CN106443745A - Course angle correction method and device - Google Patents
Course angle correction method and device Download PDFInfo
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- CN106443745A CN106443745A CN201610954845.3A CN201610954845A CN106443745A CN 106443745 A CN106443745 A CN 106443745A CN 201610954845 A CN201610954845 A CN 201610954845A CN 106443745 A CN106443745 A CN 106443745A
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- vehicle
- gyroscope
- course angle
- angle
- threshold value
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Classifications
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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
-
- 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
-
- 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
- G01C21/18—Stabilised platforms, e.g. by gyroscope
Abstract
The embodiment of the invention discloses a course angle correction method and device. The course angle correction method comprises the steps of determining an advancing state of a vehicle based on a gyroscope; utilizing an average course angle determined in a continuous straight advancing period of the vehicle based on the GPS technology as an instant course angle of the vehicle if the advancing state of the vehicle is in continuous straight advancing. The course angle correction method solves the problems that the gyroscope has a drift problem, a geomagnetic sensor is prone to being interfered, the initial advancing direction of the vehicle cannot be determined through the gyroscope and the inertial navigation cannot be achieved when a traditional way uses the gyroscope and the geomagnetic sensor to perform inertial navigation; the method achieves the purposes of determining the advancing state of the vehicle through the gyroscope and determining the course angle of the vehicle according to the advancing state of the vehicle and the GPS technology to accurately navigate.
Description
Technical field
The present embodiments relate to navigation field technology, more particularly, to a kind of method and device of course angle correction.
Background technology
In vehicle mounted guidance field, it is common to use GPS (global positioning system, Global Positioning System) is fixed
Position technology realizes the positioning function of vehicle.In the inadequate avenue of gps signal, underground parking etc., vehicle often occurs
Situation about cannot position.
There is minority positioning terminal at present and in-vehicle navigation apparatus pass through gyroscope, geomagnetic sensor obtains three shaft angles of vehicle
Speed, geomagnetic field intensity, then inertial navigation is realized by the course angle being calculated vehicle.
But lead to inertial navigation accuracy poor because gyroscope has drifting problem, geomagnetic sensor and is easily disturbed.
And only the initial travel direction of vehicle cannot be determined it is impossible to realize inertial navigation using gyroscope.
Content of the invention
The embodiment of the present invention provides a kind of method and device of course angle correction, is led with realizing corrected course angle and then reach
The purpose of boat.
In a first aspect, embodiments providing a kind of method of course angle correction, the method includes：
Determine the travel condition of vehicle based on gyroscope；
If the travel condition of described vehicle is persistently to keep straight on, during determining that vehicle is persistently kept straight on based on GPS technology
Average heading angle as vehicle instantaneous course angle.
Further, the method also includes：
If the travel condition of described vehicle is kept straight on for non-continuous, calculate upper one instantaneous course angle and gyroscope deflection angle
Degree sum, updates as current instantaneous course angle.
Further, described included based on the travel condition that gyroscope determines vehicle：
It is spaced t according to the first acquisition time, obtain the Z axis angular speed z of gyroscope, and cyclic pac king is in array z_buff
In [N], wherein, N is natural number；
Whether each numerical value relatively in described array z_buff [N] is more than the zero point threshold value of gyroscope angular speed；
If each numerical value in described array z_buff [N] is respectively less than described zero point threshold value it is determined that described vehicle is
Persistently keep straight on, be otherwise defined as non-continuous straight trip.
Further, whether each numerical value in described array z_buff of described comparison [N] is more than gyroscope angular speed
Zero point threshold value before, also include：
In stationary vehicle, obtain one group of Z axis magnitude of angular velocity of gyroscope；
The zero point threshold value determining described gyroscope angular speed is the maximum in described one group of Z axis magnitude of angular velocity.
Further, described using based on GPS technology determine vehicle persistently keep straight on during average heading angle as vehicle
Instantaneous course angle includes：
It is spaced T according to the second acquisition time, obtain the average heading angle of vehicle based on GPS technology, and participate in resolving
Number of satellite；
Determine travel speed and/or operating range that vehicle is spaced in T in described second acquisition time；
Set number of satellite threshold value if resolving number of satellite and being more than or equal to, and described travel speed and/or operating range
Meet GPS location precision condition, then using based on GPS technology determine vehicle persistently keep straight on during average heading angle as vehicle
Instantaneous course angle.
Wherein：Described N adds 1 equal to T divided by the integer of t.
Second aspect, the embodiment of the present invention additionally provides a kind of device of course angle correction, and this device includes：
Determine vehicle travel condition module, for determining the travel condition of vehicle based on gyroscope；
Straight trip determines course Corner Block List Representation, if the travel condition for described vehicle is persistently to keep straight on, will be based on GPS skill
Art determine vehicle persistently keep straight on during average heading angle as vehicle instantaneous course angle.
Further, this device also includes：
Non-continuous straight trip determines course Corner Block List Representation, if the travel condition for described vehicle is kept straight on for non-continuous, counts
Count an instantaneous course angle and gyroscope deflection angle sum in, update as current instantaneous course angle.
Further, described determination vehicle travel condition module is additionally operable to：
It is spaced t according to the first acquisition time, obtain the Z axis angular speed z of gyroscope, and cyclic pac king is in array z_buff
In [N], wherein, N is natural number；
Whether each numerical value relatively in described array z_buff [N] is more than the zero point threshold value of gyroscope angular speed；
If each numerical value in described array z_buff [N] is respectively less than described zero point threshold value it is determined that described vehicle is
Persistently keep straight on, be otherwise defined as non-continuous straight trip.
Further, this device also includes：Zero point threshold determination module, in described array z_buff of described comparison
Before whether each numerical value in [N] is more than the zero point threshold value of gyroscope angular speed,
In stationary vehicle, obtain one group of Z axis magnitude of angular velocity of gyroscope；
The zero point threshold value determining described gyroscope angular speed is the maximum in described one group of Z axis magnitude of angular velocity.
Further, described straight trip determines that course Corner Block List Representation is additionally operable to：
It is spaced T according to the second acquisition time, obtain the average heading angle of vehicle based on GPS technology, and participate in resolving
Number of satellite；
Determine travel speed and/or operating range that vehicle is spaced in T in described second acquisition time；
Set number of satellite threshold value if resolving number of satellite and being more than or equal to, and described travel speed and/or operating range
Meet GPS location precision condition, then using based on GPS technology determine vehicle persistently keep straight on during average heading angle as vehicle
Instantaneous course angle.
Wherein, described N adds 1 equal to T divided by the integer of t.
The embodiment of the present invention by determining the travel condition of vehicle based on gyroscope, when described vehicle travel condition be hold
During continuous straight trip, using based on GPS technology determine vehicle persistently keep straight on during average heading angle as vehicle instantaneous course angle, solution
When traditional approach of having determined carries out inertial navigation using gyroscope and geomagnetic sensor, there is drifting problem, earth magnetism sensing in gyroscope
Device is easily disturbed, and only cannot determine the initial travel direction of vehicle it is impossible to realize asking of inertial navigation using gyroscope
It is achieved that determine the travel condition of vehicle using gyroscope, the travel condition according to vehicle and GPS technology determine the boat of vehicle to topic
To angle, thus being navigated exactly.
Brief description
Fig. 1 is the schematic flow sheet of the method for one of the embodiment of the present invention one course angle correction；
Fig. 2 is the schematic flow sheet of the method for one of the embodiment of the present invention two course angle correction；
Fig. 3 is the schematic flow sheet of the method for one of the embodiment of the present invention three course angle correction；
Fig. 4 is the schematic flow sheet of the method for one of the embodiment of the present invention four course angle correction；
Fig. 5 is the schematic flow sheet of the method for one of the embodiment of the present invention five course angle correction；
Fig. 6 is the structural representation of the device of one of the embodiment of the present invention six course angle correction.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that, in order to just
Part related to the present invention rather than entire infrastructure is illustrate only in description, accompanying drawing.
Embodiment one
Fig. 1 is the schematic flow sheet of the method for one of the embodiment of the present invention one course angle correction.The skill of the present embodiment
Art scheme is applied to the situation of navigation.The method can be held by the device that a kind of course angle provided in an embodiment of the present invention corrects
OK, this device can be realized in the way of using software and/or hardware, and configures application in vehicle.The method specifically include as
Lower step：
S110, determine the travel condition of vehicle based on gyroscope.
Gyroscope can obtain the angular speed of vehicle, and angular speed can reflect the deflection angle of vehicle, determines vehicle with this
Travel condition.The travel condition of vehicle includes persistently keeping straight on and non-continuous straight trip.
If the travel condition of the described vehicle of S120 is persistently to keep straight on, will determine that vehicle is persistently kept straight on based on GPS technology
The average heading angle of period is as the instantaneous course angle of vehicle.
When the travel condition determining vehicle using gyroscope is persistently to keep straight on, continued using the vehicle that GPS technology determines
Average heading angle during straight trip can as the instantaneous course angle of vehicle when not having gps signal or gps signal weaker, by
This can be implemented in when not having gps signal or gps signal weaker, carries out accurately determining course angle, and then using boat
Navigated to angle.
The embodiment of the present invention by determining the travel condition of vehicle based on gyroscope, when described vehicle travel condition be hold
During continuous straight trip, using based on GPS technology determine vehicle persistently keep straight on during average heading angle as vehicle instantaneous course angle, solution
When traditional approach of having determined carries out inertial navigation using gyroscope and geomagnetic sensor, there is drifting problem, earth magnetism sensing in gyroscope
Device is easily disturbed, and only cannot determine the initial travel direction of vehicle it is impossible to realize asking of inertial navigation using gyroscope
It is achieved that determine the travel condition of vehicle using gyroscope, the travel condition according to vehicle and GPS technology determine the boat of vehicle to topic
To angle, thus being navigated exactly.
Embodiment two
Fig. 2 is the schematic flow sheet of a kind of method of course angle correction that the embodiment of the present invention two provides.The present invention is implemented
Example, on the basis of above-described embodiment, is that optimization order during persistently straight trip is described to the travel condition of described vehicle further
The step when travel condition of vehicle is kept straight on for non-continuous.
Correspondingly, the method for the present embodiment includes：
S210, determine the travel condition of vehicle based on gyroscope.
If the travel condition of the described vehicle of S220 is kept straight on for non-continuous, calculate upper one instantaneous course angle and gyroscope
Deflection angle sum, updates as current instantaneous course angle.
When the travel condition being determined vehicle using gyroscope is kept straight on for non-continuous, current course angle by GPS technology and
Gyroscope determines jointly.Interval obtains the course angle of vehicle by GPS technology at regular intervals, is measuring current instantaneous course
The course angle of a upper time interval acquiring in angle moment is upper one instantaneous course angle；Interval acquiring gyroscope angle at regular intervals
Velocity amplitude, being multiplied by magnitude of angular velocity using this time interval is gyroscope deflection angle；Current instantaneous course angle equal to upper one
Instantaneous course angle and gyroscope deflection angle sum.Vehicle thus can be realized in non-continuous straight-going state, no gps signal or
The determination of vehicle course angle when person's gps signal is weaker, and then realize automobile navigation.
The embodiment of the present invention by determining the travel condition of vehicle based on gyroscope, if the travel condition of described vehicle is
Non-continuous is kept straight on, then calculate upper one instantaneous course angle and gyroscope deflection angle sum, updates as current instantaneous course angle,
Achieve vehicle, when non-continuous is kept straight on, real time correction is carried out to course angle, thus effectively being led using accurately course angle
Boat.
Embodiment three
Fig. 3 is the schematic flow sheet of a kind of method of course angle correction that the embodiment of the present invention three provides.The present invention is implemented
Example, on the basis of above-mentioned any embodiment, has carried out excellent further to the step of the travel condition determining vehicle based on gyroscope
Change.
Correspondingly, the method for the present embodiment includes：
S310, it is spaced t according to the first acquisition time, obtain the Z axis angular speed z of gyroscope, and cyclic pac king is in array z_
In buff [N], wherein, N is natural number.
Z axis are vertical direction, the Z axis angular speed z reflection vehicle deflection angle in the horizontal direction of gyroscope, and then can sentence
The travel condition of disconnected vehicle.The Z axis angular speed z of the gyroscope getting can also may be used with cyclic pac king in array z_buff [N]
In the way of taking other data storages, such as store in a matrix, will not be described here.
Wherein N is natural number, the number of the Z axis angular speed z of gyroscope that N representative can get within the t time.N root
Obtain time interval T of course angle according to GPS technology and obtain the first acquisition time interval t determination of gyroscope Z axis angular speed z, N
The integer divided by t more than T can be taken it is ensured that during array z_buff [N] is filled up, the boat of vehicle can be got
To angle.Preferably, N adds 1 equal to T divided by the integer of t.
Whether S320, each numerical value judging in described array z_buff [N] are respectively less than zero point threshold value.
In stationary vehicle, obtain one group of Z axis magnitude of angular velocity of gyroscope；Determine the zero point threshold of described gyroscope angular speed
It is worth for the maximum in described one group of Z axis magnitude of angular velocity.
S330, when each numerical value in described array z_buff [N] be respectively less than described zero point threshold value when, the row of described vehicle
Enter state be persistently keep straight on, then using based on GPS technology determine vehicle persistently keep straight on during average heading angle as vehicle wink
When course angle.
Due to there is error, during vehicle straight trip, the Z axis magnitude of angular velocity of gyroscope can not possibly be zero always, simply close to zero
Number, when the Z axis magnitude of angular velocity of gyroscope is less than the zero point threshold value setting, it is, each in described array z_buff [N]
When numerical value is respectively less than described zero point threshold value, vehicle does not deflect in the horizontal direction, and that is, the travel condition of described vehicle is to hold
Continuous straight trip.When the travel condition of vehicle is persistently to keep straight on, and when not having gps signal or gps signal weaker, based on GPS skill
Art determine vehicle persistently keep straight on during average heading angle as vehicle instantaneous course angle.
S340, when each numerical value in described array z_buff [N] is not respectively less than described zero point threshold value, described vehicle
Travel condition be non-continuous straight trip, then calculate upper one instantaneous course angle and gyroscope deflection angle sum, update as currently
Instantaneous course angle.
Each numerical value in described array z_buff [N] be not respectively less than described zero point threshold value when, vehicle is in the horizontal direction
There occurs deflection, that is, the travel condition of vehicle is kept straight on for non-continuous.When the travel condition of vehicle is kept straight on for non-continuous, and do not have
When gps signal or gps signal are weaker, calculate upper one instantaneous course angle and gyroscope deflection angle sum, update as current
Instantaneous course angle.
The embodiment of the present invention judges the travel condition of vehicle by the angular speed of gyroscope, when vehicle is persistently to keep straight on,
Then using based on GPS technology determine vehicle persistently keep straight on during average heading angle as vehicle instantaneous course angle；When vehicle is
During non-continuous straight trip, then calculate upper one instantaneous course angle and gyroscope deflection angle sum, update as current instantaneous course
Angle is it is achieved that judgement to vehicle running state and determine that vehicle is instantaneous according to the different mode of the different choice of transport condition
Course angle, has reached and has accurately determined vehicle instantaneous course angle according to vehicle running state, and then the purpose precisely navigated.
Example IV
Fig. 4 is the schematic flow sheet of a kind of method of course angle correction that the embodiment of the present invention four provides.The present invention is implemented
Example, on the basis of above-mentioned any embodiment, if being persistently to keep straight on to the travel condition of described vehicle further, will be based on
GPS technology determine vehicle persistently keep straight on during average heading angle be optimized as the instantaneous course angle of vehicle.
Correspondingly, the method for the present embodiment includes：
S410, determine the travel condition of vehicle based on gyroscope.
If the travel condition of the described vehicle of S420 is persistently to keep straight on, it is spaced T according to the second acquisition time, based on GPS
The average heading angle of technical limit spacing vehicle, and participate in the number of satellite resolving；
It is spaced T according to the second acquisition time, the average heading angle of the vehicle obtaining based on GPS technology can be at one the
Two acquisition times are spaced the mean value of the course angle in T or the course angle in multiple second acquisition time interval T.Many
The mean value of the course angle that individual second acquisition time is spaced in T can reduce the error at the average heading angle of GPS technology determination, from
And more accurately instantaneous course angle can be obtained.
The satellite participating in resolving is to carry out in GPS technology obtaining the satellite of course angle.Number of satellite is bigger, shows that GPS believes
Number more credible.
S430, determine vehicle described second acquisition time be spaced T in travel speed and/or operating range；
The travel speed of vehicle can be collected by GPS module, vehicle speed pulse, OBD diagnosis interface etc..The traveling of vehicle away from
From can obtain it is also possible to directly in vehicle mileage table by the integration in the second acquisition time is spaced by the travel speed of vehicle
Read the mileage change being spaced in T in the second acquisition time to obtain, the longitude and latitude change calculations that can also be obtained by GPS technology obtain
Arrive.
If S440 resolves number of satellite is more than or equal to setting number of satellite threshold value, and described travel speed and/or traveling
Distance meets GPS location precision condition, then using based on GPS technology determine vehicle persistently keep straight on during average heading angle as car
Instantaneous course angle.
The number of satellite threshold value minimum 3 setting, when settling accounts number of satellite more than or equal to setting number of satellite threshold value, can
Credible to ensure gps signal.
Because GPS technology has certain positioning precision, need to ensure that vehicle is in transport condition and the second acquisition time interval T
Travel speed in time and/or operating range can not be less than the positioning precisions of GPS module, and the average heading angle otherwise obtaining is by mistake
Difference is too big.Thus, Vehicle Speed is more than setting value and/or vehicle operating range is more than during setting value it is ensured that meeting
The positioning precision of GPS is thus obtain reliable average heading angle.
The average heading angle calibration instantaneous course angle being obtained with GPS technology during vehicle straight trip, the non-straight trip of vehicle is that vehicle turns
It is calculated vehicle instantaneous course angle using gyroscope when curved.
When vehicle enters gps signal blind area by gps signal stable region, using current vehicle instantaneous course angle, in conjunction with
Car speed, is calculated the current location of vehicle；When vehicle enters gps signal stable region from gps signal blind area, vehicle is tieed up
Hold the straight trip of certain time, the course angle error that blind area inertial navigation produces is corrected using the present embodiment method；Work as vehicle stall
When, real-time course angle can be stored in non-volatile memory chip for equipment, storage before reading during next vehicle launch
Course angle is as original heading angle.
The embodiment of the present invention determines the travel condition of vehicle by gyroscope, when the travel condition of vehicle is persistently to keep straight on
When, and the number of satellite participating in resolving is more than and sets number of satellite therewith, and the travel speed of vehicle and/or operating range full
Sufficient GPS location precision condition, then using based on GPS technology determine vehicle persistently keep straight on during average heading angle as vehicle wink
When course angle it is achieved that under GPS location precision, vehicle instantaneous course angle, Jin Erjin are accurately determined according to vehicle running state
The purpose that row precisely navigates.
Embodiment five
Fig. 5 is the schematic flow sheet of a kind of method of course angle correction that the embodiment of the present invention five provides.The present invention is implemented
Example, on the basis of above-mentioned any embodiment, if kept straight on for non-continuous to the travel condition of described vehicle further, calculates
A upper instantaneous course angle and gyroscope deflection angle sum, update and are optimized as current instantaneous course angle.
Correspondingly, the method for the present embodiment includes：
S510, determine the travel condition of vehicle based on gyroscope.
If the travel condition of the described vehicle of S520 is kept straight on for non-continuous, it is spaced T according to the second acquisition time, is based on
GPS technology obtains the average heading angle of vehicle, and participates in the number of satellite resolving；
S530, determine vehicle described second acquisition time be spaced T in travel speed and/or operating range；
If S540 resolves number of satellite is more than or equal to setting number of satellite threshold value, and described travel speed and/or traveling
Distance meets GPS location precision condition, then calculate upper one instantaneous course angle and gyroscope deflection angle sum, updates as current
Instantaneous course angle.
The embodiment of the present invention determines the travel condition of vehicle by gyroscope, when the travel condition of vehicle is kept straight on for non-continuous
When, and the number of satellite participating in resolving is more than and sets number of satellite therewith, and the travel speed of vehicle and/or operating range full
Sufficient GPS location precision condition, then calculate upper one instantaneous course angle and gyroscope deflection angle sum, and renewal is as current instantaneous
Course angle is it is achieved that under GPS location precision, accurately determining vehicle instantaneous course angle according to vehicle running state, and then carry out
The precisely purpose of navigation.
Embodiment six
A kind of structural representation of the device of course angle correction that Fig. 6 provides for the embodiment of the present invention six.This device is used for
The method executing the course angle correction that above-mentioned any embodiment is provided.This device includes：
Determine vehicle travel condition module 610, for determining the travel condition of vehicle based on gyroscope；
Straight trip determines course Corner Block List Representation 620, if the travel condition for described vehicle is persistently to keep straight on, will be based on
GPS technology determine vehicle persistently keep straight on during average heading angle as vehicle instantaneous course angle.
Further, this device also includes：
Non-continuous straight trip determines course Corner Block List Representation, if the travel condition for described vehicle is kept straight on for non-continuous, counts
Count an instantaneous course angle and gyroscope deflection angle sum in, update as current instantaneous course angle.
Further, described determination vehicle travel condition module is additionally operable to：
It is spaced t according to the first acquisition time, obtain the Z axis angular speed z of gyroscope, and cyclic pac king is in array z_buff
In [N], wherein, N is natural number；
Whether each numerical value relatively in described array z_buff [N] is more than the zero point threshold value of gyroscope angular speed；
If each numerical value in described array z_buff [N] is respectively less than described zero point threshold value it is determined that described vehicle is
Persistently keep straight on, be otherwise defined as non-continuous straight trip.
Further, this device also includes：Zero point threshold determination module, in described array z_buff of described comparison
Before whether each numerical value in [N] is more than the zero point threshold value of gyroscope angular speed,
In stationary vehicle, obtain one group of Z axis magnitude of angular velocity of gyroscope；
The zero point threshold value determining described gyroscope angular speed is the maximum in described one group of Z axis magnitude of angular velocity.
Further, described straight trip determines that course Corner Block List Representation is additionally operable to：
It is spaced T according to the second acquisition time, obtain the average heading angle of vehicle based on GPS technology, and participate in resolving
Number of satellite；
Determine travel speed and/or operating range that vehicle is spaced in T in described second acquisition time；
Set number of satellite threshold value if resolving number of satellite and being more than or equal to, and described travel speed and/or operating range
Meet GPS location precision condition, then using based on GPS technology determine vehicle persistently keep straight on during average heading angle as vehicle
Instantaneous course angle.
Wherein, described N adds 1 equal to T divided by the integer of t.
The device of the course angle correction that the embodiment of the present invention six provides it is achieved that determine the traveling shape of vehicle using gyroscope
State, the travel condition according to vehicle and GPS technology determine the course angle of vehicle, thus being navigated exactly.
The device of the course angle correction that the embodiment of the present invention is provided can perform the boat that any embodiment of the present invention is provided
To the method for angle correction, possess the corresponding functional module of execution method and beneficial effect.
Note, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious changes,
Readjust and substitute without departing from protection scope of the present invention.Therefore although being carried out to the present invention by above example
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
Other Equivalent embodiments more can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (12)
1. a kind of method of course angle correction is it is characterised in that include：
Determine the travel condition of vehicle based on gyroscope；
If the travel condition of described vehicle is persistently to keep straight on, by based on GPS technology determine vehicle persistently keep straight on during flat
All course angle is as the instantaneous course angle of vehicle.
2. method according to claim 1 is it is characterised in that also include：
If the travel condition of described vehicle is non-continuous straight trip, calculate upper one instantaneous course angle and gyroscope deflection angle it
With renewal is as current instantaneous course angle.
3. method according to claim 2 is it is characterised in that the described travel condition bag determining vehicle based on gyroscope
Include：
It is spaced t according to the first acquisition time, obtain the Z axis angular speed z of gyroscope, and cyclic pac king is in array z_buff [N],
Wherein, N is natural number；
Whether each numerical value relatively in described array z_buff [N] is more than the zero point threshold value of gyroscope angular speed；
If each numerical value in described array z_buff [N] is respectively less than described zero point threshold value it is determined that described vehicle is lasting
Straight trip, is otherwise defined as non-continuous straight trip.
4. method according to claim 3 is it is characterised in that each in described array z_buff of described comparison [N]
Before whether numerical value is more than the zero point threshold value of gyroscope angular speed, also include：
In stationary vehicle, obtain one group of Z axis magnitude of angular velocity of gyroscope；
The zero point threshold value determining described gyroscope angular speed is the maximum in described one group of Z axis magnitude of angular velocity.
5. method according to claim 3 will be it is characterised in that based on GPS technology, described will determine that vehicle is persistently kept straight on the phase
Between average heading angle include as the instantaneous course angle of vehicle：
It is spaced T according to the second acquisition time, obtain the average heading angle of vehicle based on GPS technology, and participate in the satellite resolving
Quantity；
Determine travel speed and/or operating range that vehicle is spaced in T in described second acquisition time；
Set number of satellite threshold value if resolving number of satellite and being more than or equal to, and described travel speed and/or operating range meet
GPS location precision condition, then using based on GPS technology determine vehicle persistently keep straight on during average heading angle instantaneous as vehicle
Course angle.
6. method according to claim 5 it is characterised in that：Described N adds 1 equal to T divided by the integer of t.
7. a kind of device of course angle correction is it is characterised in that include：
Determine vehicle travel condition module, for determining the travel condition of vehicle based on gyroscope；
Straight trip determines course Corner Block List Representation, if the travel condition for described vehicle is persistently to keep straight on, will be true based on GPS technology
Determine the average heading angle during vehicle is persistently kept straight on as the instantaneous course angle of vehicle.
8. device according to claim 7 is it is characterised in that also include：
Non-continuous straight trip determines course Corner Block List Representation, if the travel condition for described vehicle is kept straight on for non-continuous, in calculating
One instantaneous course angle and gyroscope deflection angle sum, update as current instantaneous course angle.
9. device according to claim 8 is it is characterised in that described determination vehicle travel condition module is additionally operable to：
It is spaced t according to the first acquisition time, obtain the Z axis angular speed z of gyroscope, and cyclic pac king is in array z_buff [N],
Wherein, N is natural number；
Whether each numerical value relatively in described array z_buff [N] is more than the zero point threshold value of gyroscope angular speed；
If each numerical value in described array z_buff [N] is respectively less than described zero point threshold value it is determined that described vehicle is lasting
Straight trip, is otherwise defined as non-continuous straight trip.
10. device according to claim 9 is it is characterised in that also include：Zero point threshold determination module, for described ratio
Before whether each numerical value in more described array z_buff [N] is more than the zero point threshold value of gyroscope angular speed,
In stationary vehicle, obtain one group of Z axis magnitude of angular velocity of gyroscope；
The zero point threshold value determining described gyroscope angular speed is the maximum in described one group of Z axis magnitude of angular velocity.
11. devices according to claim 9 are it is characterised in that described straight trip determines that course Corner Block List Representation is additionally operable to：
It is spaced T according to the second acquisition time, obtain the average heading angle of vehicle based on GPS technology, and participate in the satellite resolving
Quantity；
Determine travel speed and/or operating range that vehicle is spaced in T in described second acquisition time；
Set number of satellite threshold value if resolving number of satellite and being more than or equal to, and described travel speed and/or operating range meet
GPS location precision condition, then using based on GPS technology determine vehicle persistently keep straight on during average heading angle instantaneous as vehicle
Course angle.
12. devices according to claim 7 it is characterised in that：Described N adds 1 equal to T divided by the integer of t.
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