CN103411605B - A kind of vehicle-mounted non-blind area location navigation and vehicular attitude measurement mechanism and measuring method - Google Patents
A kind of vehicle-mounted non-blind area location navigation and vehicular attitude measurement mechanism and measuring method Download PDFInfo
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Abstract
The invention discloses a kind of vehicle-mounted non-blind area location navigation and vehicular attitude measurement mechanism and measuring method, measurement mechanism comprises: satellite positioning module, magnetoresistive transducer, obliquity sensor, CAN interface, microcontroller and outside IO interface; Satellite positioning module, magnetoresistive transducer are connected with the input of microcontroller with the output of obliquity sensor, and microcontroller is bi-directionally connected by CAN interface and car load CAN, and microcontroller is bi-directionally connected by outside IO interface and external unit.The present invention has without blind area, location, and development and Design cost is low, the beneficial effect that maintenance cost is low.
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, cause the problem of locate failure because of satellite-signal decline or loss mainly for existing positioning navigation module, and because of gyroscope cost high, and there is the problem of accumulated error, carry out athletic posture based on discrete sensor to resolve, and utilize and resolve the course deviation angle modification that obtains and compensate current position determination data to reach without a kind of location navigation of blind area, location and vehicular attitude measurement mechanism and measuring method, 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.Further, in vehicle mounted locating and monitoring nearly all at present and navigational system, locating module is absolutely necessary.Locating module is the most basic source of position data.
But, in prior art, be no matter adopt GPS module or Big Dipper positioning navigation module in satellite-signal decline very large or satellite-signal cannot be received time, all cannot realize the function of location navigation; When receiving satellite amount is less, locator data also can be caused inaccurate, there is the problems such as random deviation, that is to say in prior art no matter be the problem adopting GPS module or the Position Fixing Navigation System of Big Dipper positioning navigation module all to there is blind area, location.
Along with gyrostatic widespread use, the problem of blind area, location is there is in order to solve existing Position Fixing Navigation System, various based on gyroscope inertial navigation, or vehicle mounted locating and monitoring and the navigational system of the GPS/ Big Dipper and gyroscope integrated navigation occur in succession, but in prior art, such scheme is higher because following reason causes system to realize cost, realize difficulty large: 1) need to adopt cost higher, and itself there is the gyroscope of accumulated error problem; 2) need to be equipped with separate speed sensor and carry out velocity survey; 3) need to adopt expensive DSP to carry out the process of integrated navigation complex data and eliminate gyroscope and to navigate the restrictions such as the accumulated error brought.But, responsive at cost requirement, and require design difficulty and the low vehicle mounted locating and monitoring System Market of maintenance difficulties, what such scheme of the prior art cannot be real realizes high volume applications.
Summary of the invention
For prior art above shortcomings, the technical matters that the present invention solves is: how to provide a kind of without blind area, location, and development and Design cost is low, the vehicle-mounted non-blind area location navigation that maintenance cost is low and vehicular attitude measurement mechanism.
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, it is characterized in that, it comprises:
Microcontroller; Satellite positioning module, for the output of the reception and normal place locator data that realize satellite-signal;
Magnetoresistive transducer, for obtaining the three-axle magnetic field component parameters of the current present position of vehicle: Mx, My and Mz;
Obliquity sensor, for obtaining the current 3-axis acceleration component parameters of vehicle: Ax, Ay and Az;
CAN interface; Microcontroller and outside IO interface;
Described microcontroller comprises:
Satellite positioning module data receiver and resolution unit, for being accessed satellite positioning module (1) by data communication interface, obtain normal place locator data, and from the normal place locator data received, decomposite current vehicle position information, current location state, Current vehicle speed parameter V
1and current time, described current vehicle position information comprises longitude, latitude and course;
Attitude algorithm unit, for gathering the output data of magnetoresistive transducer (2), gathers the output data of obliquity sensor (3); Export data and obliquity sensor and export data to collecting magnetoresistive transducer and carry out attitude algorithm, resolve the athletic posture showing that vehicle is current, 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;
CAN data communication units, for carrying out gathering and resolve to CAN data by CAN interface (4), resolves the Current vehicle speed parameter V obtained from car load CAN network message
3, car load CAN network CAN message is received and unloading, and positional information and attitude parameter is sent to car load CAN by CAN interface (4);
Speed screening unit, for the Current vehicle speed V provided satellite positioning module data receiver and resolution unit
1, the Current vehicle speed parameter V of external reference to be obtained from external unit by outside IO interface (6)
2from car load CAN network message, the Current vehicle speed parameter V obtained is resolved with CAN data communication units
3carry out the most credible velocity amplitude V that speed screening calculates vehicle's current condition
o;
Resolution of velocity unit, for according to vehicle heading angle theta
1to the most credible velocity amplitude V
ocarry out the most credible velocity amplitude V that resolution of velocity obtains vehicle's current condition
omovement velocity component on longitude and latitude direction
with
;
Speed ~ longitude and latitude iterative computation unit, the current vehicle position information provided using satellite positioning module data receiver and resolution unit 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 position correction process, obtain final vehicle location locating information, more final vehicle location locating information is recombinated and sends to external unit by outside IO interface (6).
A kind of vehicle-mounted non-blind area location navigation and vehicular attitude measuring method, it is characterized in that, the method comprises the following step:
1) current vehicle position information is obtained, current location state, Current vehicle speed parameter V from satellite positioning module (1) reading
1and current time, described current vehicle position information comprises longitude, latitude and course;
Obtain the Current vehicle speed parameter V of the external reference that external unit provides
2;
Current vehicle speed parameter V is resolved to from car load CAN network message
3;
2) Negotiation speed filtering algorithm, comprehensively 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's current condition
o;
3) the three-axle magnetic field component parameters of the current present position of vehicle is obtained by magnetoresistive transducer (2): Mx, My and Mz; The current 3-axis acceleration component parameters of vehicle is obtained: Ax, Ay and Az by obliquity sensor (3);
4) utilize the three-axle magnetic field component parameters of the current present position of vehicle and the current 3-axis acceleration component parameters of vehicle, calculate the current athletic posture of vehicle by 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 interface (4), athletic posture is sent to external unit and car load CAN respectively;
5) according to the vehicle heading angle theta obtained in step 4)
1, Negotiation speed decomposition algorithm is to step 2) in the most credible velocity amplitude V of vehicle's current condition that obtains
odecompose, obtain the most credible velocity amplitude V of vehicle's current condition
omovement velocity component on longitude and latitude direction
with
;
6) according to the movement velocity component that step 5) obtains
with
, and the current vehicle position information obtained using step 1) 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
with
;
7) to the displacement component of vehicle on longitude and latitude direction that step 6) obtains
with
carry out position correction process, obtain final vehicle location locating information, more final vehicle location locating information is recombinated and sends to external unit by outside IO interface (6).
Wherein, position correction processing procedure in described step 7) is as follows: using the current vehicle position information that obtains in step 1) as initial position reference, and integrating step 1) in obtain current location state, by position correction algorithm to the displacement component of the vehicle obtained in step 6) on longitude and latitude direction
with
carry out position correction, obtain final vehicle location locating information, and using the initial position reference of 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 the three-axle magnetic field component parameters of vehicle current 3-axis acceleration component parameters and the current present position of vehicle respectively, and attitude algorithm is carried out to the two obtain vehicle heading angle, then adopt resolution of velocity algorithm to the most credible velocity amplitude V of the vehicle's current condition that Negotiation speed filtering algorithm obtains according to vehicle heading angle
ocarry out resolution of velocity and obtain V
omovement velocity component on longitude and latitude direction, finally according to this movement velocity component (the current vehicle position information collected using satellite positioning module 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 obtains final vehicle location locating information after carrying out correcting process.
In sum, carry out athletic posture resolve owing to the present invention is based on discrete sensor, and can based on multi-parameter comprehensive process, effective correction and supplementing when front blind-area locator data, therefore, the present invention compensate for existing locating module blind area and cannot locate high with gyroscope inertial navigation cost and there is the shortcoming of accumulated error, it is high that the present invention has reliability of positioning, can realize round-the-clock real-time location, development and Design cost is low, the beneficial effect that maintenance cost is low; The present invention simultaneously also provides vehicle driving attitude measurement, and supports by CAN for car load provides athletic posture information, and provides car load CAN message to receive, and resolves and unloading function.
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 simulating process flow diagram.
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.
See Fig. 1, a kind of vehicle-mounted non-blind area location navigation and vehicular attitude measurement mechanism, it comprises:
Satellite positioning module 1, for the output of the reception and normal place locator data that realize satellite-signal;
Magnetoresistive transducer 2, for obtaining the three-axle magnetic field component parameters of the current present position of vehicle: Mx, My and Mz;
Obliquity sensor 3, for obtaining the current 3-axis acceleration component parameters of vehicle: Ax, Ay and Az;
CAN interface 4, supports that this module is by ISO11898 standard physical interface access car load CAN network, realize by CAN interface carry out vehicle communication message receive and attitude, positional information transmission.
The major function of microcontroller 5 is as follows: by its data communication interface access satellite positioning module 1, obtain positional information, and from the positional information received, decomposite position longitude and latitude and the position correction important parameter such as speed, course; To magnetoresistive transducer 2 data acquisition, obliquity sensor 3 data acquisition, and carry out algorithm computing by the sensor parameters collected, calculate current block attitude, be vehicle current pose; Realize CAN data acquisition and parsing, support, based on J1939 protocol analysis CAN data message, meanwhile, to realize the reception to CAN message and unloading, and positional information, attitude parameter sending function; And realize based on passing through satellite positioning module 1 position, speed, course parameter, by the attitude parameter that sensor obtains, the speed parameter obtained by outside input carries out algorithm corrected Calculation, obtain best current location parameter estimated value, and utilize this optimal position parameters estimated value location information to recombinate, then send to peripheral hardware according to standard format and transmission cycle.
Outside IO interface 6, supports that this device and external unit carry out data interaction, realizes receiving external unit request and control data, and carries out replying and revised positional information and the CAN message that receives are sent to receiving equipment.
Annexation between each comprising modules of this device is as follows:
Satellite positioning module 1, magnetoresistive transducer 2 are connected with the input of microcontroller 5 with the output of obliquity sensor 3, microcontroller 5 is bi-directionally connected by CAN interface 4 and car load CAN, microcontroller 5 is bi-directionally connected with external unit 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 obtains current vehicle position information, current location state, Current vehicle speed parameter V by the data communication interface of its inside from satellite positioning module 1 reading
1and current time, described current vehicle position information comprises longitude, latitude and course;
Microcontroller 5 obtains the Current vehicle speed parameter V of the external reference that external unit provides by outside IO interface 6
2;
Microcontroller 5 is resolved to Current vehicle speed parameter V by CAN from car load CAN network message
3;
2) microcontroller 5 Negotiation speed filtering algorithm, comprehensively 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's current condition
o;
Wherein, the concrete steps of described speed filtering algorithm as shown in Figure 4, mainly comprise rationality evaluation algorithm and the filtering algorithm based on weight;
Rationality evaluation algorithm is used for carrying out rationality judgement to V1, V2, V3, and evaluation algorithm concrete steps are:
1. according to speed restriction, unreasonable speed is removed;
2. the gap between these three differences of V1-V2, V1-V3 and V2-V3 judges, and removes unreasonable item;
3. these three differences of V1-V2, V1-V3 and V2-V3 carry out repeatedly mean filter process, remove unreasonable item.
4. the priority weight of V1, V2 and V3 is: V3 confidence is the highest, and secondly V2, again V1, according to confidence judgement, draw the most credible velocity composition.
Based on the filtering algorithm of weight, the most credible velocity composition drawn for involutory rational judgment algorithm carries out the final the most credible velocity amplitude V going out vehicle's current condition of table lookup operations
o, concrete look-up table 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) entirety is synthesized according to each 50% with speed last time |
| MOD2 | V1 is invalid, and V2, V3 are effective | 50%V2+50%V3; Entirety is synthesized according to each 50% with speed last time |
| MOD3 | V2 is invalid, and V1, V3 are effective | 30%*V1+70%V3; Entirety is synthesized according to each 50% with speed last time |
| MOD4 | V3 is invalid, and V1, V2 are effective | 30%*V1+70%V2; Entirety is synthesized according to each 50% with speed last time |
| MOD5 | V1 is effective, and V2, V3 are invalid | V1 gets 10 sampled values and is averaging; Entirety is synthesized according to each 50% with speed last time |
| MOD6 | V2 is effective, and V1, V3 are invalid | V2 gets 10 sampled values and is averaging; Entirety is synthesized according to each 50% with speed last time |
| MOD7 | V3 is effective, and V1, V2 are invalid | V3 gets 10 sampled values and is averaging; Entirety is synthesized according to each 50% with speed last time |
| 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 the three-axle magnetic field component parameters of the current present position of vehicle and the current 3-axis acceleration component parameters of vehicle, calculates the current athletic posture of vehicle, obtain the angle theta of vehicle heading and direct north by attitude algorithm algorithm
1and motion attitude angle, described motion attitude angle comprises angle of pitch p, side rake angle r and angle of drift h;
Athletic posture can be sent to external unit and car load CAN by outside IO interface 6 and CAN interface 4 by microcontroller 5 respectively;
5) microcontroller 5 is according to the vehicle heading angle theta obtained in step 4)
1, Negotiation speed decomposition algorithm is to step 2) in the most credible velocity amplitude V of vehicle's current condition that obtains
odecompose, obtain the most credible velocity amplitude V of vehicle's current condition
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 the current vehicle position information obtained using step 1) 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
with
;
7) displacement component of vehicle on longitude and latitude direction that obtain of microcontroller 5 pairs of step 6)
with
carry out position correction process, obtain final vehicle location locating information, more final vehicle location locating information is recombinated and sends 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 current vehicle position information that obtains in step 1) as initial position reference, and integrating step 1) in obtain current location state, by position correction algorithm to the displacement component of the vehicle obtained in step 6) on longitude and latitude direction
with
carry out position correction, obtain final vehicle location locating information, and using the initial position reference of 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:
Master routine concrete steps are as follows:
Step S01, carries out basic running environment foundation, reads initial hardware configuration parameter;
Step S02, microcontroller 5 carries out system initialization, carries out basic software and runs configuration;
Step S03, carries 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 interface 4;
Step S04, carries out System self-test, detects to system power supply and to initialization result after S02 execution; If there is fault, then storage failure code, and when performing step S12, failure message is sent by reply data frame;
Step S05, carries out initiation parameter loading, and comprise last time failure code and be loaded into and initial position location information, comprise through, latitude, speed, it is for subsequent use that the information such as course are loaded into parameter list;
Step S06, enters system task scheduling major cycle, will realize 6 task coordinates in step S07 ~ S12 run in this circulation based on cycle Interruption step SINT1;
Step S07, this task is that every 1ms runs once, main completion system task run management, the running mark of 5 tasks in placing step S08 ~ S12;
Step S08, this task is that every 10ms runs once, mainly completes magnetoresistive transducer 2 and obliquity sensor 3 parameter acquisition and storage; Parameter is resolved for step S09 provides;
Step S09, this task is that every 20ms runs once, mainly complete 2 subtasks, the real time sensor parameter that subtask 1 is collected by step S08 carries out attitude algorithm, obtain the athletic posture angle information of the system of module and this module of equipment, there is provided calculating parameter for step S10 medium velocity decomposes, subtask 2 completes resolves and parameter storage, for the screening of step S10 medium velocity provides calculating parameter receiving CAN message in interrupt step SINT4;
Step S10, this task is that every 100ms runs once, mainly complete 2 subtasks, subtask 1 obtains speed data by step S09, SINT5 outside imports speed data into, S12 obtains satellite positioning module 1 provides speed data (if no-fix state, the initial parameter be loaded in step S05 is adopted to substitute) utilize filtering algorithm to carry out speed screening, obtain aims of systems speed, the target velocity calculated in the athletic posture information that subtask 2 is calculated by step S09 and subtask 1 carries out the resolution of velocity based on positive north and direction, due east;
Step S11, this task is that every 200ms runs once, mainly completes 2 subtasks, the resolution of velocity value that subtask 1 is calculated by step S10 and the time parameter that step S12 obtains, and calculates through, latitude moving displacement by longitude and latitude iterative algorithm; What the location parameter that task 2 is obtained by step S12 and subtask 1 calculated utilizes position correction algorithm to carry out movement position correction through, latitude moving displacement, obtains goal systems actual in, latitude information;
Step S12, this task is that every 1000ms runs once, mainly complete 3 subtasks, satellite positioning module 1 positional information that interrupt step SINT3 receives by subtask 1 is resolved, obtain position location information (comprising the information such as longitude and latitude, speed, course), for step S10 ~ S11 provides calculating parameter, the target actual positions, speed and the course information that calculate in step S509 ~ S511 are carried out position location information restructuring by subtask 2; Subtask 3 is replied SINT5 external system and is controlled and required parameter, just comprises the information such as the positional information after restructuring, CAN message and failure code and sends according to request;
Step S13, fault jumps out major cycle error handle, and by module because chance failure causes the situation jumping out major cycle task treatment scheme to carry out error handle, failure code stores;
Step 514, system reset, receives external reset request or fault and causes resetting, and enters SINT1 and to reset this module;
Interrupt processing is specific as follows:
Step SINT1, receives reset request, carries out system reset;
Step SINT2, carries out cycle timing, realizes 6 task scheduling time references in step S507 ~ S512;
Step SINT3, interrupt processing, receives satellite positioning module location information parameter;
Step SINT4, interrupt processing, receives CAN message information;
Step SINT5, interrupt processing, receives external request and control data.
What finally illustrate is, above embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although with reference to preferred embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, can modify to technical scheme of the present invention or equivalent replacement, and not departing from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of right of the present invention.
Claims (3)
1. vehicle-mounted non-blind area location navigation and a vehicular attitude measurement mechanism, it is characterized in that, it comprises:
Microcontroller (5);
Satellite positioning module (1), for the output of the reception and normal place locator data that realize satellite-signal;
The magnetoresistive transducer (2) of discrete setting, for obtaining the three-axle magnetic field component parameters of the current present position of vehicle: Mx, My and Mz;
The obliquity sensor (3) of discrete setting, for obtaining the current 3-axis acceleration component parameters of vehicle: Ax, Ay and Az;
CAN interface (4) and outside IO interface (6);
Described microcontroller (5) comprising:
Satellite positioning module data receiver and resolution unit, for being accessed satellite positioning module (1) by data communication interface, obtain normal place locator data, and from the normal place locator data received, decomposite current vehicle position information, current location state, Current vehicle speed parameter V
1and current time, described current vehicle position information comprises longitude, latitude and course;
Attitude algorithm unit, for gathering the output data of magnetoresistive transducer (2), gathers the output data of obliquity sensor (3); Export data and obliquity sensor and export data to collecting magnetoresistive transducer and carry out attitude algorithm, resolve the athletic posture showing that vehicle is current, 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;
CAN data communication units, for carrying out gathering and resolve to CAN data by CAN interface (4), resolves the Current vehicle speed parameter V obtained from car load CAN network message
3, car load CAN network CAN message is received and unloading, and positional information and attitude parameter is sent to car load CAN by CAN interface (4);
Speed screening unit, for the Current vehicle speed V provided satellite positioning module data receiver and resolution unit
1, the Current vehicle speed parameter V of external reference to be obtained from external unit by outside IO interface (6)
2from car load CAN network message, the Current vehicle speed parameter V obtained is resolved with CAN data communication units
3carry out the most credible velocity amplitude V that speed screening calculates vehicle's current condition
o;
Resolution of velocity unit, for according to vehicle heading angle theta
1to the most credible velocity amplitude V
ocarry out the most credible velocity amplitude V that resolution of velocity obtains vehicle's current condition
omovement velocity component on longitude and latitude direction
v lON with
v lAT ;
Speed ~ longitude and latitude iterative computation unit, the current vehicle position information provided using satellite positioning module data receiver and resolution unit as the reference of vehicle initial position, to the most credible velocity amplitude V
omovement velocity component on longitude and latitude direction
v lON with
v lAT carry out speed ~ longitude and latitude iterative computation and obtain the displacement component of vehicle on longitude and latitude direction
s lON with
s lAT ;
Position correction and recomposition unit, for by the displacement component of vehicle on longitude and latitude direction
s lON with
s lAT carry out position correction process, to obtain final vehicle location locating information, more final vehicle location locating information is recombinated and sends to external unit by outside IO interface (6).
2. vehicle-mounted non-blind area location navigation and a vehicular attitude measuring method, it is characterized in that, the method comprises the following step:
1) current vehicle position information, current location state, Current vehicle speed parameter V is obtained by Vehicular satellite locating module (1) reading
1and current time, described current vehicle position information comprises longitude, latitude and course;
Obtain the Current vehicle speed parameter V of the external reference that external unit provides
2;
Current vehicle speed parameter V is resolved to from car load CAN network message
3;
2) Negotiation speed filtering algorithm, comprehensively 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's current condition
o;
3) the three-axle magnetic field component parameters of the current present position of vehicle is obtained by magnetoresistive transducer (2): Mx, My and Mz; The current 3-axis acceleration component parameters of vehicle is obtained: Ax, Ay and Az by obliquity sensor (3);
4) utilize the three-axle magnetic field component parameters of the current present position of vehicle and the current 3-axis acceleration component parameters of vehicle, calculate the current athletic posture of vehicle by 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 interface (4), athletic posture is sent to external unit and car load CAN respectively;
5) according to the vehicle heading angle theta obtained in step 4)
1, Negotiation speed decomposition algorithm is to step 2) in the most credible velocity amplitude V of vehicle's current condition that obtains
odecompose, obtain the most credible velocity amplitude V of vehicle's current condition
omovement velocity component on longitude and latitude direction
v lON with
v lAT ;
6) according to the movement velocity component that step 5) obtains
v lON with
v lAT , and the current vehicle position information obtained using step 1) 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
s lON with
s lAT ;
7) to the displacement component of vehicle on longitude and latitude direction that step 6) obtains
s lON with
s lAT carry out position correction process, obtain final vehicle location locating information, more final vehicle location locating information is recombinated and sends to external unit by outside IO interface (6).
3. one according to claim 2 vehicle-mounted non-blind area location navigation and vehicular attitude measuring method, it is characterized in that, position correction processing procedure in described step 7) is as follows: using the current vehicle position information that obtains in step 1) as initial position reference, and integrating step 1) in obtain current location state, by position correction algorithm to the displacement component of the vehicle obtained in step 6) on longitude and latitude direction
s lON with
s lAT carry out position correction, obtain final vehicle location locating information, and using the initial position reference of described final vehicle location locating information as next treatment cycle position correction algorithm.
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| 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 |
| 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 |
| 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 |
| CN108931794B (en) * | 2018-04-13 | 2023-05-30 | 东风商用车有限公司 | Blind area vehicle positioning system and control method thereof |
| CN112082595B (en) * | 2020-08-07 | 2022-06-21 | 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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