CN107436145A - MEMS based on POI interactions cooperates with seamless vehicle positioning method and system - Google Patents
MEMS based on POI interactions cooperates with seamless vehicle positioning method and system Download PDFInfo
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- CN107436145A CN107436145A CN201710704708.9A CN201710704708A CN107436145A CN 107436145 A CN107436145 A CN 107436145A CN 201710704708 A CN201710704708 A CN 201710704708A CN 107436145 A CN107436145 A CN 107436145A
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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
- 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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
MEMS disclosed by the invention based on POI interactions cooperates with seamless vehicle positioning method, comprises the steps of：Design the POI structures towards navigator fix；POI extraction and generation；The integrated navigator fix system based on POI of structure.Geographic hot spot basic function and realization means in the technology of the present invention combination GIS, propose the MEMS based on POI interactions and cooperate with seamless vehicle positioning method, to overcome the quagmire that the accumulation of error of the MEMS sensor with GNSS in integrated reduces with navigator fix performance, the GNSS navigator fix efficiency under obstacle environment can effectively be lifted, technical research is carried out by taking automobile navigation terminal as an example, its circuit can be extended to mobile phone, PDA and various intelligent terminals and ps.
Description
Technical field
The present invention relates to seamless navigation positioning field, the MEMS more particularly to based on POI interactions cooperates with seamless vehicle positioning
Method and system.
Background technology
With Beidou navigation positioning application and industry and industrial technology lifting demand, before build seamless navigation positioning body
It is tied to form and has carried out the weight of " legendary ruler of great antiquity, the first of the Three August Ones and " navigator fix System Construction for national strategy layout and new high-tech IT development need, China
Big science engineering, the seamless navigation positioning for realizing various technological incorporation and collaboration are that the emphasis of current techniques research and development and focus are led
Domain.
Individual's trip, automobile navigation positioning (including various emphasis vehicles, such as armoured van, hazardous materials transportation car, school bus and peace
Protect car etc.), and Navigation of Pilotless Aircraft positioning etc. all proposes current demand to seamless positioning.
GNSS GPSs are aobvious with round-the-clock, high accuracy, automation, high benefit etc. since coming into operation
Work feature, the trust of users is won.With the continuous expansion of satellite navigation system application field, many countries just step up
Develop independent satellite navigation system.The U.S. is implementing GPS updating programs, and Russia steps up to recover and lifting
GLONASS all round properties, while European Union also builds GALILEO systems in continuous promote, Chinese Beidou satellite navigation system is just
It is anticipated that carrying out above construction etc..BD/GPS/GLONASS application has been deep into various fields at present, turns into people
It is indispensable or space time information source, be obtained for extensively in all many-sides such as navigation, space flight, measurement, motion carrier monitoring, time services
General application.
Meanwhile the non-seamless that shows in the application of GNSS also exposes the minor face problem of its reliability and availability,
Such as in city high rise building mansion, under the challenge such as forest compact district and high mountain and steep gorge area and the underground space environment satellite-signal be blocked and
Interference etc., the fragility in satellite navigation positioning is formd, have impact on the overall application of navigator fix.For many years, in order to overcome
These obstacles, people tend to utilize aiding sensors, such as odometer, compass and inertial navigation etc. to be combined with satellite fix, are formed
Integrated Positioning System；In urban environment, high-precision navigation map can also be utilized, with some of which map data mining platform,
Such as orientation, elevation and landmark point etc., combined with location model, form Integrated Positioning System, obtain a variety of spirits under obstacle environment
Positioning solution living.
In the prior art, following two modes be common are：
1st, INS or MEMS and GNSS integrated navigator fix pattern
In view of GNSS is not a seamless position fixing and navigation system, compensation process the most direct is to introduce inertial positioning
System (INS) integrates with GNSS system, and inertial navigation is a kind of gyroscope using on carrier and accelerometer to determine
Carrier location method, go out its subsequent point from the position of a known point according to the carrier course angle and speed calculation that continuously measure
Position, thus the current location of movable body can be continuously measured, so being a kind of to calculate navigation mode.Inertial navigation system is main
Advantage has：(1) it, independent of any external information, also not to outside emittance, therefore is a kind of self-contained system, its is hidden
Covering property is good and is not influenceed by outside electromagnetic interference；(2) can all-weather, the whole world, complete temporally work in aerial, earth surface and be
To underwater；(3) position, speed, course and attitude angle data can be provided, caused navigation information continuity is good and noise
It is low；(4) data updating rate height, short-term accuracy and stability are good.Its shortcoming is：(1) produced because navigation information passes through integration,
Position error increases with the time, and long-term accuracy is poor；(2) longer initialization time is needed to calibrate before use every time；(3) set
Standby price is different according to device levels, and middle and high end is costly；(4) temporal information can not be provided.
Therefore, the integrated navigation technology that a variety of various combination patterns are formed with INS also emerges in large numbers in succession therewith, the strengths and weaknesses
And deposit, wherein GPS/INS integrated navigation and locations technology turns into the mainstream technology of integrated navigation by obvious advantage, will the two height
Effect, efficient combination can extend respective advantage, reduce or overcome the deficiency, and the real-time high-precision navigator fix provided using GPS is believed
Cease to guide INS, correct the error with time integral in real time, customer service GPS can not carry because being blocked losing lock or building
For the predicament of navigation information；GPS service behaviour can be lifted using the navigation information of INS real-time high-precisions simultaneously, makes the two
It is evidently mutually beneficial.
Low cost and integrated convenience due to MEMS, and the theoretical development of strap-down inertial and perfect, in recent years
Widely use, be referred to as third generation inertial navigation sensors material so that the miniaturization of navigation system is achieved；In addition high property
Energy microcontroller, such as the Cortex M4 Series of MCU with the band DSP functions of ARM companies, it is the micro- of modern navigation system
Type, low-power consumption and high intelligent provide good processor platform basis.It must be noted that the MEMS devices for low cost
Part, the drift of its positioning result are also apparent, such as the inexpensive MEMS in mobile phone, occur obvious drift in several seconds
Move, it is necessary to other conditions (such as azimuth information of digital compass) combination this error could be controlled to spread.
2nd, dead reckoning
Dead reckoning (Dead reckoning, abridge DR) is under the conditions of known to current time position, passes through survey
Mobile distance and bearing is measured, the method for calculating subsequent time position.Under the conditions of modern technologies, with micro electro mechanical system (MEMS) technology
Development, accelerometer, digital compass, gyroscope size, weight, cost all substantially reduce, and dead reckoning is easily existed
Vehicle in pedestrian navigation with being applied.Due to be low cost sensor integration with combining, its alignment system also easily by
The influence of error accumulation is, it is necessary to consider to combine expansion and drift that the other information easily obtained carrys out parallel algorithm.
It is therefore desirable to design a kind of new localization method solve it is above-mentioned the problems of in the prior art.
The content of the invention
The shortcomings that it is an object of the invention to overcome prior art and deficiency, there is provided the MEMS based on POI interactions cooperates with nothing
Stitch vehicle positioning method.
Another object of the present invention is to provide the MEMS based on POI interactions to cooperate with seamless vehicle positioning system.
The purpose of the present invention is realized by following technical scheme：
MEMS based on POI interactions cooperates with seamless vehicle positioning method, comprises the steps of：
(1) POI structure of the design towards navigator fix：
The basic structure information that POI structures include be title, classification, position, positional precision sign, close on POI, section,
Granularity metric, identification feature；
(2) POI extraction and generation：
Supported by resources bank, the correlation of the description of positioning specific tasks information, database topological layer or map correlation figure layer
Positional information, after feature information extraction, according to the POI basic structures construction towards location requirement with representing symbol configuration, formed
Support the extension POI results of navigator fix；
(3) the integrated navigator fix system based on POI is built：
This framework establishes GNSS/MEMS/POI integrated positioning pattern, positions and is positioned according to satellite signal quality and inertial navigation
Threshold values is point of penetration, develops the low computation complexity self-adapting intelligent switching mould based on GNSS/MEMS/POI difference station-keeping modes
Type, i.e., switch respectively for open area to shielded area station-keeping mode；Positioning needs to take into full account the satellite-signal that terminal is faced
And localizing environment situation, under normal circumstances will be on the basis of the result of the Big Dipper/GPS location pattern output；By to positioning scene
Analysis, MEMS positioning is enabled when satellite-signal is disturbed or blocks automatically, and accumulate according to alignment quality and ins error
The comprehensive assessment of threshold values, realize that station-keeping mode realizes adaptive switching and outcome evaluation；
MEMS ins errors accumulation threshold values is assessed, the assessment of MEMS ins errors accumulation threshold values can ensure that it is fixed
Position resultant error accumulates threshold values in allowed band, when ins error and exceedes preset time T, enables POI automatically, utilizes POI's
Spatial positional information is periodically calibrated to MEMS, ensures that its error accumulation is no more than allowed band, and using use
EKF model, so that the condition of GNSS/MEMS/POI integrated positioning patterns is optimal combination.
In step (2), the POI points, the extracting method and approach and road net structure of its distributional pattern, infrastructure and
Planning information is closely related, and its data source includes city and road grid database, the navigation map with positioning associated, according to this
A little macroscopic informations, a variety of distribution patterns of the actual POI points in region can be obtained, so as to be established for POI basic structure model
Fixed basis.
The distribution pattern includes stochastic pattern, sparse type, area intensive type, wire intensity,
In step (3), the shielded area is included such as tunnel, city, valley.
In step (3), the preset time is 50 seconds or 80 seconds.
Another object of the present invention is realized by following technical scheme：
MEMS based on POI interactions cooperates with seamless vehicle positioning system, including integrated positioning and analysis module, in addition to divides
GNSS module, MEMS modules, POI integration modules, output and the memory module not being connected with integrated positioning with analysis module, its
Described in GNSS module by GNSS antenna receiving and transmitting signal, the MEMS modules pass through WiFi antennas or Internet transmitting-receiving letters
Number, the POI integration modules pass through GSM/CDMA/GPRS receiving and transmitting signals.
The present invention compared with prior art, has the following advantages that and beneficial effect：
1st, the present invention combines geographic hot spot (POI) basic function and realization means in GIS, it is proposed that is interacted based on POI
MEMS cooperate with seamless vehicle positioning method, to overcome the accumulation of error and navigator fix of the MEMS sensor with GNSS in integrated
The quagmire that performance reduces, it can effectively lift the GNSS navigator fixs under obstacle environment (refer to signal and be blocked or be disturbed failure etc.)
Efficiency, technical research is carried out by taking automobile navigation terminal as an example, its circuit can be extended to mobile phone, PDA and various intelligent terminals with
People's system.
2nd, technical solution of the present invention make use of geographical feature point (POI) information of experts and scholars' most attention in recent years, and
Integrated positioning research is carried out with reference to location model, forms hallmark solution.
Brief description of the drawings
Fig. 1 is the flow chart towards the POI extractions and generation of navigator fix.
Fig. 2 is the flow chart of GNSS/MEMS/POI integrated positionings.
Fig. 3 is the structural representation that the MEMS of the present invention based on POI interactions cooperates with seamless vehicle positioning system.
Embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are unlimited
In this.
MEMS based on POI interactions cooperates with seamless vehicle positioning method, comprises the steps of：
(1) towards the POI structure designs of navigator fix
Single geography, or the POI in GIS fields, its basic structure information included are title, classification, latitude, longitude, faced
Other points of interest of near field, such as retail shop of restaurant of hotel information, cannot be used directly for navigator fix, necessary for such case
Expand POI intension, it is carried the search of the demand of user, attribute is checked, the work(such as locus is called, route inquiry
Can, therefore the abundant degree of the spatial position precision of POI data, attribute and the readability of expression directly affect running fix
Quality and availability, the POI basic structures such as table 1 in this framework：
Table 1：Towards the POI structures of navigator fix
(2) POI extraction and generation
Such as Fig. 1, the extracting method and approach and road net structure of POI point distributional patterns, infrastructure and planning information are close
Cut is closed, and most direct data source includes city and road grid database, and the navigation map with positioning associated, according to this
A little macroscopic informations, a variety of distribution patterns of the actual POI points in region, such as stochastic pattern, sparse type, area intensive can be obtained
Type, wire intensity etc., so as to be laid the foundation for POI basic structure model.
Such as Fig. 1, POI extraction and generation, supported by resources bank, the information description of positioning specific tasks, database topology
After layer, or the extraction such as relevant location information, characteristic information of map correlation figure layer, tied substantially according to the POI towards location requirement
Structure is constructed with representing symbol configuration, forms the extension POI results for supporting navigator fix.
(3) the integrated navigator fix system construction based on POI
Such as Fig. 2, this framework establishes GNSS/MEMS/POI integrated positioning pattern, positions according to satellite signal quality with being used to
It is point of penetration to lead positioning threshold values, develops the low computation complexity self-adapting intelligent based on GNSS/MEMS/POI difference station-keeping modes
Switching model, i.e., switch respectively for open area to shielded area (region such as such as tunnel, urban canyons) station-keeping mode；Positioning needs
The satellite-signal and localizing environment situation that terminal faced are taken into full account, will be exported under normal circumstances with the Big Dipper/GPS location pattern
Result on the basis of；By the analysis to positioning scene, MEMS positioning, and root are enabled when satellite-signal is disturbed or blocks automatically
According to the comprehensive assessment of alignment quality and ins error accumulation threshold values, realize that station-keeping mode realizes that adaptive switching is commented with result
Estimate.The assessment of MEMS ins errors accumulation threshold values can ensure its positioning result error in allowed band, when ins error tires out
Product threshold values exceedes the regular hour, and when being such as 50 seconds or 80 seconds, system enables POI automatically, utilizes POI spatial positional information pair
MEMS is periodically calibrated, and is ensured that its error accumulation is no more than and is generally determined scope, and uses and use EKF
Model, so that the condition of GNSS/MEMS/POI integrated positioning patterns is optimal combination.
As Fig. 3, the MEMS based on POI interactions cooperate with seamless vehicle positioning system, including integrated positioning and analysis module, gone back
Including GNSS module, MEMS modules, POI integration modules, output and the storage being connected respectively with integrated positioning with analysis module
Module (i.e. PNT), wherein the GNSS module is by GNSS antenna receiving and transmitting signal, the MEMS modules by WiFi antennas or
Internet receiving and transmitting signals, the POI integration modules pass through GSM/CDMA/GPRS receiving and transmitting signals.
Above-described embodiment is the preferable embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any Spirit Essences without departing from the present invention with made under principle change, modification, replacement, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (6)
1. the MEMS based on POI interactions cooperates with seamless vehicle positioning method, it is characterised in that comprises the steps of：
(1) POI structure of the design towards navigator fix：
The basic structure information that POI structures include be title, classification, position, positional precision sign, close on POI, section, granularity
Measurement, identification feature；
(2) POI extraction and generation：
Supported by resources bank, the relevant position of the description of positioning specific tasks information, database topological layer or map correlation figure layer
Information, after feature information extraction, according to the POI basic structures construction towards location requirement with representing symbol configuration, form branch
Hold the extension POI results of navigator fix；
(3) the integrated navigator fix system based on POI is built：
This framework establishes GNSS/MEMS/POI integrated positioning pattern, positions according to satellite signal quality and inertial navigation positioning threshold values
For point of penetration, the low computation complexity self-adapting intelligent switching model based on GNSS/MEMS/POI difference station-keeping modes is developed, i.e.,
Switch respectively for open area to shielded area station-keeping mode；Positioning needs to take into full account the satellite-signal and positioning that terminal is faced
Ambient conditions, under normal circumstances will be on the basis of the result of the Big Dipper/GPS location pattern output；By the analysis to positioning scene,
Automatically MEMS positioning is enabled when satellite-signal is disturbed or blocks, and the comprehensive of threshold values is accumulated according to alignment quality and ins error
Close and assess, realize that station-keeping mode realizes adaptive switching and outcome evaluation；
MEMS ins errors accumulation threshold values is assessed, accumulating threshold values when ins error exceedes preset time T, enables automatically
POI, MEMS is periodically calibrated using POI spatial positional information, and use and use EKF mould
Type, so that the condition of GNSS/MEMS/POI integrated positioning patterns is optimal combination.
2. the MEMS according to claim 1 based on POI interactions cooperates with seamless vehicle positioning method, it is characterised in that step
(2) in, the POI points, the extracting method and approach and road net structure of its distributional pattern, infrastructure and planning information are close
Correlation, its data source include city and road grid database, the navigation map with positioning associated, according to these macroscopic informations,
A variety of distribution patterns of the actual POI points in region can be obtained, so as to be laid the foundation for POI basic structure model.
3. the MEMS according to claim 2 based on POI interactions cooperates with seamless vehicle positioning method, it is characterised in that described
It is intensive that distribution pattern includes stochastic pattern, sparse type, area intensive type, wire.
4. the MEMS according to claim 1 based on POI interactions cooperates with seamless vehicle positioning method, it is characterised in that step
(3) in, the shielded area is included such as tunnel, city, valley.
5. the MEMS according to claim 1 based on POI interactions cooperates with seamless vehicle positioning method, it is characterised in that step
(3) in, the preset time is 50 seconds or 80 seconds.
6. for realizing that the MEMS based on POI interactions described in claim 1-5 any claims cooperates with seamless vehicle positioning side
The MEMS based on POI interactions of method cooperates with seamless vehicle positioning system, it is characterised in that including integrated positioning and analysis module,
The GNSS module that also includes with integrated positioning with analysis module being connected respectively, MEMS modules, POI integration modules, export and deposit
Store up module, wherein the GNSS module is by GNSS antenna receiving and transmitting signal, the MEMS modules by WiFi antennas or
Internet receiving and transmitting signals, the POI integration modules pass through GSM/CDMA/GPRS receiving and transmitting signals.
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| CN201710704708.9A CN107436145A (en) | 2017-08-17 | 2017-08-17 | MEMS based on POI interactions cooperates with seamless vehicle positioning method and system |
| PCT/CN2017/099902 WO2019033464A1 (en) | 2017-08-17 | 2017-08-31 | Mems coordinated seamless vehicle-mounted positioning method and system based on poi interaction |
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| CN201710704708.9A CN107436145A (en) | 2017-08-17 | 2017-08-17 | MEMS based on POI interactions cooperates with seamless vehicle positioning method and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110308471A (en) * | 2019-06-21 | 2019-10-08 | Oppo广东移动通信有限公司 | Equipment localization method, device, storage medium and electronic equipment |
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