CN104422465A - Car-mounted gyroscope coefficient correction method and car-mounted gyroscope coefficient correction device as well as car-mounted navigation system - Google Patents
Car-mounted gyroscope coefficient correction method and car-mounted gyroscope coefficient correction device as well as car-mounted navigation system Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract
The invention provides a car-mounted gyroscope coefficient correction method and a car-mounted gyroscope coefficient correction device as well as a car-mounted navigation system. The method comprises the steps of reading GPS data recorded in the traveling of a car; carrying out mode matching on the GPS data, searching following preset modes: two adjacent linear traveling road sections conforming to a preset condition, and the two adjacent liner traveling road sections are isolated by a nonlinear traveling road section; by adopting the GPS data in the two linear traveling road sections as a reference, correcting an angular coefficient of a gyroscope. According to the method, the angular coefficient of the gyroscope can be corrected by virtue of the GPS data, and the navigation precision can be improved.
Description
Technical field
The present invention relates to vehicle mounted guidance technical field, particularly relate to a kind of vehicle-mounted gyroscope coefficient correction method, device and onboard navigation system.
Background technology
At present, in increasing automobile, onboard navigation system is installed, because GPS navigation device can provide precise positioning in conjunction with gyroscope, has thus received and pay close attention to widely and apply.
Gyroscope is when being applied to onboard navigation system, and its effect is mainly reflected in: gyroscope can continue the effect of performance navigation and revise the inaccurate problem in GPS location when gps signal is bad; GPS compared by gyroscope can provide more sensitive and accurate direction and speed.
But, in actual applications, gyrostatic coefficient of angularity often produces deviation, may affect navigation accuracy.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of vehicle-mounted gyroscope coefficient correction method, device and onboard navigation system, can be corrected by gps data to gyrostatic coefficient of angularity, is conducive to improving navigation accuracy.
For solving the problems of the technologies described above, the invention provides a kind of vehicle-mounted gyroscope coefficient correction method, comprising:
Read during vehicle travels the gps data recorded;
Pattern match is carried out to described gps data, finds following preset mode: meet pre-conditioned adjacent two sections of straight-line travelling sections, by one section of non-rectilinear running section interval between these two sections of straight-line travelling sections;
Using the gps data in these two sections of straight-line travelling sections as reference, gyrostatic coefficient of angularity is corrected.
According to one embodiment of present invention, carry out pattern match to described gps data to comprise: described gps data is divided into multistage, judge whether it meets respectively for each gps data section described pre-conditioned, if meet described pre-conditioned, then this gps data section is straight-line travelling section; If do not meet described pre-conditioned, then this gps data section is non-rectilinear running section.
It is according to one embodiment of present invention, described that pre-conditioned to comprise in following condition one or more:
The differential seat angle of Current GPS data segment is less than predetermined angle threshold value;
The distance of Current GPS data segment exceedes predeterminable range threshold value;
The accumulative angle change of the gyro data section that Current GPS data segment is corresponding and instantaneous angular change are less than predetermined angle change threshold;
The instantaneous velocity of Current GPS data segment finish time exceedes default instantaneous velocity threshold value;
The positional information of Current GPS data segment finish time and road network; And
The speed of a motor vehicle of Current GPS data segment exceedes preset vehicle speed threshold value.
According to one embodiment of present invention, find described preset mode in the following way: if Current GPS data segment is straight-line travelling section, then carry out forward coupling and find, find previous straight-line travelling section.
According to one embodiment of present invention, using the gps data in these two sections of straight-line travelling sections as reference, correction is carried out to gyrostatic coefficient of angularity and comprises:
The corner between these two sections of straight-line travelling sections is calculated according to the gps data in these two sections of straight-line travelling sections;
The corner between described two sections of straight-line travelling sections is used to correct described gyrostatic coefficient of angularity.
Present invention also offers a kind of vehicle-mounted gyroscope coefficient correction device, comprising:
Data read module, for reading during vehicle travels the gps data recorded;
Pattern Matching Module, carries out pattern match to described gps data, finds following preset mode: meet pre-conditioned adjacent two sections of straight-line travelling sections, by one section of non-rectilinear running section interval between these two sections of straight-line travelling sections;
Coefficient corrects module, using the gps data in these two sections of straight-line travelling sections as reference, corrects gyrostatic coefficient of angularity.
According to one embodiment of present invention, described gps data is divided into multistage, and for each gps data section, described Pattern Matching Module judges whether it meets respectively described pre-conditioned, if meet described pre-conditioned, then this gps data section is straight-line travelling section; If do not meet described pre-conditioned, then this gps data section is non-rectilinear running section.
It is according to one embodiment of present invention, described that pre-conditioned to comprise in following condition one or more:
The differential seat angle of Current GPS data segment is less than predetermined angle threshold value;
The distance of Current GPS data segment exceedes predeterminable range threshold value;
The accumulative angle change of the gyro data section that Current GPS data segment is corresponding and instantaneous angular change are less than predetermined angle change threshold;
The instantaneous velocity of Current GPS data segment finish time exceedes default instantaneous velocity threshold value;
The positional information of Current GPS data segment finish time and road network; And
The speed of a motor vehicle of Current GPS data segment exceedes preset vehicle speed threshold value.
According to one embodiment of present invention, described Pattern Matching Module finds described preset mode in the following way: if Current GPS data segment is straight-line travelling section, then carry out forward coupling and find, find previous straight-line travelling section.
According to one embodiment of present invention, described coefficient correction module comprises:
Angle calculation unit, calculates the corner between these two sections of straight-line travelling sections according to the gps data in these two sections of straight-line travelling sections;
Angle corrects unit, uses the corner between described two sections of straight-line travelling sections to correct described gyrostatic coefficient of angularity.
Present invention also offers a kind of onboard navigation system, comprise the vehicle-mounted gyroscope coefficient correction device described in above-mentioned any one.
Compared with prior art, the present invention has the following advantages:
In the vehicle-mounted gyroscope coefficient correction method of the embodiment of the present invention and device, utilize gps data to correct gyrostatic coefficient of angularity, thus avoid gyroscope coefficient of angularity deviation on the impact of navigation accuracy.
Furthermore, the embodiment of the present invention is found and is met two sections of pre-conditioned straight-line travelling sections by non-rectilinear running section interval in gps data, using the gps data in these two sections of straight-line travelling sections as reference, gyrostatic coefficient of angularity is corrected, the gps data met in pre-conditioned straight-line travelling section is comparatively stable and accurate, therefore adopt such gps data to correct gyroscope coefficient of angularity, be conducive to improving precision.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the vehicle-mounted gyroscope coefficient correction method of the embodiment of the present invention;
Fig. 2 is the road driving track schematic diagram of the vehicle-mounted gyroscope coefficient correction method of the embodiment of the present invention;
Fig. 3 is the structured flowchart of the vehicle-mounted gyroscope coefficient correction device of the embodiment of the present invention.
Embodiment
Below in conjunction with specific embodiments and the drawings, the invention will be further described, but should not limit the scope of the invention with this.
With reference to figure 1, the vehicle-mounted gyroscope coefficient correction method of the present embodiment comprises the steps:
Step S11, reads during vehicle travels the gps data recorded;
Step S12, carries out pattern match to described gps data, finds following preset mode: meet pre-conditioned adjacent two sections of straight-line travelling sections, by one section of non-rectilinear running section interval between these two sections of straight-line travelling sections;
Step S13, using the gps data in these two sections of straight-line travelling sections as reference, corrects gyrostatic coefficient of angularity.
Furthermore, in step S11, the gps data recorded can be read during vehicle travels from the buffer zone of onboard navigation system.More specifically, in vehicle travel process, gps data and gyro data can be recorded in the buffer zone of onboard navigation system.Carrying out gyroscope coefficient of angularity timing, from buffer zone, gps data is read out.
In step s 12, pattern match is carried out to the gps data of record, finds by two sections of straight-line travelling sections at one section of non-rectilinear running section interval, and these two sections of straight-line travelling sections need to meet pre-conditioned.
Furthermore, the gps data of record can be divided into multiple gps data section, reads according to order when reading, each reading gps data section.For the Current GPS data segment read, judge whether it meets pre-conditioned, if meet pre-conditioned, then Current GPS data segment is straight-line travelling section, otherwise is exactly non-rectilinear running section.And if Current GPS data segment is judged as straight-line travelling section, the row mode that so just marches forward coupling is found, and finds adjacent previous straight-line travelling section.If found, and by a non-rectilinear running section interval between the previous straight-line travelling section found and current straight-line travelling section, so just according to these two sections of straight-line travelling sections, gyrostatic coefficient of angularity is corrected.
Wherein, this pre-conditioned can to comprise in following condition one or more: the differential seat angle of Current GPS data segment is less than predetermined angle threshold value; The distance of Current GPS data segment exceedes predeterminable range threshold value; The accumulative angle change of the gyro data section that Current GPS data segment is corresponding and instantaneous angular change are less than predetermined angle change threshold, and this condition is mainly used in avoiding vehicle to twist the interference caused; The instantaneous velocity of Current GPS data segment finish time exceedes default instantaneous velocity threshold value; The positional information of Current GPS data segment finish time and road network, this condition mainly enters " drifting state " after gps data misalignment, if the positional information of finish time drops on outside road network, so represent that gps data enters " drifting state ", because vehicle can not enter the region beyond road network usually; The speed of a motor vehicle of Current GPS data segment exceedes preset vehicle speed threshold value, and this condition is mainly in order to ensure that this gps data section is the section that vehicle stabilization travels.Wherein, the gyro data section that Current GPS data segment is corresponding refers to this gps data section and gyro data paragraph section at one time, matches in time.
By upper, after above-mentioned one or more pre-conditioned judgement, abnormal signal is disallowable, makes the gps data for calculating be comparatively stablize with accurately, thus can ensure that the gyroscope coefficient of angularity after correcting is accurately.
Composition graphs 1 and Fig. 2, what step S12 pattern match will be found is exactly straight-line travelling section 21 and straight-line travelling section 22, therebetween by non-rectilinear running section 23 interval.More specifically, after finding straight-line travelling section 22, continue to find forward, find straight-line travelling section 21, confirm between straight-line travelling section 21 and 22 by non-rectilinear running section 23 interval; Afterwards, the corner between straight-line travelling section 21 and straight-line travelling section 22 can be adopted to be according to correcting gyrostatic coefficient of angularity.
At timing, the corner between these two sections of straight-line travelling sections can be calculated according to the gps data in these two sections of straight-line travelling sections, and use the corner obtained to correct gyrostatic coefficient of angularity.Such as, the corner between these two sections of straight-line travelling sections can be obtained correction parameter than the corner of upper corresponding gyro data section, for follow-up gyro data, as long as gyrostatic corner is multiplied by this correction parameter.
An example is adopted to be described below.
In a nonrestrictive example, trimming process is as follows:
Step 1, first inputs gps data and gyro data, starts to add up current data section, and each statistical computation value of initialization current data section;
Step 2, process present segment gps data and gyro data;
Step 2.1, if data are gyro data, then:
Step 2.1.1, statistics gyroscope differential seat angle, and repeat step 2;
Step 2.2, if data are gps data, then:
Step 2.2.1, the differential seat angle of statistics Current GPS data segment and distance, if differential seat angle is less than predetermined angle threshold value or distance is less than predeterminable range threshold value, then repeat step 2;
Step 2.2.2, if the differential seat angle of Current GPS data segment and distance are all enough large, then terminates present segment statistics;
Step 2.2.2.1, judges the state of Current GPS data segment, comprising:
Step 2.2.2.1.1, judges whether the accumulative angle change of the gyro data section that Current GPS data segment is corresponding and instantaneous angular change are less than predetermined angle change threshold, if enough little, then continue next step;
Step 2.2.2.1.2, judges whether the GPS angle change of Current GPS data segment is less than predetermined threshold value, if enough little, then continues next step;
Step 2.2.2.1.3, judge whether the state of Current GPS data segment finish time meets default status condition, comprise: the position of Current GPS data segment finish time whether with road network, and whether the instantaneous velocity of Current GPS data segment finish time is greater than predetermined threshold value, if all satisfied, then continue next step;
Step 2.2.2.1.4, judges whether the average speed of Current GPS data segment is greater than predetermined threshold value.
So far, if these conditions all meet, then show that Current GPS data segment is straight-line travelling section, continue row mode coupling searching of marching forward, find previous straight-line travelling section.If found, then use the corner in these two straight-line travelling sections to correct gyrostatic coefficient of angularity, and Current GPS data segment is labeled as calculates, and the GPS of Current GPS data segment as next period of start time is inputted, get back to step 1.
It should be noted that, in above-mentioned example, multiple pre-conditioned judgement order is preferred, but, those skilled in the art are to be understood that, each pre-conditioned judgement order also can adopt other suitable orders, in addition, also can according to actual conditions need pre-conditionedly to screen multiple, and be not defined in and multiplely pre-conditionedly all judge above-mentioned.
With reference to figure 3, the present embodiment additionally provides a kind of vehicle-mounted gyroscope coefficient correction device, comprising: data read module 31, Pattern Matching Module 32 and coefficient correct module 33.
Wherein, data read module 31 is for reading during vehicle travels the gps data recorded; Pattern Matching Module 32 carries out pattern match to described gps data, finds following preset mode: meet pre-conditioned adjacent two sections of straight-line travelling sections, by one section of non-rectilinear running section interval between these two sections of straight-line travelling sections; Gps data in these two sections of straight-line travelling sections as reference, is corrected gyrostatic coefficient of angularity by coefficient correction module 33.
Coefficient is corrected module 33 and be may further include: angle calculation unit 331, calculates the corner between these two sections of straight-line travelling sections according to the gps data in these two sections of straight-line travelling sections; Angle corrects unit 332, uses the corner between described two sections of straight-line travelling sections to correct described gyrostatic coefficient of angularity.
About the more details of this vehicle-mounted gyroscope coefficient correction device, refer to the associated description about vehicle-mounted gyroscope coefficient correction method in previous embodiment, repeat no more here.
In addition, the present embodiment additionally provides a kind of onboard navigation system, comprises the vehicle-mounted gyroscope coefficient correction device shown in Fig. 3, and this vehicle-mounted gyroscope coefficient correction device can be integrated in onboard navigation system.This guider can adopt the mode of software to realize, also can adopt the mode of software and hardware combining to realize, or also can adopt the mode of hardware to realize, such as, by the realization such as special IC (ASIC) or field programmable gate array (FPGA).This onboard navigation system can be special navigator, also can be the equipment being integrated with multiple functional module, such as, can also be integrated with telephone communication module, wireless communication module, multimedia playing module etc.
Although the present invention with preferred embodiment openly as above; but it is not for limiting the present invention; any those skilled in the art without departing from the spirit and scope of the present invention; can make possible variation and amendment, the scope that therefore protection scope of the present invention should define with the claims in the present invention is as the criterion.
Claims (11)
1. a vehicle-mounted gyroscope coefficient correction method, is characterized in that, comprising:
Read during vehicle travels the gps data recorded;
Pattern match is carried out to described gps data, finds following preset mode: meet pre-conditioned adjacent two sections of straight-line travelling sections, by one section of non-rectilinear running section interval between these two sections of straight-line travelling sections;
Using the gps data in these two sections of straight-line travelling sections as reference, gyrostatic coefficient of angularity is corrected.
2. vehicle-mounted gyroscope coefficient correction method according to claim 1, it is characterized in that, carry out pattern match to described gps data to comprise: described gps data is divided into multistage, each gps data section is judged whether it meets respectively described pre-conditioned, if meet described pre-conditioned, then this gps data section is straight-line travelling section; If do not meet described pre-conditioned, then this gps data section is non-rectilinear running section.
3. vehicle-mounted gyroscope coefficient correction method according to claim 2, is characterized in that, described pre-conditioned to comprise in following condition one or more:
The differential seat angle of Current GPS data segment is less than predetermined angle threshold value;
The distance of Current GPS data segment exceedes predeterminable range threshold value;
The accumulative angle change of the gyro data section that Current GPS data segment is corresponding and instantaneous angular change are less than predetermined angle change threshold;
The instantaneous velocity of Current GPS data segment finish time exceedes default instantaneous velocity threshold value;
The positional information of Current GPS data segment finish time and road network; And
The average speed of Current GPS data segment exceedes default average speed threshold value.
4. vehicle-mounted gyroscope coefficient correction method according to claim 2, it is characterized in that, find described preset mode in the following way: if Current GPS data segment is straight-line travelling section, then carry out forward coupling and find, find previous straight-line travelling section.
5. vehicle-mounted gyroscope coefficient correction method according to claim 1, is characterized in that, using the gps data in these two sections of straight-line travelling sections as reference, carries out correction comprise gyrostatic coefficient of angularity:
The corner between these two sections of straight-line travelling sections is calculated according to the gps data in these two sections of straight-line travelling sections;
The corner between described two sections of straight-line travelling sections is used to correct described gyrostatic coefficient of angularity.
6. a vehicle-mounted gyroscope coefficient correction device, is characterized in that, comprising:
Data read module, for reading during vehicle travels the gps data recorded;
Pattern Matching Module, carries out pattern match to described gps data, finds following preset mode: meet pre-conditioned adjacent two sections of straight-line travelling sections, by one section of non-rectilinear running section interval between these two sections of straight-line travelling sections;
Coefficient corrects module, using the gps data in these two sections of straight-line travelling sections as reference, corrects gyrostatic coefficient of angularity.
7. vehicle-mounted gyroscope coefficient correction device according to claim 5, it is characterized in that, described gps data is divided into multistage, for each gps data section, described Pattern Matching Module judges whether it meets respectively described pre-conditioned, if meet described pre-conditioned, then this gps data section is straight-line travelling section; If do not meet described pre-conditioned, then this gps data section is non-rectilinear running section.
8. vehicle-mounted gyroscope coefficient correction device according to claim 7, is characterized in that, described pre-conditioned to comprise in following condition one or more:
The differential seat angle of Current GPS data segment is less than predetermined angle threshold value;
The distance of Current GPS data segment exceedes predeterminable range threshold value;
The accumulative angle change of the gyro data section that Current GPS data segment is corresponding and instantaneous angular change are less than predetermined angle change threshold;
The instantaneous velocity of Current GPS data segment finish time exceedes default instantaneous velocity threshold value;
The positional information of Current GPS data segment finish time and road network; And
The speed of a motor vehicle of Current GPS data segment exceedes preset vehicle speed threshold value.
9. vehicle-mounted gyroscope coefficient correction device according to claim 7, it is characterized in that, described Pattern Matching Module finds described preset mode in the following way: if Current GPS data segment is straight-line travelling section, then carry out forward coupling and find, find previous straight-line travelling section.
10. vehicle-mounted gyroscope coefficient correction device according to claim 6, is characterized in that, described coefficient is corrected module and comprised:
Angle calculation unit, calculates the corner between these two sections of straight-line travelling sections according to the gps data in these two sections of straight-line travelling sections;
Angle corrects unit, uses the corner between described two sections of straight-line travelling sections to correct described gyrostatic coefficient of angularity.
11. 1 kinds of onboard navigation systems, is characterized in that, comprise the vehicle-mounted gyroscope coefficient correction device according to any one of claim 6 to 10.
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CN115309847A (en) * | 2022-10-11 | 2022-11-08 | 中都物流有限公司 | Method for processing positioning point data, electronic equipment and storage medium |
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Application publication date: 20150318 |
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