11-21 2017-05-31 南京邮电大学 A kind of Falls in Old People salvage system and method based on acceleration transducer
CN106643712A (en) * 2016-12-14 2017-05-10 北斗时空信息技术（北京）有限公司 Vehicle-mounted combined navigation system
CN110109161A (en) * 2018-02-01 2019-08-09 高德信息技术有限公司 A kind of fingerprint characteristic acquisition method and device

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Application publication date: 20120822