CN106324645A - Vehicle accuracy positioning method based on inertial navigation and satellite differential positioning - Google Patents
Vehicle accuracy positioning method based on inertial navigation and satellite differential positioning Download PDFInfo
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- CN106324645A CN106324645A CN201610686099.4A CN201610686099A CN106324645A CN 106324645 A CN106324645 A CN 106324645A CN 201610686099 A CN201610686099 A CN 201610686099A CN 106324645 A CN106324645 A CN 106324645A
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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
Abstract
The invention relates to the inertial-navigation-based technology and the satellite real time differential positioning technology. The vehicle accuracy positioning method of the invention utilizes wireless broadband data communication to provide accurate positioning to the vehicle. The vehicle accuracy positioning method combines the inertial navigation, the satellite real-time differential positioning technology and wireless broadband data communication together, provides a seamless positioning system applicable to intelligent transportation, provides real-time, stable and continuous position information from a sub-meter level to a centimeter level to a moving vehicle, and can realize a lane level positioning navigation. The technical scheme of the vehicle accuracy positioning method is that: the vehicle accuracy positioning method comprises a base station and a mobile terminal; a base station is installed near a road and consists of a base station satellite receiving machine and a wireless broadband communication module; and the mobile terminal is installed on the vehicle and consists of a wireless broadband communication module and a combination positioning system.
Description
Technical field
The present invention relates to a kind of merge inertial navigation, that satellite real time differential technology communicates with broadband wireless data is accurate
Localization method, provides high-precision positioning service for vehicle continuously.
Background technology
Advanced person's electronic information technology is applied in transportation by intelligent transportation system, it is achieved efficient value-added service, its
In a lot of business all based on vehicle position information, during therefore alignment system is intelligent transportation system, a basis is put down
Platform.Intelligent transportation system can use NAVSTAR, provides location-based service by space-based satellite for surface car.
At present, the GNSS(satellite positioning navigation being assemblied on vehicle) receiver can only rely on self receive satellite-signal to complete single-point
Location (SPP), its positional precision is generally between several meters to tens meters.The precision of this rank may be only used for common navigation with
And the business the highest to required precision.But increasing new business requires the positioning accurate of at least sub-meter grade in intelligent transportation
Degree, such as fine control of traffic and road, vehicle lane level location, safety assistant driving, bus or train route are worked in coordination with, unmanned assisting navigation
Deng, the positioning precision of currently used this localization method exists for notable deficiency.
Driver during scorch if there is tired or scatterbrained situation, it is easy to occur thing
Therefore.In terms of safety assistant driving, if it is possible to provide the exact position of mobile vehicle, it will help safer driving row
For, reduce accident rate.Advanced intelligent transportation system carries in vehicle collision avoidance prompting, lane change danger prompting, spacing danger
Wake up to wait in safety assistant driving aspect and automatic Pilot assisting navigation and have the highest demand, and these application are required to energy
Enough stablize the real-time acquisition the most high-precision positioning service of at least sub-meter grade, so the SPP satellite that vehicle uses at present
Bit platform is unable to reach the performance requirement in terms of safe driving.
RTK(Real-time and Dynamic) technology be a kind of for dynamic terminal provide precision positioning satellite difference location technology, this
In invention, RTK refers to based on pseudorange or the differential technique of a kind of relative localization of carrier-phase measurement, it is possible to obtain up to li
The positioning precision of meter level.In RTK difference, base station broadcast pseudorange and carrier-phase measurement, and movement station utilizes these numbers
According to, carry out calculus of differences in conjunction with local pseudorange and carrier phase observed quantity, thus obtain the high precision position information of movement station.
Pseudo range difference is also a kind of satellite real-time requiring technology, using the teaching of the invention it is possible to provide the up to positioning precision of decimeter grade.?
In pseudo range difference, base station broadcast pseudo range difference correcting value, movement station utilizes the pseudo range difference correcting value puppet to local receiver
Calibrate away from measured value, then according to the method for SPP calculates the PVT(Position, Velocity and Time of movement station) information.
Although satellite difference location can provide high-precision positioning service to vehicle, but if relies solely on satellite
Differential positioning a, however it remains defect: owing to this system is completely dependent on satellite-signal, so can only be good at satellite-signal
Opening runs, during once vehicle enters tunnel, overpass or " urban canyons ", satellite-signal by building, bridge or
Person tunnel is stopped, vehicle would become hard to obtain accurate location information.Additionally, broadband wireless communications is during transmission signal
It is likely to the situation that the intermittent breaks such as data packetloss occur, at this moment moves vehicle and will be unable to obtain the difference number that base station sends
According to, thus cannot be carried out Differential positioning, this also results in vehicle can not obtain accurate location information.Therefore in above-mentioned situation
Under, this system is all difficult on whole section provide seamless hi-Fix service for vehicle.
Inertial navigation system (INS) is using gyro and accelerometer as the navigation calculation system of senser element, this system
Measured value and the measured value of accelerometer according to gyro calculate carrier speed in navigational coordinate system and position.Inertia is led
Boat system is a kind of autonomic navigation system not relying on external information, can all weather operations, it is provided that position, speed and course
Etc. data, data updating rate height, short-term accuracy and good stability, produced navigation information seriality is good and noise is low.But
It is that the defect of INS is that its site error exported can accumulate increase over time.
When the situation that satellite-signal is blocked or wireless data transmission is interrupted occurs, the state of this intermittent breaks
Persistent period is the shortest, generally between a few tens of milliseconds to a few minutes.Within this short time, it is continuous that INS system provides
Position and velocity information can keep the highest degree of accuracy.
Inertial navigation system and global position system have the strongest complementary characteristic.Utilizing its respective advantage, satellite is poor
Point alignment system and inertial navigation system can build a combined Differential positioning navigation system, provide continuous seamless for vehicle
Hi-Fix navigation Service, when satellite signal receiving and wireless communication state are good when, by satellite difference location system
System and INS complete the precise positioning navigation of vehicle jointly, when short interruption occur in satellite-signal or radio communication when, by
INS continues to provide continuous print hi-Fix and velocity information.
Summary of the invention
The technical problem to be solved in the present invention is: not enough for business demand in above-mentioned intelligent transportation and existing system, carries
For a kind of seamless alignment system that disclosure satisfy that vehicle decimeter grade to centimeter-level positioning requires, this system globe area inertial navigation,
Satellite real-time requiring technology and wireless broadband communication network, it is possible to realize the high-precision fixed of vehicle when satellite-signal is blocked
Position, provides the consecutive tracking navigation data of track level for vehicle, and the related service for higher provides basic data.
This author has consulted existing patent of invention and technical literature data, the technical side of the similar present invention does not the most occur
Case.The technical solution adopted in the present invention is: a kind of positioning navigation method for obtaining vehicle exact position, velocity information,
Merge inertial positioning navigation, satellite real-time requiring technology and broadband wireless data communication system, it is characterised in that: should
System includes base station and two, mobile terminal part, and base station is partially installed on base station, and mobile terminal part is then arranged on vehicle
On, wherein:
Base station part includes a GNSS reference receiver and wireless broadband communication module, and GNSS reference receiver is responsible for
Producing differential data, differential data comprises pseudo range difference correcting value, Pseudo-range Observations and carrier phase observation data, simultaneously these
The some or all of wireless broadband communication module that is sent to of differential data, wireless broadband communication module is responsible for the data received
It is broadcasted；
Mobile terminal part includes a wireless broadband communication module and integrated positioning system, and wireless broadband communication module is responsible for reception
Differential data, and differential data is transmitted to integrated positioning system, integrated positioning system is by GNSS differential position system and inertia
Navigation system forms, and completes the precise positioning of vehicle, and exports PVT information；
Described base station part passes through radio communication and mobile terminal partial link.
The high precision position information of the known home base stations of GNSS reference receiver of described base station part, and configure
Becoming base station mode of operation, one or more navigation system of real-time reception GPS, GLONASS, the Big Dipper or Galileo is defended
Star signal, it is thus achieved that pseudo range observed quantity and carrier phase observed quantity, is simultaneously based on locally known high precision position information and calculates
Go out pseudo range difference correcting value, and be sent to wireless broadband communication module after encoded for these data group of bag.
The GNSS reference receiver of described base station part is sent to the data of wireless broadband communication module and contains base
Stand high precision position information, also contains pseudo range observed quantity, carrier phase observed quantity, or pseudo range difference correcting value, wherein:
When carrier phase and pseudo range observed quantity can use, GNSS reference receiver is sent to carrier phase and pseudo range observed quantity
Broadband communicating module；
When carrier phase and pseudo range observed quantity are unavailable, and when pseudo range difference correcting value can use, GNSS reference receiver is pseudo-
It is sent to broadband communicating module away from difference correction amount.
The coding carried out data transmission between GNSS reference receiver and the broadband communicating module of described base station part
Form can use RTCM, it would however also be possible to employ extended formatting.
The wireless broadband communication module of described base station part is the system possessing broadband wireless communications function, can use
3G or 4G system, it would however also be possible to employ the system possessing broadband wireless communications function of autonomous Design, for completely broadcast from
The data of GNSS reference receiver.
The wireless broadband communication module of described movement station part uses connect corresponding with base station radio broadband communicating module
Receipts system, for receiving the difference information broadcast, and gives integrated positioning system the data received, wherein: without connecing
Receive the difference information broadcast, need combination of notifications alignment system；If receiving what two or more base stations were broadcast
Data, select the data of one of them base station, and data are completely transmitted to integrated positioning system.
The integrated positioning system of described movement station part by GNSS differential position system and inertial navigation system based on pine coupling
Conjunction mode is integrated, but is not limited to this, it is also possible to mode based on close coupling or deep coupling is integrated, it is achieved the PVT letter of mobile terminal
Breath output.
The inertial navigation system of described movement station part includes gyroscope and acceierometer sensor.
When the integrated positioning system of described movement station part combines based on loose coupling mode, GNSS differential position system is same
GNSS reference receiver has identical satellite signal receiving ability, can real-time reception GPS, GLONASS, the Big Dipper or
One or more navigation satellites signal of Galileo, obtains the differential data that base station is broadcast simultaneously, and performs corresponding
Algorithm, inertial navigation system measures the angular speed of mobile terminal and acceleration, and performs inertial navigation algorithm, wherein:
When wireless broadband communication module does not receive the base station difference information broadcast, and GNSS differential position system also cannot simultaneously
When receiving more than three satellite-signals, integrated positioning system is exported position and the velocity information of vehicle by inertial navigation system；
When wireless broadband communication module does not receive the difference information broadcast, and GNSS differential position system can receive more than three
During satellite-signal, GNSS differential position system performs One-Point Location algorithm；The difference information broadcast when base station and GNSS satellite
The when that signal all can being used, GNSS differential position system performs satellite difference algorithm；
The arithmetic result of GNSS differential position system and inertial navigation system is carried out data and melts by GNSS/INS combinational algorithm module
Conjunction processes, and speed, position and the sensor error of INS is carried out optimal estimation, it is thus achieved that the amount of error correction of INS, and feeds back
Returning inertial navigation system, wherein inertial navigation unit calculates the position of current time mobile terminal, speed and attitude information.
The invention has the beneficial effects as follows: the present invention merges inertial navigation, satellite real time differential technology and broadband wireless data
Communication technology, can not only provide high-precision position and velocity information for mobile terminal, it is also possible to solve when satellite-signal quilt
Stop or be difficult in the case of wireless communication link intermittent breaks obtain a difficult problem for high precision position data.The present invention can be with structure
Build the Precise Position System of a seamless coverage, decimeter grade or the location clothes of Centimeter Level precision of real-time stabilization are provided for vehicle
Business, provides foundation location data to support for increasing innovative service in intelligent transportation.
By obtaining high-precision location information, it is possible to mobile vehicle is navigated to concrete track.Drive in safety auxiliary
Sail aspect to can be realized as applying based on track level overspeed prompting, in violation of rules and regulations assisting automobile driver, bend deceleration prompting etc.；Accurate in intelligence
Navigation aspect just can provide the application such as track level navigation, rationally lane change prompting timely；In terms of automatic Pilot and control, energy
Enough realize the application such as the speed controlling of track level, safe driving assist control.
Accompanying drawing explanation
Fig. 1 is system deployment and the work sheet of this example
Fig. 2 is the system structural framework of this example
Fig. 3 is integrated positioning system structural framing in mobile terminal in this example
Fig. 4 is the main process figure of mobile terminal in this example
Detailed description of the invention
Below in conjunction with embodiment, technical scheme is described in further detail.Obviously, described embodiment
It is only a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, the common skill in this area
All other embodiments that art personnel are obtained under not making creative work premise, broadly fall into the model of present invention protection
Enclose.
Fig. 1 is system deployment and the work sheet of this example, and base station 1-1 is the traditional base station of 3G/4G wireless communication system,
It can also be the base station set up specially for native system.Base station 1-1 fixes and is built up near roads, the distance between the 1-1 of base station
For ensureing positioning precision, 10 kilometers can be usually no more than from hundreds of rice to several kilometers.Base station 1-1 receives GNSS satellite letter
Number, and it is responsible for the data for Differential positioning such as broadcast pseudo range difference correcting value, pseudorange and carrier phase observed quantity.Base station 1-3
With base station 1-1, there is same equipment and mode of operation.
Mobile terminal 1-2 is arranged on vehicle, the data that mobile terminal 1-2 reception GNSS satellite signal and neighbouring base station are broadcast,
Current exact position, speed and the temporal information of mobile vehicle is calculated in real time in integrated positioning system.For support vehicles
All the time it is able to receive that at driving process the signal of base station, the coverage of base station 1-3 and base station 1-1 have overlap.Work as vehicle
When being in the independent area of coverage of base station 1-3, the data that reception base station 1-3 broadcasts carry out positioning calculation, enter base when vehicle travels
Stand the overlapping coverage areas of 1-3 and base station 1-1 time, vehicle can receive the data that base station 1-3 and base station 1-1 broadcasts simultaneously, but
Vehicle selects the data using one of them base station to carry out positioning calculation, when vehicle is in the independent area of coverage of base station 1-1,
The data that vehicle receiver base station 1-1 broadcasts carry out positioning calculation.
Fig. 2 illustrates the system framework of this example, including base station part 2-1 and mobile terminal part 2-6.Base station part
2-1 is contained on base station, in this example as a example by the 1-1 of base station, including a GNSS reference receiver 2-2 and wireless broadband communication
Module 2-3, GNSS receiver 2-2 is configured to base station mode of operation.Base station mode of operation in the present invention refers to that GNSS connects
Receipts system receives navigation satellite signal, and is responsible for calculating the data for Differential positioning, and these data is sent out.Base
Quasi-station receiver 2-2 has stored the high precision position information of home base stations 1-1, and this position can be when disposing by precision
Measurement technology obtains in advance.
GNSS reference receiver 2-2 can be the multi-mode satellite receiver of single-frequency point or multifrequency point.Because having at present
GPS, GLONASS, the Big Dipper or tetra-kinds of satellite systems of Galileo, if single-frequency point single mode receiver, then GNSS receiver 2-
2 signals that can only receive single satellite system therein.If the multimode rake receiver of multifrequency point, GNSS receiver 2-2 is permissible
Receive the signal of two or more satellite systems.Receiver 2-2 passes through satellite earth antenna 2-4 real-time reception satellite
Signal, and the positional information of the satellite-signal estimation base station 1-1 arrived according to real-time reception, receiver 2-2 is known to the 1-1 of base station
Precise position information and the position currently estimated compare, and calculate pseudo range difference correcting value, and computational methods are as follows:
WhereinIt is the distance trying to achieve between receiver and satellite based on known precise position information,It is based on estimation position
The distance put and try to achieve between receiver and satellite,It is pseudo range difference correcting value.Receiver 2-2 also calculates currently may be used
The observed quantities such as pseudorange and the carrier phase of seeing satellite.
When carrier phase and pseudo range observed quantity can use, receiver 2-2 is sent to width carrier phase and pseudo range observed quantity
Band communication module 2-3.When carrier phase and pseudo range observed quantity are unavailable, and when pseudo range difference correcting value can use, receiver 2-2 handle
Pseudo range difference correcting value is sent to broadband communicating module 2-3.Therefore according to the availability of different types of data, receiver 2-2 handle
These data are sent as broadband communicating module 2-3 together with after encoded group of bag of base station high precision position information.
Receiver 2-2 is sent to the data form of broadband communicating module 2-3 and uses RTCM coding standard.Need explanation
It is that the transmission data form between receiver 2-2 and communication module 2-3 is not limited to RTCM, it is also possible to use other international marks instead
Quasiconfiguaration or self-defining data form.After broadband communicating module 2-3 receives these differential datas, it is considered as a kind of business
Data are packed, and are broadcasted by antenna 2-5.This broadband communicating module 2-3 uses the data channel of 3G or 4G communication network
Broadcast these difference informations.It should be noted that broadband communicating module 2-3 can also select other kinds of broadband connections system
System is broadcast for data, is not limited to 3G or 4G cordless communication network.
Mobile terminal part 2-6 is arranged on vehicle, including an integrated positioning system 2-8 and wireless broadband communication module 2-
7.Communication module 2-7 is configured with the communication system identical with communication module 2-3, is received by antenna 2-9 and broadcasts from base station 2-1
The business datum including difference information sent out, obtains the differential data of RTCM format, and sends into integrated positioning system after unpacking
2-8.When the differential data that communication module 2-7 receives two and two or more base station is broadcast, maximum according to signal to noise ratio
Judgment condition, selects the data that one of them base station is broadcast.Integrated positioning system 2-8 gets base station differential signal and satellite
After signal, calculate the accurate PVT information of vehicle current time in real time.
In this example, mobile terminal integrated positioning system 2-8 is to be used to by GNSS differential position system 3-1 and an INS
Property navigation system 3-2 loose coupling based on closed loop mode is constituted, and its structure chart is as shown in Figure 3.It should be noted that by GNSS and
The compound mode of INS is not limited to described in this example, in addition to this example, it is also possible to use the side such as close coupling or deep coupling
Formula.Closed-series combination refers to that estimated position, speed and attitude error feeds back to INS system, is used to correct the measured value of INS
And location solves.Differential data judging module 3-4 is responsible for receiving the base station differential data that wireless broadband communication module 2-7 forwards,
And make decisions according to the effectiveness of data different types of under current time and process further.Mobile terminal GNSS signal connects
Receive module 3-3 to be responsible for receiving satellite-signal, can be the multi-mode satellite receiver module of single-frequency point or multifrequency point, connect with base station
Receipts machine 2-2 possesses identical satellite signal receiving function.Mobile terminal GNSS signal receiver module 3-3 carries out base band signal process also
Extract carrier phase and pseudo range observed quantity, the satellite almanac data of mobile terminal, and these data are sent into GNSS difference resolving mould
In block 3-5.
GNSS difference resolves module 3-5 and is possible not only to perform the calculation of corresponding satellite difference according to different types of differential data
Method, it is also possible to carry out One-Point Location algorithm according to the output data of mobile terminal GNSS signal receiver module 3-3.If difference number
When comprising carrier phase and the pseudo range observed quantity of base station according to, differential data judging module 3-4 selects the carrier wave of base station
Phase place and pseudo range observed quantity are sent into GNSS difference and are resolved in module 3-5, perform RTK difference algorithm；If carrier phase and pseudorange
Observed quantity is unavailable, and the when that pseudo range difference calibrator quantity can being used, differential data judging module 3-4 selects to calibrate pseudo range difference
Amount is sent into GNSS difference and is resolved in module 3-5, performs pseudo range difference algorithm.If carrier phase, pseudo range observed quantity and pseudorange are poor
When dividing calibrator quantity the most unavailable, sending marking signal and resolve module 3-5 to GNSS difference, GNSS difference resolves module 3-5 and uses
The data of GNSS signal receiver module 3-3 perform One-Point Location algorithm.GNSS difference resolves module 3-5 according to the inhomogeneity sent into
Type data, carry out corresponding algorithm resolving, and result of calculation are sent in GNSS/INS combinational algorithm module 3-8.
Inertial navigation system 3-2 is made up of Inertial Measurement Unit (IMU) 3-6 and inertial navigation unit 3-7, IMU3-6 bag
Include one group of gyroscope and acceierometer sensor, measure angular speed and the acceleration of mobile terminal respectively, and by this group angle speed
Rate and acceleration issue inertial navigation unit 3-7.
GNSS difference is resolved the algorithm knot of module 3-5 and inertial navigation unit 3-7 by GNSS/INS combinational algorithm module 3-8
Fruit carries out Data Fusion, by EKF (Extended Kalman) to the speed of INS, position, attitude with
And sensor error carries out optimal estimation, the amount of error correction of INS is fed back to inertial navigation unit 3-7.
Inertial navigation unit 3-7 uses amount of error correction to be corrected angular speed and the accekeration of current time, and
According to the position data in a upper moment, calculated PVT and the attitude information of current time mobile terminal, simultaneously by position, speed
Combinational algorithm module 3-8 is sent into attitude information.
Fig. 4 shows mobile terminal main program flow process under loose coupling integrated positioning pattern.The broadband wireless of mobile terminal
Equipment persistently receives wireless wide band signal 4-1, and meanwhile, the GNSS receiver of mobile terminal persistently receives GNSS signal 4-2, and
IMU measures angular velocity and the acceleration 4-3 of mobile terminal.After receiving base station signal, it may be judged whether containing base station data 4-4.
Without the differential data of base station, illustrate that interrupting occurs in the communication between base station and movement station, determine whether mobile terminal
GNSS receiver whether trace into the satellite 4-5 of more than four (including four).Without tracing into sufficient amount of defending
Star, illustrates that mobile terminal may be blocked by surrounding objects or enter tunnel etc., causes receiving satellite-signal.This
In the case of, mobile terminal relies on the PVT data of the inertial navigation algorithm 4-6 output vehicle of INS system.
If the GNSS receiver of mobile terminal is able to receive that four or the satellite of more than four, according to mobile terminal it is then
The no differential data being able to receive that base station judges whether to be Differential positioning 4-9.Without receiving base station
Differential data, illustrates that radio communication is likely to occur error of transmission or intermittent breaks, and mobile terminal then receives according to local GNSS
The data that machine obtains realize mobile terminal One-Point Location 4-10, and then GNSS/INS combinational algorithm 4-11 merges its result, mobile terminal
Angular velocity and acceleration measurement, speed, position and the sensor error of INS is carried out optimal estimation, it is thus achieved that the mistake of INS
Difference correcting value, finally by the PVT data of inertial navigation algorithm 4-6 output mobile end.
When the base station signal received contains differential data when, it is necessary first to judge whether to receive two or more benchmark
The signal 4-8 stood.If receiving the signal of two or more base station, needing the condition maximum according to signal to noise ratio, selecting a base
Quasi-station data 4-7.After obtaining a base station differential data, need differential data type is judgement 4-12.Differential data
Type is broadly divided into two classes: a class is pseudo range difference correcting value, and another kind of is carrier phase and pseudo range observed quantity etc..First judge
Whether having carrier phase and pseudo range observed quantity, the most whether can do RTK difference 4-13, if permissible, mobile terminal then enters
RTK difference algorithm 4-14 resolves, and then GNSS/INS combinational algorithm 4-11 merges the result of its RTK difference algorithm 4-14, movement
The angular velocity of end and acceleration measurement, carry out optimal estimation to speed, position and the sensor error of INS, it is thus achieved that INS's
Amount of error correction, finally by the PVT data of inertial navigation algorithm 4-6 output mobile end.If without, illustrate containing pseudorange
Difference correction amount, mobile terminal then performs pseudo range difference algorithm 4-15 and resolves.
The main solution process of pseudo range difference algorithm 4-15 is as follows: pseudo range difference resolves mainly by base station transmission
Pseudo range difference correcting valueLocal pseudo-range measurements is modified, i.e., whereinFormer for mobile terminal
Beginning Pseudo-range Observations,For through revised Pseudo-range Observations, in the case of short baseline, ionosphere delay time error, right
Fluid layer error, ephemeris error and satellite kind difference are basically eliminated.Based on revised Pseudo-range Observations, the GNSS of mobile terminal completes
Absolute fix resolves.Then GNSS/INS combinational algorithm 4-11 merges its result, angular velocity and acceleration measurement to INS's
Speed, position and sensor error carry out optimal estimation, it is thus achieved that the amount of error correction of INS, finally by inertial navigation algorithm 4-6
The PVT data of output mobile end.
Therefore, the present invention is capable of the accurate real-time positioning navigation of continuous seamless for vehicle.When mobile terminal enters tunnel
Road and when cannot receive satellite-signal in the short time, native system can utilize INS to complete continuous print location navigation；Work as movement
Communication between end and base station causes the transmission of intermittence data to be lost due to interference or other reason, and mobile terminal can connect
Time by satellite-signal, native system utilizes satellite One-Point Location and INS to realize combined positioning and navigating.When mobile terminal and benchmark
Communication between standing is excellent, and when can receive satellite-signal again, the combination that native system completes GNSS difference and INS is fixed simultaneously
Position navigation.
Claims (9)
1. for obtaining the positioning navigation method of driving vehicle exact position, velocity information, merged inertial positioning navigation,
Satellite real-time requiring technology and broadband wireless data communication system, it is characterised in that: this system includes base station part
(2-1) with mobile terminal part (2-6), base station part (2-1) is arranged on base station, and mobile terminal part (2-6) is then arranged on car
On, wherein:
Base station part (2-1) includes a GNSS reference receiver (2-2) and wireless broadband communication module (2-3), GNSS
Reference receiver (2-2) is responsible for producing differential data, and differential data comprises pseudo range difference correcting value, Pseudo-range Observations and carrier wave
Carrier phase observable, is sent to wireless broadband communication module (2-3), WiMAX some or all of for these differential datas simultaneously
Communication module (2-3) is responsible for the data received to be broadcasted；
Mobile terminal part (2-6) includes a wireless broadband communication module (2-7) and integrated positioning system (2-8), WiMAX
Communication module (2-7) is responsible for receiving differential data, and differential data is transmitted to integrated positioning system (2-8), integrated positioning system
System (2-8) is made up of GNSS differential position system and inertial navigation system, completes the precise positioning of vehicle, exports PVT information；
Described base station part (2-1) is linked by radio communication and mobile terminal part (2-6).
Base station part the most according to claim 1, it is characterised in that: GNSS reference receiver (2-2) known this locality
The high precision position information of base station, and be configured to base station mode of operation, real-time reception GPS, GLONASS, the Big Dipper or
One or more navigation satellites signal of Galileo, it is thus achieved that pseudo range observed quantity and carrier phase observed quantity, base simultaneously
Calculate pseudo range difference correcting value in locally known high precision position information, and will send out after encoded for these data group of bag
Give wireless broadband communication module (2-3).
Base station part the most according to claim 1, it is characterised in that: GNSS reference receiver (2-2) is sent to nothing
The data of line broadband communicating module (2-3) contain base station high precision position information, also contains pseudo range observed quantity, carrier phase
Observed quantity, or pseudo range difference correcting value, wherein:
When carrier phase and pseudo range observed quantity can use, GNSS reference receiver (2-2) is carrier phase and pseudo range observed quantity
It is sent to broadband communicating module (2-3)；
When carrier phase and pseudo range observed quantity are unavailable, and when pseudo range difference correcting value can use, GNSS reference receiver (2-2)
Pseudo range difference correcting value is sent to broadband communicating module (2-3).
Base station part the most according to claim 1, it is characterised in that: GNSS reference receiver (2-2) and broadband lead to
The coded format carried out data transmission between letter module (2-3) can use RTCM, it would however also be possible to employ extended formatting.
Base station part the most according to claim 1, it is characterised in that: wireless broadband communication module (2-3) is to possess width
With the system of radio communication function, 3G or 4G universal standard system can be used, it would however also be possible to employ autonomous Design possess width
With the system of radio communication function, for completely broadcasting the data from GNSS reference receiver (2-2).
Movement station part the most according to claim 1, it is characterised in that: wireless broadband communication module (2-7) uses and base
The reception system that wireless broadband communication module of standing (2-3) is corresponding, for receiving the difference information broadcast, and the data received
Give integrated positioning system (2-8), wherein:
Without receiving the difference information broadcast, need combination of notifications alignment system (2-8)；
If receiving the data that two or more base stations are broadcast, select the data of one of them base station, and data
Completely it is transmitted to integrated positioning system (2-8).
Movement station part the most according to claim 1, it is characterised in that: integrated positioning system (2-8) is determined by GNSS difference
Position system (3-1) and inertial navigation system (3-2) are integrated based on loose coupling mode, but are not limited to this, it is also possible to based on close coupling
Or the mode of deep coupling is integrated, it is achieved the PVT information output of mobile terminal.
Movement station part the most according to claim 1, it is characterised in that: inertial navigation system (3-2) include gyroscope and
Acceierometer sensor.
Movement station part the most according to claim 1, it is characterised in that: integrated positioning system (2-8) is based on loose coupling side
During formula combination, GNSS differential position system (3-1) has identical satellite signal receiving energy with GNSS reference receiver (2-2)
Power, can real-time reception GPS, GLONASS, the Big Dipper or one or more navigation satellites signal of Galileo, obtain simultaneously
The differential data broadcast of base station, and perform corresponding algorithm, inertial navigation system (3-2) measure mobile terminal angular speed and
Acceleration, and perform inertial navigation algorithm, wherein:
When wireless broadband communication module (2-7) does not receive the base station difference information broadcast, GNSS differential position system simultaneously
(3-1), when also cannot receive more than three satellite-signals, integrated positioning system (2-8) is exported car by inertial navigation system (3-2)
PVT information；When wireless broadband communication module (2-7) does not receive the difference information broadcast, and GNSS differential position system
(3-1), when can receive more than three satellite-signals, GNSS differential position system (3-1) performs One-Point Location algorithm；Work as base
Difference information that accurate station is broadcast and GNSS satellite signal all can with when, GNSS differential position system (3-1) execution satellite is poor
Divide algorithm；
GNSS/INS combinational algorithm module (3-8) is by GNSS differential position system (3-1) and the algorithm of inertial navigation system (3-2)
Result carries out Data Fusion, speed, position and the sensor error of INS is carried out optimal estimation, it is thus achieved that the error of INS
Correcting value, and feed back to inertial navigation system (3-2), wherein inertial navigation unit (3-7) calculates current time mobile terminal
PVT information.
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Application publication date: 20170111 |