CN105842716A - Beidou navigation positioning system and optimization method - Google Patents
Beidou navigation positioning system and optimization method Download PDFInfo
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- CN105842716A CN105842716A CN201610411791.6A CN201610411791A CN105842716A CN 105842716 A CN105842716 A CN 105842716A CN 201610411791 A CN201610411791 A CN 201610411791A CN 105842716 A CN105842716 A CN 105842716A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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Abstract
本发明公开了一种北斗导航定位系统及优化方法，包括北斗/GPS双定位天线、传感器组、时钟校验模块、打印机、摄像头、SIM卡读取装置、通信模块和中央控制器，该优化方法则根据当前获取的北斗卫星信号强度进行智能切换不同的定位模式，本发明避免传统采用单一模式出现信号盲区或信号丢失时，能对北斗卫星的信号强度进行检测和优化，并根据信号强度的不同进行智能切换，避免传统在使用北斗卫星定位的过程中，造成定位丢失和进入定位信号强度盲区无法定位的问题。
The invention discloses a Beidou navigation and positioning system and an optimization method, including a Beidou/GPS dual positioning antenna, a sensor group, a clock verification module, a printer, a camera, a SIM card reading device, a communication module and a central controller. The optimization method Then intelligently switch between different positioning modes according to the currently acquired signal strength of the Beidou satellite. The present invention can detect and optimize the signal strength of the Beidou satellite when the traditional single mode is used to avoid signal blind spots or signal loss. Carry out intelligent switching to avoid the problems of positioning loss and failure to locate when entering the blind area of positioning signal strength in the traditional process of using Beidou satellite positioning.
Description
技术领域 technical field
本发明涉及北斗定位技术领域，特别是一种北斗导航定位系统及优化方法。 The invention relates to the technical field of Beidou positioning, in particular to a Beidou navigation and positioning system and an optimization method.
背景技术 Background technique
北斗卫星导航系统（简称北斗系统，英文名称为BeiDou Navigation Satellite System，缩写为BDS），一般是指中国的第二代卫星导航系统，英文简称BDS，曾用名COMPASS，也被称为北斗二号，是我国正在实施的自主发展、独立运行的，与世界其他卫星导航系统兼容共用的全球卫星导航系统，也是我国最关键的国家基础设施之一。 Beidou Satellite Navigation System (abbreviated as Beidou System, the English name is BeiDou Navigation Satellite System, abbreviated as BDS), generally refers to China's second-generation satellite navigation system, referred to as BDS in English, used to be called COMPASS, also known as Beidou No. The global satellite navigation system, which is compatible with other satellite navigation systems in the world, is also one of the most critical national infrastructures of our country.
目前，北斗系统已在越来越多的领域得到了应用，在定位、导航、授时、通信等各个方面都已形成一定的市场规模。从产品角度来看，目前应用北斗系统的高精度测量仪器、定位终端、授时终端、车载娱乐导航系统、平板电脑等均已面世，一批优秀企业也已掌握了北斗芯片核心技术，具有中国自主知识产权的北斗芯片已进入实用化阶段。基于北斗系统的运营服务也在渔业、电力、通信、金融、测绘等领域逐渐推广，北斗产业规模不断壮大。 At present, the Beidou system has been applied in more and more fields, and has formed a certain market scale in various aspects such as positioning, navigation, timing, and communication. From the perspective of products, high-precision measuring instruments, positioning terminals, time service terminals, vehicle entertainment and navigation systems, and tablet computers using the Beidou system have all been launched, and a number of outstanding companies have also mastered the core technology of Beidou chips. The intellectual property Beidou chip has entered the practical stage. Operation services based on the Beidou system are also being gradually promoted in fields such as fishery, electric power, communications, finance, and surveying and mapping, and the scale of the Beidou industry continues to grow.
然而，现有的北斗定位系统无法根据北斗卫星的信号强度进行优化和智能切换。 However, the existing Beidou positioning system cannot be optimized and intelligently switched according to the signal strength of Beidou satellites.
发明内容 Contents of the invention
本发明的目的在于克服现有技术的不足，提供一种北斗导航定位系统及优化方法，本申请能对北斗卫星的信号强度进行检测和优化，并根据信号强度的不同进行智能切换，避免传统在使用北斗卫星定位的过程中，造成定位丢失和进入定位信号强度盲区无法定位的问题。 The purpose of the present invention is to overcome the deficiencies of the prior art and provide a Beidou navigation and positioning system and optimization method. The application can detect and optimize the signal strength of the Beidou satellite, and perform intelligent switching according to the difference in signal strength, avoiding the traditional In the process of using Beidou satellite positioning, the problem of positioning loss and positioning signal strength blind area is caused.
本发明的目的是通过以下技术方案来实现的：一种北斗导航定位系统，包括北斗/GPS双定位天线、传感器组、时钟校验模块、打印机、摄像头、SIM卡读取装置、通信模块和中央控制器，北斗/GPS双定位天线、传感器组、时钟校验模块、打印机、SIM卡读取装置的信号端分别与中央控制器的信号端相连，所述北斗/GPS双定位天线用于获取北斗卫星定位信息以及检测信号强度，所述传感器组包括加速度计和陀螺仪，该传感器组用于获取本系统的方向角、前进速度和加速度；所述时钟校验模块用于获取当前定位时间，并对获取的时间进行纠错校验；所述打印机用于打印定位信息；所述摄像头为红外摄像头，红外摄像头通过图像处理模块与中央控制器相连，该摄像头用于采集图像信息；所述SIM卡读取装置用于读取SIM卡信息并通过SIM卡发送短信信息；所述通信模块用于与外部设备进行数据交互；该系统还包括显示屏模块，中央控制器的信号端与显示屏模块的信号端相连，中央控制器中集成有导航地图模块和实景地图模块，该导航地图模块和实景地图模块通过显示屏模块进行展示。 The purpose of the present invention is achieved by the following technical solutions: a Beidou navigation and positioning system, including Beidou/GPS dual positioning antenna, sensor group, clock verification module, printer, camera, SIM card reading device, communication module and central The signal terminals of the controller, the Beidou/GPS dual positioning antenna, the sensor group, the clock verification module, the printer, and the SIM card reading device are respectively connected to the signal terminals of the central controller, and the Beidou/GPS dual positioning antenna is used to obtain the Beidou Satellite positioning information and detection signal strength, the sensor group includes an accelerometer and a gyroscope, and the sensor group is used to obtain the orientation angle, forward speed and acceleration of the system; the clock verification module is used to obtain the current positioning time, and Error correction is performed on the acquired time; the printer is used to print positioning information; the camera is an infrared camera, which is connected to the central controller through an image processing module, and the camera is used to collect image information; the SIM card The reading device is used to read the SIM card information and send short message information through the SIM card; the communication module is used for data interaction with external equipment; the system also includes a display screen module, the signal end of the central controller and the display screen module The signal terminals are connected, and a navigation map module and a real scene map module are integrated in the central controller, and the navigation map module and the real scene map module are displayed through the display screen module.
在本发明中，采用的是北斗/GPS双定位天线，既能获取北斗卫星的信号，又能在切换其他定位模式时，获取GPS的定位信号。 In the present invention, the Beidou/GPS dual positioning antenna is used, which can not only obtain the signal of the Beidou satellite, but also obtain the positioning signal of GPS when switching to other positioning modes.
在本发明中，其还包括干扰处理单元，干扰处理单元设于北斗/GPS双定位天线底部，干扰处理单元用于过滤放大获取的外界信号。 In the present invention, it also includes an interference processing unit. The interference processing unit is arranged at the bottom of the Beidou/GPS dual positioning antenna. The interference processing unit is used to filter and amplify the acquired external signals.
在本发明中，其还包括存储模块，存储模块与中央控制器相连。 In the present invention, it also includes a storage module, and the storage module is connected with the central controller.
在本发明中，所述显示屏模块为触摸显示屏。 In the present invention, the display screen module is a touch screen.
一种北斗导航定位优化方法，包括以下步骤： A method for optimizing Beidou navigation and positioning, comprising the following steps:
获取北斗卫星的定位信息以及北斗卫星信号强度，并记录当前获取北斗卫星定位信息的时间，将获取的定位信息在导航地图模块上标记出来； Obtain the positioning information of the Beidou satellite and the signal strength of the Beidou satellite, and record the current time of obtaining the positioning information of the Beidou satellite, and mark the obtained positioning information on the navigation map module;
再次获取北斗卫星的定位信息、北斗卫星信号强度以及北斗卫星的定位时间，将再次获取的定位信息在导航地图模块上标记出来； Obtain the positioning information of the Beidou satellite, the signal strength of the Beidou satellite and the positioning time of the Beidou satellite again, and mark the positioning information obtained again on the navigation map module;
当正在使用北斗卫星进行定位时，北斗卫星的信号强度高于最高信号强度阀值，则持续使用北斗卫星定位方式进行定位； When the Beidou satellite is being used for positioning and the signal strength of the Beidou satellite is higher than the maximum signal strength threshold, the Beidou satellite positioning method will continue to be used for positioning;
当正在使用北斗卫星进行定位时，北斗卫星的信号强度低于最低信号强度阀值，则开启干扰处理单元对获取的定位信息进行滤波放大，并在显示屏模块上显示低信号强度警示信息； When the Beidou satellite is being used for positioning and the signal strength of the Beidou satellite is lower than the minimum signal strength threshold, the interference processing unit is turned on to filter and amplify the acquired positioning information, and a low signal strength warning message is displayed on the display module;
当正在使用北斗卫星进行定位时，北斗卫星的信号发生丢失，则切换到其他导航模式，当再次检测到北斗卫星强度，且北斗卫星强度超过最低信号强度阀值，则切换到北斗卫星导航模式。 When the Beidou satellite is being used for positioning and the signal of the Beidou satellite is lost, switch to other navigation modes. When the strength of the Beidou satellite is detected again and the strength of the Beidou satellite exceeds the minimum signal strength threshold, switch to the Beidou satellite navigation mode.
在本发明中，还包括实景地图模块根据定位信息自动更新实景照片的步骤。 In the present invention, a step of automatically updating the real-scene photo by the real-scene map module according to the positioning information is also included.
在本发明中，使用北斗卫星定位出现信号丢失或干扰过强，则通过SIM卡读取装置进行短信报警。 In the present invention, if the Beidou satellite positioning is used for signal loss or too strong interference, a short message alarm will be sent through the SIM card reading device.
本发明的有益效果是： The beneficial effects of the present invention are:
（1）能对北斗卫星的信号强度进行检测和优化，并根据信号强度的不同进行智能切换； (1) It can detect and optimize the signal strength of the Beidou satellite, and perform intelligent switching according to the difference in signal strength;
（2）避免传统在使用北斗卫星定位的过程中，造成定位丢失和进入定位信号强度盲区无法定位的问题； (2) To avoid the traditional problems of positioning loss and positioning signal strength blind area in the process of using Beidou satellite positioning;
（3）能根据当前定位信息自动更新实景照片信息； (3) It can automatically update the live photo information according to the current positioning information;
（4）能获取定位时的时间信息，并实时显示在显示屏模块上，有利于用户查询定位的历史数据信息。 (4) Time information during positioning can be obtained and displayed on the display module in real time, which is beneficial for users to query historical data information of positioning.
附图说明 Description of drawings
图1为本发明的系统结构示意图； Fig. 1 is a schematic diagram of the system structure of the present invention;
图2为本发明的流程示意图； Fig. 2 is a schematic flow sheet of the present invention;
图中，10-中央控制器，20-北斗/GPS双定位天线，30-传感器组，40-时钟校验模块，50-打印机，60-摄像头，70-SIM卡读取装置，80-通信模块，存储模块。 In the figure, 10-central controller, 20-Beidou/GPS dual positioning antenna, 30-sensor group, 40-clock verification module, 50-printer, 60-camera, 70-SIM card reading device, 80-communication module , storage module.
具体实施方式 detailed description
下面结合附图进一步详细描述本发明的技术方案，但本发明的保护范围不局限于以下所述。 The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following description.
如图1所示，一种北斗导航定位系统，包括北斗/GPS双定位天线20、传感器组30、时钟校验模块40、打印机50、摄像头60、SIM卡读取装置70、通信模块80和中央控制器10，北斗/GPS双定位天线20、传感器组30、时钟校验模块40、打印机50、SIM卡读取装置70的信号端分别与中央控制器10的信号端相连，所述北斗/GPS双定位天线20用于获取北斗卫星定位信息以及检测信号强度，所述传感器组30包括加速度计和陀螺仪，该传感器组30用于获取本系统的方向角、前进速度和加速度；所述时钟校验模块40用于获取当前定位时间，并对获取的时间进行纠错校验；所述打印机50用于打印定位信息；所述摄像头60为红外摄像头，红外摄像头通过图像处理模块与中央控制器10相连，该摄像头60用于采集图像信息；所述SIM卡读取装置70用于读取SIM卡信息并通过SIM卡发送短信信息；所述通信模块80用于与外部设备进行数据交互；该系统还包括显示屏模块，中央控制器10的信号端与显示屏模块的信号端相连，中央控制器10中集成有导航地图模块和实景地图模块，该导航地图模块和实景地图模块通过显示屏模块进行展示。 As shown in Figure 1, a Beidou navigation and positioning system includes a Beidou/GPS dual positioning antenna 20, a sensor group 30, a clock verification module 40, a printer 50, a camera 60, a SIM card reading device 70, a communication module 80 and a central Controller 10, the signal end of Beidou/GPS dual positioning antenna 20, sensor group 30, clock verification module 40, printer 50, SIM card reading device 70 is connected with the signal end of central controller 10 respectively, and described Beidou/GPS Dual positioning antennas 20 are used to obtain Beidou satellite positioning information and detect signal strength, and the sensor group 30 includes accelerometers and gyroscopes, and the sensor group 30 is used to obtain the orientation angle, forward speed and acceleration of the system; the clock calibration The verification module 40 is used to obtain the current positioning time, and corrects the time of acquisition; the printer 50 is used to print the positioning information; the camera 60 is an infrared camera, and the infrared camera communicates with the central controller 10 through the image processing module Connected, the camera 60 is used to collect image information; the SIM card reading device 70 is used to read the SIM card information and send short message information through the SIM card; the communication module 80 is used to perform data interaction with external equipment; the system It also includes a display screen module, the signal end of the central controller 10 is connected to the signal end of the display screen module, and the central controller 10 is integrated with a navigation map module and a real scene map module, and the navigation map module and the real scene map module are carried out through the display screen module. exhibit.
在本发明中，采用的是北斗/GPS双定位天线20，既能获取北斗卫星的信号，又能在切换其他定位模式时，获取GPS的定位信号。 In the present invention, the Beidou/GPS dual positioning antenna 20 is adopted, which can not only obtain the signal of the Beidou satellite, but also obtain the positioning signal of GPS when switching to other positioning modes.
在本发明中，其还包括干扰处理单元，干扰处理单元设于北斗/GPS双定位天线20底部，干扰处理单元用于过滤放大获取的外界信号。 In the present invention, it also includes an interference processing unit. The interference processing unit is arranged at the bottom of the Beidou/GPS dual positioning antenna 20. The interference processing unit is used to filter and amplify the acquired external signals.
在本发明中，其还包括存储模块90，存储模块90与中央控制器10相连。 In the present invention, it also includes a storage module 90 connected to the central controller 10 .
在本发明中，所述显示屏模块为触摸显示屏。 In the present invention, the display screen module is a touch screen.
一种北斗导航定位优化方法，如图2所示，包括以下步骤： A Beidou navigation and positioning optimization method, as shown in Figure 2, comprises the following steps:
S1、获取北斗卫星的定位信息以及北斗卫星信号强度，并记录当前获取北斗卫星定位信息的时间，将获取的定位信息在导航地图模块上标记出来； S1. Obtain the positioning information of the Beidou satellite and the signal strength of the Beidou satellite, and record the current time of obtaining the positioning information of the Beidou satellite, and mark the obtained positioning information on the navigation map module;
S2、再次获取北斗卫星的定位信息、北斗卫星信号强度以及北斗卫星的定位时间，将再次获取的定位信息在导航地图模块上标记出来； S2. Obtain the positioning information of the Beidou satellite, the signal strength of the Beidou satellite and the positioning time of the Beidou satellite again, and mark the positioning information obtained again on the navigation map module;
S3、当正在使用北斗卫星进行定位时，北斗卫星的信号强度高于最高信号强度阀值，则持续使用北斗卫星定位方式进行定位； S3. When the Beidou satellite is being used for positioning and the signal strength of the Beidou satellite is higher than the highest signal strength threshold, continue to use the Beidou satellite positioning method for positioning;
S4、当正在使用北斗卫星进行定位时，北斗卫星的信号强度低于最低信号强度阀值，则开启干扰处理单元对获取的定位信息进行滤波放大，并在显示屏模块上显示低信号强度警示信息； S4. When the Beidou satellite is being used for positioning and the signal strength of the Beidou satellite is lower than the minimum signal strength threshold, the interference processing unit is turned on to filter and amplify the obtained positioning information, and a low signal strength warning message is displayed on the display module ;
S5、当正在使用北斗卫星进行定位时，北斗卫星的信号发生丢失，则切换到其他导航模式，当再次检测到北斗卫星强度，且北斗卫星强度超过最低信号强度阀值，则切换到北斗卫星导航模式。 S5. When the Beidou satellite is being used for positioning and the signal of the Beidou satellite is lost, switch to other navigation modes. When the strength of the Beidou satellite is detected again, and the strength of the Beidou satellite exceeds the minimum signal strength threshold, switch to Beidou satellite navigation model.
在本发明中，还包括实景地图模块根据定位信息自动更新实景照片的步骤。 In the present invention, a step of automatically updating the real-scene photo by the real-scene map module according to the positioning information is also included.
在本发明中，使用北斗卫星定位出现信号丢失或干扰过强，则通过SIM卡读取装置进行短信报警。 In the present invention, if the Beidou satellite positioning is used for signal loss or too strong interference, a short message alarm will be sent through the SIM card reading device.
以上所述实施例仅表达了本发明的具体实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。 The above-mentioned embodiments only express the specific implementation manner of the present invention, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.
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