CN103411605A - Vehicle-mounted non-blind-area positioning navigation and travel posture measuring device and measuring method - Google Patents
Vehicle-mounted non-blind-area positioning navigation and travel posture measuring device and measuring method Download PDFInfo
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Abstract
The invention discloses a vehicle-mounted non-blind-area positioning navigation and travel posture measuring device and a measuring method. The measuring device comprises a satellite positioning module, a magnetic resistance sensor, a tilt angle sensor, a CAN bus interface, a micro controller and an external input/output interface; the outputs of the satellite positioning module, the magnetic resistance sensor and the tilt sensor are connected with the input of the micro controller; the micro controller is in two-way connection with a whole-vehicle CAN bus through the CAN bus interface; the micro controller is in two-way connection with an external device through the external input/output interface. The measuring device has the benefits of no positioning blind area, low development and design cost and low maintenance cost.
Description
Technical field
The present invention relates to a kind of vehicle-mounted non-blind area location navigation and vehicular attitude measurement mechanism and measuring method, mainly for existing positioning navigation module, cause the problem of locate failure because of satellite-signal decline or loss, and because of the gyroscope cost high, and there is a problem of accumulated error, based on discrete sensor, carrying out athletic posture resolves, and utilize and resolve the course deviation angle modification obtained and compensate current locator data to reach a kind of location navigation and vehicular attitude measurement mechanism and the measuring method without the blind area, location, belong to automotive electronics vehicle mounted locating and monitoring and navigational system development field technical field.
Background technology
Current automobile mounted locating and monitoring and navigational system, its core component generally includes: locating module (adopting GPS module or Big Dipper locating module), data communication module (adopting GPRS or 3G) and data processing module and system platform.And at present nearly all vehicle mounted locating and monitoring and navigational system, locating module is absolutely necessary.Locating module is the basic source of position data.
But, in prior art, be no matter to adopt GPS module or Big Dipper positioning navigation module very large or can't receive satellite-signal the time in the satellite-signal decline, all can't realize the function of location navigation; When the receiving satellite amount is less, also can cause locator data inaccurate, there are the problems such as random deviation, that is to say in prior art no matter be to adopt GPS module or the Position Fixing Navigation System of Big Dipper positioning navigation module all to have the problem of blind area, location.
Along with gyrostatic widespread use, in order to solve existing Position Fixing Navigation System, there is the problem of blind area, location, various based on the gyroscope inertial navigation, perhaps vehicle mounted locating and monitoring and the navigational system of the GPS/ Big Dipper and gyroscope combination navigation occur in succession, but in prior art, such scheme realizes that because following reason causes system cost is higher, realize that difficulty is large: 1) need to adopt cost higher, and itself have the gyroscope of accumulated error problem; 2) need to be equipped with the independent speeds sensor and carry out velocity survey; 3) need to adopt expensive DSP to carry out the processing of integrated navigation complex data and eliminate the restrictions such as accumulated error that the gyroscope navigation brings.Yet, in the cost requirement sensitivity, and requiring design difficulty and the low vehicle mounted locating and monitoring System Market of maintenance difficulties, such scheme of the prior art can't be real realizes high volume applications.
Summary of the invention
For the prior art above shortcomings, the technical matters that the present invention solves is: how to provide a kind of without the blind area, location, and the development and Design cost is low, vehicle-mounted non-blind area location navigation and vehicular attitude measurement mechanism that maintenance cost is low.
In order to solve the problems of the technologies described above, the present invention adopts following technical scheme:
A kind of vehicle-mounted non-blind area location navigation and vehicular attitude measurement mechanism, is characterized in that, it comprises:
Microcontroller; Satellite positioning module, be used to the reception that realizes satellite-signal and the output of normal place locator data;
Magnetoresistive transducer, be used to obtaining the three-axle magnetic field component parameters of the current present position of vehicle: Mx, My and Mz;
Obliquity sensor, be used to obtaining the current 3-axis acceleration component parameters of vehicle: Ax, Ay and Az;
The CAN bus interface; Microcontroller and outside IO interface;
Described microcontroller comprises:
Satellite positioning module data receiver and resolution unit, for by data communication interface, accessing satellite positioning module (1), obtain the normal place locator data, and from the normal place locator data received, decompositing vehicle current location information, current positioning states, current car speed V parameter
1And current time, described vehicle current location information comprises longitude, latitude and course;
The attitude algorithm unit, be used to gathering the output data of magnetoresistive transducer (2), gather the output data of obliquity sensor (3); Magnetoresistive transducer is exported data and obliquity sensor output data are carried out attitude algorithm to collecting, and resolves the athletic posture that show that vehicle is current, obtains the angle theta of vehicle heading and direct north
1And motion attitude angle, described motion attitude angle comprises angle of pitch p, side rake angle r and angle of drift h;
The CAN data communication units, for gathering and resolve the CAN bus data by CAN bus interface (4), from car load CAN network message, resolving the current car speed V parameter obtained
3, car load CAN network C AN message is received and unloading, and positional information and attitude parameter is sent to car load CAN bus by CAN bus interface (4);
Speed screening unit, for the current car speed V that satellite positioning module data receiver and resolution unit are provided
1, the external reference of obtaining from external unit by outside IO interface (6) current car speed V parameter
2With the CAN data communication units from car load CAN network message, resolving the current car speed V parameter obtain
3Carry out speed and screen the most credible velocity amplitude V that calculates the vehicle current state
O
The speed resolving cell, for according to the vehicle heading angle theta
1To the most credible velocity amplitude V
OCarry out speed and decompose the most credible velocity amplitude V that obtains the vehicle current state
OMovement velocity component on longitude and latitude direction
With
Speed ~ longitude and latitude iterative computation unit, using vehicle current location information that satellite positioning module data receiver and resolution unit provide as the reference of vehicle initial position, to the most credible velocity amplitude V
OMovement velocity component on longitude and latitude direction
With
Carry out speed ~ longitude and latitude iterative computation and obtain the displacement component of vehicle on longitude and latitude direction
With
Position correction and recomposition unit, the displacement component of vehicle on longitude and latitude direction
With
Carry out the position correction processing, obtain final vehicle location locating information, more final vehicle location locating information is recombinated and send to external unit by outside IO interface (6).
A kind of vehicle-mounted non-blind area location navigation and vehicular attitude measuring method, is characterized in that, the method comprises the following step:
1) from satellite positioning module (1), read and obtain the vehicle current location information, current positioning states, current car speed V parameter
1And current time, described vehicle current location information comprises longitude, latitude and course;
Obtain the current car speed V parameter of the external reference that external unit provides
2
From car load CAN network message, being resolved to current car speed V parameter
3
2) Negotiation speed filtering algorithm, comprehensive above-mentioned three kinds of car speed parameter: V
1, V
2And V
3, and calculate the most credible velocity amplitude V of a vehicle current state
O
3) by magnetoresistive transducer (2), obtain the three-axle magnetic field component parameters of the current present position of vehicle: Mx, My and Mz; By obliquity sensor (3), obtain the current 3-axis acceleration component parameters of vehicle: Ax, Ay and Az;
4) utilize three-axle magnetic field component parameters and the current 3-axis acceleration component parameters of vehicle of the current present position of vehicle, calculate the current athletic posture of vehicle by the attitude algorithm algorithm, obtain the angle theta of vehicle heading and direct north
1And motion attitude angle, described motion attitude angle comprises angle of pitch p, side rake angle r and angle of drift h;
By outside IO interface (6) and CAN bus interface (4), athletic posture is sent to respectively to external unit and car load CAN bus;
5) according to the vehicle heading angle theta obtained in step 4)
1, the Negotiation speed decomposition algorithm is to step 2) in the most credible velocity amplitude V of the vehicle current state that obtains
ODecompose, obtain the most credible velocity amplitude V of vehicle current state
OMovement velocity component on longitude and latitude direction
With
6) the movement velocity component obtained according to step 5)
With
, and using vehicle current location information that step 1) obtains as the reference of vehicle initial position, Negotiation speed ~ longitude and latitude iterative algorithm obtains the displacement component of vehicle on longitude and latitude direction
With
7) displacement component of vehicle on longitude and latitude direction step 6) obtained
With
Carry out the position correction processing, obtain final vehicle location locating information, more final vehicle location locating information is recombinated and send to external unit by outside IO interface (6).
Wherein, position correction processing procedure in described step 7) is as follows: using the vehicle current location information that obtains in step 1) as the initial position reference, and integrating step 1) in, obtain current positioning states, by the vehicle displacement component longitude and latitude direction on of position correction algorithm to obtaining in step 6)
With
Carry out position correction, obtain final vehicle location locating information, and the initial position reference using described final vehicle location locating information as next treatment cycle position correction algorithm.
Compared to existing technology, the present invention has following beneficial effect:
The present invention, adopt discrete magnetoresistive transducer and obliquity sensor, obtain respectively the three-axle magnetic field component parameters of the current 3-axis acceleration component parameters of vehicle and the current present position of vehicle, and the two is carried out to attitude algorithm obtain the vehicle heading angle, then according to the vehicle heading angle, adopt the most credible velocity amplitude V of the vehicle current state that the speed decomposition algorithm obtains the Negotiation speed filtering algorithm
OCarry out the speed decomposition and obtain V
OMovement velocity component on longitude and latitude direction, finally according to this movement velocity component (the vehicle current location information that the satellite positioning module of usining collects is as the reference of vehicle initial position), Negotiation speed ~ longitude and latitude iterative algorithm obtains the displacement component of vehicle on longitude and latitude direction, and carries out obtaining final vehicle location locating information after correcting process.
In sum, owing to the present invention is based on discrete sensor, carry out athletic posture and resolve, and can process based on multi-parameter comprehensive, effectively revise and supplement when the front blind-area locator data, therefore, the present invention has made up existing locating module blind area and can't locate high with gyroscope inertial navigation cost and have a shortcoming of accumulated error, it is high that the present invention has a reliability of positioning, can realize round-the-clock real-time location, the development and Design cost is low, the beneficial effect that maintenance cost is low; The present invention simultaneously also provides the vehicle driving attitude measurement, and supports for car load, to provide athletic posture information by the CAN bus, and provides car load CAN message to receive, and resolves and the unloading function.
The accompanying drawing explanation
Fig. 1 is location navigation of the present invention and vehicular attitude measurement mechanism structural representation.
Fig. 2 is location navigation of the present invention and vehicular attitude measuring method schematic diagram.
Fig. 3 is location navigation of the present invention and vehicular attitude measuring method software realization flow figure.
Fig. 4 is speed filtering algorithm process flow diagram of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Referring to Fig. 1, a kind of vehicle-mounted non-blind area location navigation and vehicular attitude measurement mechanism, it comprises:
Satellite positioning module 1, be used to the reception that realizes satellite-signal and the output of normal place locator data;
CAN bus interface 4, support this module by ISO11898 standard physical interface access car load CAN network, and realization carries out the reception of vehicle communication message by the CAN interface and attitude, positional information send.
The major function of microcontroller 5 is as follows: by its data communication interface access satellite positioning module 1, obtain positional information, and revise important parameter from the positional information received, decompositing the positions such as position longitude and latitude and speed, course; To magnetoresistive transducer 2 data acquisitions, obliquity sensor 3 data acquisitions, and carry out the algorithm computing by the sensor parameters collected, and calculate when the front module attitude, be the current attitude of vehicle; Realize CAN bus data acquisition and parsing, support based on J1939 protocol analysis CAN data message, simultaneously, realize reception and unloading to the CAN message, reach positional information, attitude parameter sending function; And realize based on locating module 1 position, speed, course parameter via satellite, the attitude parameter obtained by sensor, by outside, input the speed parameter obtained and carry out the algorithm corrected Calculation, obtain best current location estimates of parameters, and utilize this optimal position parameters estimated value location information to recombinate, then to peripheral hardware, send according to standard format and transmission cycle.
Outside IO interface 6, support this device and external unit to carry out data interaction, realizes receiving external unit request and control data, and reply and revised positional information and the CAN message that receives are sent to receiving equipment.
The annexation that this device respectively forms between module is as follows:
The output of satellite positioning module 1, magnetoresistive transducer 2 and obliquity sensor 3 is connected with the input of microcontroller 5, microcontroller 5 is by CAN bus interface 4 and two-way connection of car load CAN bus, microcontroller 5 is connected with external unit is two-way by outside IO interface 6, and external unit is locating and monitoring terminal or navigating instrument.
Wherein, ISO11898 is: road vehicle controller local area network international standard; CAN is controller local area network; J1939 is: the recommendation of american car engineering association (SAE) is based on the application layer standard of CAN2.0A/B;
A kind of vehicle-mounted non-blind area location navigation and vehicular attitude measuring method, as shown in Figure 2, the method comprises the following step:
1) microcontroller 5 reads and obtains the vehicle current location information from satellite positioning module 1 by its inner data communication interface, current positioning states, current car speed V parameter
1And current time, described vehicle current location information comprises longitude, latitude and course;
2) microcontroller 5 Negotiation speed filtering algorithms, comprehensive above-mentioned three kinds of car speed parameter: V
1, V
2And V
3, and calculate the most credible velocity amplitude V of a vehicle current state
O
Wherein, the concrete steps of described speed filtering algorithm as shown in Figure 4, mainly comprise the rationality evaluation algorithm and based on the filtering algorithm of weight;
The rationality evaluation algorithm is used for V1, V2, and V3 carries out the rationality judgement, and the evaluation algorithm concrete steps are:
1. according to speed restriction, remove unreasonable speed;
2. V1-V2, the gap judgement between these three differences of V1-V3 and V2-V3, and remove unreasonable;
3. V1-V2, these three differences of V1-V3 and V2-V3 are carried out repeatedly mean filter and are processed, and remove unreasonable item.
4. V1, the priority weight of V2 and V3 is: it is the highest that V3 puts letter, V2 secondly, V1, according to confidence judgement, draw the most credible velocity composition again.
Based on the filtering algorithm of weight, the most credible velocity composition drawn for the involutory rational judgment algorithm final the most credible velocity amplitude V that goes out the vehicle current state of computing that tables look-up
O, the form of specifically tabling look-up is as follows:
| Numbering | The most credible velocity composition | The most credible velocity amplitude V O |
| MOD1 | V1, V2, V3 are effective | (20%*V1+40%V2+40%V3) whole with last time speed according to each, 50% synthesize |
| MOD2 | V1 is invalid, V2, and V3 is effective | 50%V2+50%V3; Whole with last time speed according to each, 50% synthesize |
| MOD3 | V2 is invalid, V1, and V3 is effective | 30%*V1+70%V3; Whole with last time speed according to each, 50% synthesize |
| MOD4 | V3 is invalid, V1, and V2 is effective | 30%*V1+70%V2; Whole with last time speed according to each, 50% synthesize |
| MOD5 | V1 is effective, V2, and V3 is invalid | V1 gets 10 sampled values and is averaging; Whole with last time speed according to each, 50% synthesize |
| MOD6 | V2 is effective, V1, and V3 is invalid | V2 gets 10 sampled values and is averaging; Whole with last time speed according to each, 50% synthesize |
| MOD7 | V3 is effective, V1, and V2 is invalid | V3 gets 10 sampled values and is averaging; Whole with last time speed according to each, 50% synthesize |
| MOD8 | V1, V2, V3 are invalid | Keep effective optimal velocity last time |
3) microcontroller 5 obtains the three-axle magnetic field component parameters of the current present position of vehicle by magnetoresistive transducer 2: Mx, My and Mz; Microcontroller 5 obtains the current 3-axis acceleration component parameters of vehicle by obliquity sensor 3: Ax, Ay and Az;
4) microcontroller 5 utilizes three-axle magnetic field component parameters and the current 3-axis acceleration component parameters of vehicle of the current present position of vehicle, calculates the current athletic posture of vehicle by the attitude algorithm algorithm, obtains the angle theta of vehicle heading and direct north
1And motion attitude angle, described motion attitude angle comprises angle of pitch p, side rake angle r and angle of drift h;
5) microcontroller 5 is according to the vehicle heading angle theta obtained in step 4)
1, the Negotiation speed decomposition algorithm is to step 2) in the most credible velocity amplitude V of the vehicle current state that obtains
ODecompose, obtain the most credible velocity amplitude V of vehicle current state
OMovement velocity component on longitude and latitude direction
With
6) the movement velocity component that obtains according to step 5) of microcontroller 5
With
, and using vehicle current location information that step 1) obtains as the reference of vehicle initial position, Negotiation speed ~ longitude and latitude iterative algorithm obtains the displacement component of vehicle on longitude and latitude direction
With
7) displacement component of vehicle on longitude and latitude direction that obtain of 5 pairs of step 6) of microcontroller
With
Carry out the position correction processing, obtain final vehicle location locating information, more final vehicle location locating information is recombinated and sent to external unit by outside IO interface 6; Final vehicle location locating information comprises longitude, latitude and course.
Wherein, position correction processing procedure in described step 7) is as follows: using the vehicle current location information that obtains in step 1) as the initial position reference, and integrating step 1) in, obtain current positioning states, by the vehicle displacement component longitude and latitude direction on of position correction algorithm to obtaining in step 6)
With
Carry out position correction, obtain final vehicle location locating information, and the initial position reference using described final vehicle location locating information as next treatment cycle position correction algorithm.
As shown in Figure 3, the present invention can adopt following software flow:
The master routine concrete steps are as follows:
Step S01, carry out basic running environment foundation, reads initial hardware configuration parameter;
Step S02, microcontroller 5 carries out system initialization, carries out basic software operation configuration;
Step S03, carry out initial configuration to each module of system, initialization satellite positioning module 1 communication interface, initialization magnetoresistive transducer 2, initialization obliquity sensor 3, initialization CAN bus interface 4;
Step S04, carry out System self-test, and after to system power supply and to S02, carrying out, initialization result detects; If the fault of existence, storage failure code, and when execution step S12, failure message is sent by the reply data frame;
Step S05, carry out initiation parameter and be written into, and comprises that last time, failure code was written into and the initial alignment positional information, comprise through, latitude, and speed, it is standby that the information such as course are loaded into parameter list;
Step S06, enter system task scheduling major cycle, will be based on 6 task coordinate operations in cycle Interruption step SINT1 performing step S07 ~ S12 in this circulation;
Step S07, this task is that every 1ms moves once, main completion system task run management, the running mark of 5 tasks in set step S08 ~ S12;
Step S08, this task is that every 10ms moves once, mainly completes magnetoresistive transducer 2 and obliquity sensor 3 parameter acquisitions and storage; For providing, step S09 resolves parameter;
Step S09, this task is that every 20ms moves once, mainly complete 2 subtasks, attitude algorithm is carried out by the real time sensor parameter that step S08 collects in subtask 1, obtain the athletic posture angle information of the system of module and this module of equipment, for decomposing, step S10 medium velocity provide calculating parameter, subtask 2 to complete in interrupt step SINT4, receiving CAN packet parsing and Parameter storage, for the screening of step S10 medium velocity provides calculating parameter;
Step S10, this task is that every 100ms moves once, mainly complete 2 subtasks, subtask 1 obtains by step S09 that speed data, SINT5 outside are imported speed data into, S12 obtains satellite positioning module 1 provides speed data (if no-fix state, adopt the initial parameter be written in step S05 to substitute) utilize filtering algorithm to carry out the speed screening, obtain aims of systems speed, the target velocity calculated in the athletic posture information that subtask 2 calculates by step S09 and subtask 1 carries out decomposing based on the speed of positive north and due east direction;
Step S11, this task be every 200ms operation once, mainly complete 2 subtasks, the time parameter that the speed decomposition value that subtask 1 calculates by step S10 and step S12 obtain, calculated through, latitude moving displacement by the longitude and latitude iterative algorithm; What the location parameter that task 2 obtains by step S12 and subtask 1 calculated utilizes the position correction algorithm to carry out the movement position correction through, latitude moving displacement, obtains goal systems actual in, latitude information;
Step S12, this task is that every 1000ms moves once, mainly complete 3 subtasks, satellite positioning module 1 positional information that interrupt step SINT3 receives is resolved in subtask 1, obtain position location information (comprising the information such as longitude and latitude, speed, course), S10 ~ S11 provides calculating parameter for step, and the position location information restructuring is carried out by the target physical location, speed and the course information that in step S509 ~ S511, calculate in subtask 2; Subtask 3 is replied the SINT5 external system and is controlled and required parameter, comprises that just the information such as positional information, CAN bus message and failure code after restructuring send according to request;
Step S13, fault is jumped out the major cycle mistake and is processed, and module is carried out to the mistake processing, the failure code storage because of the situation that chance failure causes jumping out major cycle task treatment scheme;
Step 514, system reset, receive external reset request or fault and cause resetting, and enters SINT1 this module that resets;
Interrupt processing specific as follows:
Step SINT1, receive reset request, carries out system reset;
Step SINT2, carry out the cycle regularly, 6 task scheduling time references in performing step S507 ~ S512;
Step SINT3, interrupt processing, and receives the satellite positioning module location information parameter;
Step SINT4, interrupt processing, and receives the CAN message information;
Step SINT5, interrupt processing, and receives external request and control data.
Finally explanation is, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although with reference to preferred embodiment, the present invention is had been described in detail, those of ordinary skill in the art is to be understood that, can modify or be equal to replacement technical scheme of the present invention, and not breaking away from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of claim scope of the present invention.
Claims (3)
1. a vehicle-mounted non-blind area location navigation and vehicular attitude measurement mechanism, is characterized in that, it comprises:
Microcontroller (5);
Satellite positioning module (1), be used to the reception that realizes satellite-signal and the output of normal place locator data;
The magnetoresistive transducer of discrete setting (2), be used to obtaining the three-axle magnetic field component parameters of the current present position of vehicle: Mx, My and Mz;
The obliquity sensor of discrete setting (3), be used to obtaining the current 3-axis acceleration component parameters of vehicle: Ax, Ay and Az;
CAN bus interface (4) and outside IO interface (6);
Described microcontroller (5) comprising:
Satellite positioning module data receiver and resolution unit, for by data communication interface, accessing satellite positioning module (1), obtain the normal place locator data, and from the normal place locator data received, decompositing vehicle current location information, current positioning states, current car speed V parameter
1And current time, described vehicle current location information comprises longitude, latitude and course;
The attitude algorithm unit, be used to gathering the output data of magnetoresistive transducer (2), gather the output data of obliquity sensor (3); Magnetoresistive transducer is exported data and obliquity sensor output data are carried out attitude algorithm to collecting, and resolves the athletic posture that show that vehicle is current, obtains the angle theta of vehicle heading and direct north
1And motion attitude angle, described motion attitude angle comprises angle of pitch p, side rake angle r and angle of drift h;
The CAN data communication units, for gathering and resolve the CAN bus data by CAN bus interface (4), from car load CAN network message, resolving the current car speed V parameter obtained
3, car load CAN network C AN message is received and unloading, and positional information and attitude parameter is sent to car load CAN bus by CAN bus interface (4);
Speed screening unit, for the current car speed V that satellite positioning module data receiver and resolution unit are provided
1, the external reference of obtaining from external unit by outside IO interface (6) current car speed V parameter
2With the CAN data communication units from car load CAN network message, resolving the current car speed V parameter obtain
3Carry out speed and screen the most credible velocity amplitude V that calculates the vehicle current state
O
The speed resolving cell, for according to the vehicle heading angle theta
1To the most credible velocity amplitude V
OCarry out speed and decompose the most credible velocity amplitude V that obtains the vehicle current state
OMovement velocity component on longitude and latitude direction
With
Speed ~ longitude and latitude iterative computation unit, using vehicle current location information that satellite positioning module data receiver and resolution unit provide as the reference of vehicle initial position, to the most credible velocity amplitude V
OMovement velocity component on longitude and latitude direction
With
Carry out speed ~ longitude and latitude iterative computation and obtain the displacement component of vehicle on longitude and latitude direction
With
Position correction and recomposition unit, the displacement component of vehicle on longitude and latitude direction
With
Carry out the position correction processing, obtain final vehicle location locating information, more final vehicle location locating information is recombinated and send to external unit by outside IO interface (6).
2. a vehicle-mounted non-blind area location navigation and vehicular attitude measuring method, is characterized in that, the method comprises the following step:
1) by Vehicular satellite locating module (1), read and obtain vehicle current location information, current positioning states, current car speed V parameter
1And current time, described vehicle current location information comprises longitude, latitude and course;
Obtain the current car speed V parameter of the external reference that external unit provides
2
From car load CAN network message, being resolved to current car speed V parameter
3
2) Negotiation speed filtering algorithm, comprehensive above-mentioned three kinds of car speed parameter: V
1, V
2And V
3, and calculate the most credible velocity amplitude V of a vehicle current state
O
3) by magnetoresistive transducer (2), obtain the three-axle magnetic field component parameters of the current present position of vehicle: Mx, My and Mz; By obliquity sensor (3), obtain the current 3-axis acceleration component parameters of vehicle: Ax, Ay and Az;
4) utilize three-axle magnetic field component parameters and the current 3-axis acceleration component parameters of vehicle of the current present position of vehicle, calculate the current athletic posture of vehicle by the attitude algorithm algorithm, obtain the angle theta of vehicle heading and direct north
1And motion attitude angle, described motion attitude angle comprises angle of pitch p, side rake angle r and angle of drift h;
By outside IO interface (6) and CAN bus interface (4), athletic posture is sent to respectively to external unit and car load CAN bus;
5) according to the vehicle heading angle theta obtained in step 4)
1, the Negotiation speed decomposition algorithm is to step 2) in the most credible velocity amplitude V of the vehicle current state that obtains
ODecompose, obtain the most credible velocity amplitude V of vehicle current state
OMovement velocity component on longitude and latitude direction
With
6) the movement velocity component obtained according to step 5)
With
, and using vehicle current location information that step 1) obtains as the reference of vehicle initial position, Negotiation speed ~ longitude and latitude iterative algorithm obtains the displacement component of vehicle on longitude and latitude direction
With
7) displacement component of vehicle on longitude and latitude direction step 6) obtained
With
Carry out the position correction processing, obtain final vehicle location locating information, more final vehicle location locating information is recombinated and send to external unit by outside IO interface (6).
3. a kind of vehicle location locating information according to claim 2 and vehicular attitude measuring method, it is characterized in that, position correction processing procedure in described step 7) is as follows: using the vehicle current location information that obtains in step 1) as the initial position reference, and integrating step 1) in, obtain current positioning states, by the vehicle displacement component longitude and latitude direction on of position correction algorithm to obtaining in step 6)
With
Carry out position correction, obtain final vehicle location locating information, and the initial position reference using described final vehicle location locating information as next treatment cycle position correction algorithm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310328005.2A CN103411605B (en) | 2013-07-31 | 2013-07-31 | A kind of vehicle-mounted non-blind area location navigation and vehicular attitude measurement mechanism and measuring method |
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| CN103713637A (en) * | 2013-12-09 | 2014-04-09 | 广西科技大学 | Intelligent trolley gravity inclination angle control method based on one-chip microcomputer |
| CN103713635A (en) * | 2013-12-09 | 2014-04-09 | 广西科技大学 | Intelligent trolley control system based on one-chip microcomputer |
| CN103713636A (en) * | 2013-12-09 | 2014-04-09 | 广西科技大学 | Gravity inclination angle control method based on one-chip microcomputer |
| CN104501806A (en) * | 2014-11-24 | 2015-04-08 | 李青花 | Intelligent positioning navigation system |
| CN104697536A (en) * | 2015-02-12 | 2015-06-10 | 奇瑞汽车股份有限公司 | Vehicle positioning method and apparatus |
| CN108931794A (en) * | 2018-04-13 | 2018-12-04 | 东风商用车有限公司 | Blind area vehicle positioning system and control method thereof |
| CN112082595A (en) * | 2020-08-07 | 2020-12-15 | 厦门万宾科技有限公司 | Multi-degree-of-freedom micro-vibration diagnosis method and sensing terminal |
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