CN104296744A - Vehicle-mounted inertial navigation system - Google Patents
Vehicle-mounted inertial navigation system Download PDFInfo
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- CN104296744A CN104296744A CN201410494790.3A CN201410494790A CN104296744A CN 104296744 A CN104296744 A CN 104296744A CN 201410494790 A CN201410494790 A CN 201410494790A CN 104296744 A CN104296744 A CN 104296744A
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- vehicle
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- odometer
- control module
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
Abstract
The invention discloses a vehicle-mounted inertial navigation system. The vehicle-mounted inertial navigation system comprises a pressure altitude sensor, a milemeter, an acceleration sensor, an image acquisition module, a control module, a touch display module, an audio module and a communication module, wherein a plurality of interrupt response modules, an I2C bus interface module, a serial port communication interface module and a data input-output module are arranged inside the control module; the milemeter is connected with the interrupt response modules of the control module; the pressure altitude sensor is connected with the control module by virtue of the I2C bus interface module; the communication module is connected with the control module by virtue of the serial port communication interface module; and the acceleration sensor, the image acquisition module, the touch display module and the audio module are connected with the control module by virtue of the data input-output module. The vehicle-mounted inertial navigation system is capable of providing three-dimensional position, speed and track data and has the assistance of the characteristics of driver eye-closing caution, impact caution, border crossing caution, automatic cooperation of near interest points, and the like.
Description
Technical field
The present invention relates to vehicle mounted guidance field, particularly relate to a kind of three-dimensional position, speed and track data can be provided and be aided with driver close one's eyes warning, clash into warning, the onboard navigation system of the feature such as Auto-matching of cross the border warning and neighbouring point of interest.
Background technology
At present, vehicle-mounted inertial navigation locator meams all can only suppose that vehicle travels in the plane, and therefore obtained result is all based on the positioning result under plane right-angle coordinate.In true applied environment, if the change on vehicle generation height, such as, go up a slope or descending, when sailing into or roll the scenes such as overpass away from, the elevation information of vehicle cannot be judged in positioning system and cannot, to vehicle running path accurately to guide, cause inertial navigation alignment quality to be a greater impact.In addition, fatigue driving is driven with poison, drunk driving, hypervelocity, become the five class outrages that traffic sternly hits together with overload, existing onboard navigation system can not be reminded when driver is in fatigue state, can not send warning message when occurring to clash into the related objective beyond vehicle.In addition, existing onboard navigation system cannot as mobile phone in conjunction with map and the secondary information that is attached on road to strengthen the experience of driver.Therefore, those skilled in the art be devoted to develop a kind of three-dimensional position and track data can be provided and be aided with driver to close one's eyes the onboard navigation system of the feature such as Auto-matching of warning, collision alerts and neighbouring point of interest.
Summary of the invention
Because the above-mentioned defect of prior art, the invention provides a kind of three-dimensional position, speed and track data can be provided and be aided with driver close one's eyes warning, clash into warning, cross the border and warn and the onboard navigation system of the feature such as Auto-matching of neighbouring point of interest.
In better embodiment of the present invention, a kind of vehicle-mounted inertial navigation system, comprise: pressure-altitude sensor (1), odometer (2), acceleration transducer (3), image collection module (4), control module (5), touch display module (6), audio-frequency module (7) and communication module (8), wherein, described control module (5) inside has multiple interrupt response module, I2C bus interface module, serial communication interface module and data input/output module.Described odometer (2) comprises revolver odometer and rightly takes turns odometer, described revolver odometer and described right described interrupt response model calling of taking turns in odometer and described control module (5); Described pressure-altitude sensor (1) is connected with the described I2C bus interface module in described control module (5); Described communication module (8) is connected with described control module (5) by described serial communication interface module.Described acceleration transducer (3), described image collection module (4), described touch display module (6) are connected with described control module (5) by described data input/output module with described audio-frequency module (7).
Further, the function of described odometer (2) obtains the vehicle wheel rotation information in vehicle travel process, described revolver odometer is installed on the left rear wheel of vehicle, describedly rightly take turns the off hind wheel that odometer is installed on vehicle, along with the traveling of vehicle, described revolver odometer and described right odometer of taking turns can produce corresponding cyclic pulse signal respectively, by the described interrupt response module in described control module (5), the horizontal direction information of vehicle movement is supplied to described control module (5).
Further, the function of described pressure-altitude sensor (1) is the atmospheric value of measuring vehicle present position, obtained the sea level elevation of vehicle by the conversion relation of atmospheric value and sea level elevation, by the described I2C bus interface module in described control module (5), vehicle altitude info ination is sent to described control module (5).
Further, revolver odometer, described right raw data of taking turns odometer and pressure-altitude sensor (1) described in control module (5) overall treatment, described overall treatment comprises the following steps:
Respond two external interrupt, call counter module, obtain two vehicle wheel rotation information;
Read the value of the inner corresponding registers of pressure-altitude sensor by described I2C bus interface module, obtain atmospheric pressure value information;
Perform the inertial navigation location algorithm improved, the rotation information of two wheels being converted into the speed position information in horizontal direction, is the speed position information in vertical direction by described atmospheric pressure value convert information; And
Three-dimensional position velocity information is exported by described serial communication interface module.
Further, when fatigue driving occurs vehicle driver, initiatively can find and remind driver to correct, also can be configured to send information warning to outside vehicle related ends.
Further, when described acceleration transducer (3) has detected that collision accident occurs, can be configured to send information warning by described communication module (8) to outside vehicle related ends.
Further, described control module (5) can real time record and to outside vehicle related ends send three dimensional local information, and at the upper 3 D motion trace showing vehicle of described touch display module (6), understanding for driver, car owner or police criminal detection personnel and analyzing vehicle movement situation provides Data support.
Further, three-dimensional boundaries can be configured on map, when vehicle movement is to during border or the time of being beyond the boundary, send information warning to driver or the outside vehicle relevant personnel.
Further, can according to the map and the point of interest of secondary development positional information Auto-matching driver, such as refuelling station and parking lot etc., and by the information of point of interest described in voice broadcast and the distance between vehicle and described point of interest.
Compared to existing technology, onboard navigation system provided by the invention has following beneficial effect:
1) introducing pressure-altitude sensor makes system of the present invention have the ability providing three-dimensional location data, and system authority is succinct, is easy to realize and components and parts are with low cost.
2) when fatigue driving occurs vehicle driver, system of the present invention initiatively can find and remind driver to correct, and also can be configured to send information warning to outside vehicle related ends.
3) when having detected that collision accident occurs, system of the present invention can be configured to send information warning to outside vehicle related ends.
4) system energy real time record of the present invention and to outside vehicle related ends send three dimensional local information, and in touch display module, show the 3 D motion trace of vehicle, understanding for driver, car owner or police criminal detection personnel and analyzing vehicle movement situation provides Data support.
5) system of the present invention can be configured the three-dimensional boundaries on a map, when vehicle movement is to during border or the time of being beyond the boundary, sends information warning to driver or the outside vehicle relevant personnel.
6) system of the present invention can according to the map and the point of interest of secondary development positional information Auto-matching driver, such as refuelling station, parking lot etc., and by the distance of voice broadcast interest point information and vehicle and point of interest.
Be described further below with reference to the technique effect of accompanying drawing to design of the present invention, concrete structure and generation, to understand object of the present invention, characteristic sum effect fully.
Accompanying drawing explanation
Fig. 1 is the system construction drawing of a preferred embodiment of the present invention; And
Fig. 2 is the process flow diagram of the acquisition three dimensional local information of a preferred embodiment of the present invention.
Embodiment
Below in conjunction with Figure of description, specific implementation method is described in detail.
As shown in Figure 1, vehicle-mounted inertial navigation system of the present invention, comprise: pressure-altitude sensor (1), odometer (2), acceleration transducer (3), image collection module (4), control module (5), touch display module (6), audio-frequency module (7) and communication module (8), wherein, described control module (5) inside has multiple interrupt response module, I2C bus interface module, serial communication interface module and data input/output module.
Described odometer comprises revolver odometer and rightly takes turns odometer, be installed on left rear wheel and the off hind wheel of vehicle respectively, along with the traveling of vehicle, revolver odometer and right odometer of taking turns can produce corresponding cyclic pulse signal respectively, by the interrupt response module of control module, the horizontal direction information of the motion of vehicle is supplied to control module.It exports as pulse signal, and often the vehicle wheel rotation distance exported representated by a pulse depends on radius of wheel and on wheel, has been evenly arranged how many sensing cells.
Described pressure-altitude sensor can the atmospheric value of measuring vehicle present position, is obtained the sea level elevation of vehicle by the conversion relation of atmospheric value and sea level elevation.By the I2C bus interface module of control module, vehicle altitude info ination is sent to control module.
Described control module can obtain revolver odometer by each interface module, rightly takes turns odometer, the information that pressure-altitude sensor produces; Perform the inertial navigation location algorithm improved; Obtain the navigator fix information in vehicle horizontal direction and vertical direction; By the serial communication interface module of inside, navigator fix information is exported.
Perform the step of the inertial navigation location algorithm of described improvement as shown in Figure 2, its processing procedure comprises:
1) respond two external interrupt, call counter module, obtain two vehicle wheel rotation information;
2) read the value of the inner corresponding registers of pressure-altitude sensor by I2C bus interface, obtain atmospheric pressure value information;
3) perform the inertial navigation location algorithm improved, the rotation information of two wheels being converted into the speed position information in horizontal direction, is the speed position information in vertical direction by atmospheric pressure value convert information.
4) three-dimensional position velocity information is exported by serial ports.
Described step 3) in, as follows by the formula of two vehicle wheel rotation convert information involved by horizontal direction speed position information:
The computing formula obtaining vehicle traveling horizontal velocity size v is as follows:
v＝ΔD÷Δt
In formula, Δ D upgrades at one the distance that in epoch, vehicle is passed by, and Δ t is the time interval upgrading epoch, wherein,
ΔD＝(ΔL+ΔR)÷2
In formula, Δ L is that revolver upgrades the distance of passing by epoch at one, and Δ R is that right wheel upgrades the distance of passing by epoch at one,
ΔL＝TicL×d
ΔR＝TicR×d
In formula, TicL upgrades at one the umber of pulse that in epoch, revolver odometer exports, and TicR upgrades the right umber of pulse of taking turns odometer and exporting in epoch at one, and d is the distance that a umber of pulse correspondence is passed by.
The computing formula obtaining vehicle yaw angle is as follows:
Hd(t)＝Hd(t-1)+ω
In formula, Hd (t) is the course angle of vehicle current epoch, and Hd (t-1) is the course angle of an epoch on vehicle.ω is the crab angle change of vehicle current epoch,
ω＝(ΔR-ΔL)/length
In formula, length is the spacing of left and right vehicle wheel trailing wheel.
Described step 3) in, as follows by the formula of atmospheric pressure value convert information involved by the speed position information in vertical direction:
The formula being calculated sea level elevation by atmospheric pressure value is:
In formula, p is the atmospheric pressure value that barometer records, p
0for the atmospheric pressure value on sea level.
The formula calculating vertical speed vh is:
vh＝(Altitude
t-Altitude
t-1)÷Δt
In formula, Altitude
tfor current time sea level elevation, Altitude
t-1for a upper moment sea level elevation, Δ t is the time interval upgrading epoch.
Use above-mentioned device connected mode and algorithm, achieve the function exporting three-dimensional vehicle position and speed information.
Driver in steering vehicle process usually because the reason such as sleepy or twinkling is closed one's eyes, this action can bring great risk to occupant on driver and Che and vehicle itself, image collection module (4) in the present invention can take one group of photo in a period of time after vehicle launch is set out on a journey driver face, and carry out the check processing of eyes aperture, specifically, pass through image processing algorithm, first detect the position of eyes, binary conversion treatment is carried out to the image of this band of position, then identifies the size of eyes aperture.In follow-up driving conditions, according to certain time interval shooting driver mug shot, and calculate eyes aperture size, if find, the eyes aperture size in a certain moment is lower than set threshold value, just can judge that driver closes one's eyes, send warning message by communication module (8) simultaneously.
Described electric acceleration transducer, can the change of acceleration in Real-Time Monitoring vehicle travel process, after perception collision happens, automatically send information warning by audio-frequency module (7) to driver, meanwhile send information warning by communication module (8) to other related personnel of outside vehicle.
The three-dimensional location coordinates that vehicle travels can be recorded by the present invention, and draws bidimensional or 3 D motion trace on a display screen, and whole coordinate record can be sent to appointment mailbox or server by radio data network.By such mode, driver and other related personnel can understand the driving trace of vehicle, and point out vehicle location clue when theft occurs vehicle, greatly increase the possibility finding vehicle.
System of the present invention can be configured the three-dimensional boundaries on a map, when vehicle movement is to during border or the time of being beyond the boundary, sends information warning to driver or the outside vehicle relevant personnel.This function can play better beneficial effect, such as taxi company, rent-a-car company, public transport company etc. needing the occasion managing a large amount of vehicle.
System of the present invention can be mated according to vehicle position and road plane data, and goes out near vehicle location whether have set place with voice broadcast, if having, then reports distance subsequently.Described road plane data are the positional informations comprising road, also comprise the positional information (as refuelling station, parking lot) in the various places of annex and the additional information (as businessman's sales promotion information) in this place.System of the present invention, when reporting the information in annex place by audio-frequency module (7), also shows more candidate information by touch display module (6).
More than describe preferred embodiment of the present invention in detail.Should be appreciated that those of ordinary skill in the art just design according to the present invention can make many modifications and variations without the need to creative work.Therefore, all technician in the art, all should by the determined protection domain of claims under this invention's idea on the basis of existing technology by the available technical scheme of logical analysis, reasoning, or a limited experiment.
Claims (9)
1. a vehicle-mounted inertial navigation system, it is characterized in that, comprise: pressure-altitude sensor (1), odometer (2), acceleration transducer (3), image collection module (4), control module (5), touch display module (6), audio-frequency module (7) and communication module (8), wherein, described control module (5) inside has multiple interrupt response module, I2C bus interface module, serial communication interface module and data input/output module; Described odometer (2) comprises revolver odometer and rightly takes turns odometer, described revolver odometer and described right described interrupt response model calling of taking turns in odometer and described control module (5); Described pressure-altitude sensor (1) is connected with the described I2C bus interface module in described control module (5); Described communication module (8) is connected with described control module (5) by described serial communication interface module; Described acceleration transducer (3), described image collection module (4), described touch display module (6) are connected with described control module (5) by described data input/output module with described audio-frequency module (7).
2. vehicle-mounted inertial navigation system according to claim 1, it is characterized in that, described odometer (2) is for obtaining the vehicle wheel rotation information in vehicle travel process, described revolver odometer is installed on the left rear wheel of vehicle, describedly rightly take turns the off hind wheel that odometer is installed on vehicle, along with the traveling of vehicle, described revolver odometer and described right odometer of taking turns can produce corresponding cyclic pulse signal respectively, by the described interrupt response module in described control module (5), the horizontal direction information of vehicle movement is supplied to described control module (5).
3. system according to claim 1, it is characterized in that, described pressure-altitude sensor (1) is for the atmospheric value of measuring vehicle present position, obtained the sea level elevation of vehicle by the conversion relation of atmospheric value and sea level elevation, by the described I2C bus interface module in described control module (5), vehicle altitude info ination is sent to described control module (5).
4. vehicle-mounted inertial navigation system according to claim 1, it is characterized in that, revolver odometer, described right raw data of taking turns odometer and described pressure-altitude sensor (1) described in described control module (5) overall treatment, described overall treatment comprises the following steps:
Respond two external interrupt, call counter module, obtain two vehicle wheel rotation information;
Read the value of the inner corresponding registers of described pressure-altitude sensor by described I2C bus interface module, obtain atmospheric pressure value information;
Perform the inertial navigation location algorithm improved, the rotation information of two wheels being converted into the speed position information in horizontal direction, is the speed position information in vertical direction by described atmospheric pressure value convert information; And
Three-dimensional position velocity information is exported by described serial communication interface module.
5. vehicle-mounted inertial navigation system according to claim 1, it is characterized in that, when fatigue driving occurs vehicle driver, described vehicle-mounted inertial navigation system initiatively can find and remind driver to correct, and also can be configured to send information warning to outside vehicle related ends.
6. vehicle-mounted inertial navigation system according to claim 1, it is characterized in that, when described acceleration transducer (3) has detected that collision accident occurs, described vehicle-mounted inertial navigation system can be configured to send information warning by described communication module (8) to outside vehicle related ends.
7. vehicle-mounted inertial navigation system according to claim 1, it is characterized in that, described control module (5) can real time record and to outside vehicle related ends send three dimensional local information, and at the upper 3 D motion trace showing vehicle of described touch display module (6), understanding for driver, car owner or police criminal detection personnel and analyzing vehicle movement situation provides Data support.
8. vehicle-mounted inertial navigation system according to claim 1, is characterized in that, can configure three-dimensional boundaries on map, when vehicle movement is to during border or the time of being beyond the boundary, sends information warning to driver or the outside vehicle relevant personnel.
9. vehicle-mounted inertial navigation system according to claim 1, it is characterized in that, can according to the map and the point of interest of secondary development positional information Auto-matching driver, such as refuelling station and parking lot etc., and by the information of point of interest described in voice broadcast and the distance between vehicle and described point of interest.
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Application publication date: 20150121 |