CN107478221A - A kind of high-precision locating method for mobile terminal - Google Patents
A kind of high-precision locating method for mobile terminal Download PDFInfo
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- CN107478221A CN107478221A CN201710687879.5A CN201710687879A CN107478221A CN 107478221 A CN107478221 A CN 107478221A CN 201710687879 A CN201710687879 A CN 201710687879A CN 107478221 A CN107478221 A CN 107478221A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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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
- G01S19/45—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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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- 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)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
The invention discloses a kind of high accuracy positioning air navigation aid based on the fusion of the short baseline satellite real time differential in broadband, vision guided navigation and inertial guidance data, can provide high stability and high-precision position, speed and attitude data for the mobile target device such as unmanned vehicle, robot.This method includes：The camera collection surrounding environment image data of mobile terminal；The inertial sensor collection gyroscope of mobile terminal and the data of accelerometer；Mobile terminal receives satellite-signal, while receives the differential data of one or more base station, carries out difference resolving；When satellite-signal can use, mobile terminal carries out data fusion to satellite difference calculation result, inertial sensor and surrounding environment image data, high accuracy positioning information is provided for mobile target device, when satellite-signal is unavailable, mobile terminal merges inertial sensor and the data of surrounding environment image are calculated, high accuracy positioning information is provided for mobile target device.Invention significantly improves the robustness of positioning, can help to move the carry out high accuracy positioning navigation of target long-time stable under complex road condition.
Description
Technical field
The present invention is that one kind is related to satellite real time differential technology, inertial navigation and vision positioning tracking, and combines broadband
The Multi-sensor Fusion localization method of wireless communication technology, it is possible to achieve the high reliability and high accuracy of the mobile terminal such as unmanned vehicle
Positioning.
Background technology
The application scenarios of intelligent driving and unmanned vehicle require that vehicle possesses continual and steady high accuracy positioning homing capability, mesh
Preceding common Satellite Navigation Technique can not meet its demand, it is therefore desirable to real-time while high robust high-precision fixed
Position navigation system.Satellite difference location technology is to utilize the different receivers in same region, carries out calculus of differences, effectively drop
Method that is low or even eliminating various measurement errors.Using the receiver of wherein known exact position as reference receiver, benchmark
Differential data is sent to receiver user by receiver of standing, so as to improve the measurement of receiver user and positioning precision.Traditionally
Can not really solve this problem using the method at CORS satellite differences station, because：The usual distance objective area in CORS stations
Domain farther out, therefore bigger, the poor real of positioning that is delayed, easily caused to position by partway environmental disturbances it is unstable, simultaneously
Positioning precision can also decline as distance is more remote, therefore still can not meet the high performance requirements of intelligent driving and unmanned vehicle.
Satellite-based GPS wide area differential GPS technology broadcasts ephemeris error, satellite clock correction, ionization by geostationary orbit satellite to user
A variety of difference informations such as layer delay, overlay area is big, realizes the improvement for original Positioning Accuracy of Satellite Navigation System, is ensureing
While good real-time performance, the positioning precision of highest decimeter grade can be provided, it is generally difficult to provide the positioning precision of Centimeter Level.This
Kind method is also easily caused positioning to be failed by the stop and interference of surrounding environment.When base station differential data is disabled
Wait, satellite-based GPS wide area differential GPS technology can be used as a kind of beneficial complement.
The short baseline differential technique in broadband combines short baseline real time dynamic differential technology and broadband wireless communication technique, can be with
The defects of effectively overcoming the above method.The short baseline differential technique in broadband is movement using the nearer base station in distance objective region
Terminal provides differential data, hundreds of meters to several kilometers of area coverage.Under this technology, base station close to target area,
Ensure minimum delay using broadband wireless communication technique simultaneously, both can guarantee that high real-time, also can guarantee that centimetre
The positioning precision of level.
The overlay area of base station is limited in the short baseline differential technique in usual broadband, such as in urban canyons or park etc.
All kinds of shelters such as region, building, trees are numerous, and single differential reference station is often difficult to effectively cover large area or whole
Bar road, so as to blind area occur, cause terminal can not receive base station data.In order to reduce blind area as far as possible, it is necessary to dispose
Multiple base stations, and a certain degree of overlapping covering is formed, to improve the signal condition of acceptance of terminal.
Satellite difference location technology is larger to surrounding environment dependence, can be real-time under the conditions of good satellite signal receiving
Provide very high positioning precision.But avenue or high-rise compact district, user in moving process, may between
Having a rest property blocks signal by Adjacent Buildings, trees etc., and Observable number of satellite may be caused to reduce, or produces seriously more
Footpath effect, or the differential data of base station can not be received, it is this under the conditions of positioning precision would generally be remarkably decreased, or even occur
The situation of Differential positioning can not be carried out.
Therefore in order to thoroughly eliminate the influence in terms of surrounding environment is positioned at positioning precision and stability to satellite difference, need
To be made up using other technologies.The terrestrial reference characteristic information that vision positioning is enriched using surrounding environment completes independent navigation, in city
In city's environment, there is substantial amounts of terrestrial reference characteristic point to be navigated by vision positioning and utilize, it is poor to satellite so as to effectively make up environment
Divide the negative effect of positioning, when satellite difference positions temporarily failure, still can provide effective stationkeeping ability.It is used
Lead-vision autonomous positioning airmanship be by mobile terminal itself install camera continuously acquire surrounding environment image, merge
Inertial sensor（IMU）Data after, estimate the movement locus of mobile terminal, can keep in a long time Centimeter Level or
The positioning precision of decimeter grade.Its performance has exceeded the homing capability of independent inertial navigation or independent vision positioning.
Therefore, the short baseline satellite difference technology in broadband, inertial navigation-vision positioning airmanship are merged, can be very
The good advantage using multiple sensors, overcomes the problem run into current sector application, realizes vehicle in Various Complex road conditions
Under the conditions of continual and steady high accuracy positioning navigation.
The content of the invention
The technical problem to be solved in the present invention is:Lacking a kind of method at present can provide for mobile terminals such as unmanned vehicles
The high accuracy positioning navigation system that a kind of stability under suitable complicated environmental condition is strong, real-time is high.Asked to solve this
Topic, the present invention propose a kind of high-precision locating method based on the more base station fusion location and navigation technologies of multisensor of innovation,
High stability and high-precision location navigation service are provided for mobile terminals such as unmanned vehicles.
This author has consulted existing patent of invention and technical literature data, also without the technical side for the similar present invention occur
Case.The technical solution adopted in the present invention is：
A kind of Position Fixing Navigation System for being used to obtain target device exact position, speed and posture, it is real to have merged short baseline satellite
When difference, inertial sensor, camera and the broadband wireless data communication technology, it is characterised in that：The system includes mobile terminal
Guider and GNSS base stations, mobile terminal guider are installed on the target device, and GNSS base stations are arranged on fixation and set
It is standby upper, oneself high precision position data and ID have been obtained in advance, wherein：
GNSS base stations include a GNSS base station receiving unit, are responsible for producing differential data, differential data is seen comprising pseudorange
Measured value and carrier phase observation data, quality factor, also comprising benchmark station location and base station ID；
GNSS base stations also include a broadband wireless data communication unit, are responsible for differential data to be sent to terminal guidance device；
Mobile terminal guider includes camera, obtains surrounding environment image, and is sent to graphics processing unit, image procossing
Unit is responsible for analyzing view data, extracts and matches the characteristic point in image, and characteristic point information is sent into navigation integrated unit；
Mobile terminal guider also includes inertial sensor unit, measures gyroscope and accelerometer data, and data are sent
Enter the integrated unit that navigates；
Mobile terminal guider also includes satellite signal receiving unit, is responsible for receiving GNSS satellite navigation signal and satellite-based wide area
The signal of strengthening system, the data of acquisition include mobile terminal carrier phase and pseudo range observed quantity, almanac data and satellite-based wide area
Differential data, and it is sent to difference solving unit；
Mobile terminal guider also includes differential data receiving unit, is responsible for receiving benchmark station location, the base that base station is sent
Quasi- station ID, its Pseudo-range Observations and carrier phase observation data and quality factor, and transfer to difference solving unit, Difference Solution
Calculate unit and be responsible for calculating the differential position and velocity information of mobile terminal using difference algorithm, and issue navigation integrated unit.
Described system, it is characterised in that：Inertial sensor unit, include gyroscope and accelerometer.
Described system, it is characterised in that：Broadband wireless data communication unit, wireless 4G data network can be used,
Other broadband communications technologies can also be used.
Described system, it is characterised in that：GNSS base stations send the mode of differential data to mobile terminal guider
There are two kinds of forms：Data are transmitted to mobile terminal guider by broadcast mode, or mobile terminal guider is according to need
After seeking active request, GNSS base stations transmit corresponding differential data again.
Described system, it is characterised in that：Differential data receiving unit receives one or two above base station difference
Data, difference solving unit performs single base station difference algorithm respectively according to the ID quantity of base station or the fusion of more base station difference is calculated
Method.
Described system, it is characterised in that：The differential position and speed of mobile terminal can be calculated by calculating unit when Difference Solution
When spending information, navigation integrated unit uses the differential position and velocity information of mobile terminal, IMU data and surrounding image characteristic point
Information carries out data fusion, calculates position, speed and the attitude data at mobile terminal current time；When Difference Solution calculate unit without
When method resolves the differential position and velocity information of mobile terminal, navigation integrated unit is by the last position, speed and appearance
State information, and merge current time and observe IMU data and surrounding image characteristic point information to calculate mobile terminal current time
High precision position, speed and attitude data.
The beneficial effects of the invention are as follows：The present invention is passed more based on short baseline satellite real time differential, inertial sensor, camera
Sensor merges and the broadband wireless data communication technology, provides that a kind of stability is strong, real-time is high for mobile terminals such as unmanned vehicles
High accuracy positioning navigation system and method.The present invention has very strong robustness, even if satellite-signal can not receive, also can
By the data fusion of surrounding environment image and inertial sensor, there is provided the high accuracy positioning homing capability of long range, exceed
It is traditional by certain separated sensor come the method navigated.
Brief description of the drawings
Fig. 1 are the high-precision independent navigation system structure chart of the present embodiment.
Fig. 2 are that single base station of the present embodiment receives schematic diagram.
Fig. 3 are that more base stations of the present embodiment receive schematic diagram.
Fig. 4 are the flow frame diagram of the present embodiment.
Fig. 5 are the flow chart that the differential position of the present embodiment resolves.
Embodiment
Technical scheme is described in further detail with reference to the accompanying drawings and examples.Obviously, it is described
Embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is further to note that for the ease of retouching
State, part related to the present invention rather than entire infrastructure are illustrate only in accompanying drawing.It is general based on the embodiment in the present invention, this area
All other embodiment that logical technical staff is obtained under the premise of creative work is not made, belong to what the present invention protected
Scope.
As Fig. 1 describes the structure chart of the high-precision navigation system of an embodiment of the present invention.The shifting of the embodiment of the present invention
Dynamic terminal guidance device 1-1 is configurable in arbitrary target equipment, or can be for target device in itself.In embodiments of the invention
In, the target device refers to can autonomous or the arbitrary equipment that moves under the drive of other movable equipments.This equipment bag
Include but be not limited to robot, vehicle, hand-held or wearable mobile device.GNSS base stations 1-2 is configured in fixed equipment,
In an embodiment of the present invention, the fixed equipment refers to the equipment of non mobility or depended on the object of non mobility, bag
Include but be not limited to mobile communication base station, the base station tower of high building, street lamp or erection etc..
GNSS base stations 1-2 includes GNSS base station receiving unit 1-3 and broadband wireless data communication unit 1-4. GNSS
Base station has obtained the high precision position data of oneself, and uniquely recognizable ID in advance.GNSS base station receiving units
1-3 receives satellite, calculates base station carrier phase and pseudo range observed quantity, and quality factor.In the present invention, quality factor
It is the data for benchmark station carrier phase and pseudo range observed quantity levels of precision, the data contribute to mobile terminal selection essence
Exactness higher base station carrier phase and pseudo range observed quantity.In the present embodiment, quality factor is calculated as follows：GNSS benchmark
Receiving unit 1-3 stand according to the high precision position information of itself and the almanac data that observes, calculating benchmark station carrier phase and
Pseudorange theoretical value, then obtain the distance between theoretical value and observed quantity deviation, meanwhile, GNSS base station receiving units 1-3
Estimate and compared between self-position, and known high precision position data, obtain position deviation。
It should be noted that the selection of quality factor is not limited to the mode that the present embodiment provides, base station can select
Other data are sent to mobile terminal and are used to adjudicate as quality factor, such as using position dilution of precision（DOP）, or
The data of " GST " sentence in NMEA agreements, relevant technical staff in the field will be understood that this data have multiple choices,
Therefore the limitation to the specific embodiment of the invention is not construed as herein.
In the present embodiment, GNSS base stations receiving unit 1-3 can receive GPS, the Big Dipper, GLONASS or Galileo
The signal of one system or multiple systems.The explanation for needing to illustrate is that relevant technical staff in the field will be understood that current fortune
Capable satellite navigation system has a variety of, and GNSS base station receiving units 1-3 can receive one or more satellite positioning navigation
The signal of system, the limitation to invention embodiment is not construed as herein.
Base station differential data is sent to broadband wireless data communication unit 1-4 by GNSS base station receiving unit 1-3, should
Base station differential data includes benchmark station location, base station ID, carrier phase and pseudo range observed quantity, and quality factor.Broadband
Wireless data communication unit 1-4 is responsible for base station differential data to be sent to mobile terminal guider 1-1.In the present embodiment
In, broadband wireless data communication system uses wireless 4G data network, 4G can be also reached using speed or more than 4G standards
Other broadband communications technologies.It should be noted that relevant technical staff in the field will be understood that broadband wireless communication technique bag
Include a variety of, for example UWB, 5G technology etc., these technologies can be used as transport vehicle, therefore be not construed as herein to this
The limitation of invention embodiment.
In the present embodiment, GNSS base stations 1-2 is sent to base station differential data by way of broadcast mobile whole
Guider 1-1 is held, under this broadcast mode, mobile terminal guider 1-1 passively receives broadcast data, and the GNSS that gets along well
Base station 1-2 is interacted.
In alternatively possible embodiment, mobile terminal guider 1-1 can be according to the conditions of demand of oneself, actively
GNSS base station 1-2 are accessed, ask required base station differential data, then GNSS base stations 1-2 respond requests send corresponding
Data.
Mobile terminal guider 1-1 includes camera 1-5, inertial sensor unit（IMU）1-6, satellite signal receiving
Unit 1-7, graphics processing unit 1-8, difference solving unit 1-9, differential data receiving unit 1-10, navigation integrated unit 1-
11, specifically,
Camera 1-5 continuous collecting surrounding environment images, are sent to graphics processing unit 1-8.According to different cameras, image
Data can be gray level image or RGB-D images.It should be noted that relevant technical staff in the field will be understood that
Camera can use monocular, binocular, RGB-D cameras, or other configurations, acquired image to be used equally for characteristic point
Extraction and analysis, the limitation to the method for the embodiment of the present application is should not be used as herein.
Graphics processing unit 1-8 is responsible for analyzing view data, extracts and matches the characteristic point in image, characteristic point information
It is sent to navigation integrated unit 1-11.It should be noted that processing method can use the mature any image in this area special
Sign extraction and matching algorithm, such as SIFT, ORB, FAST, SURF etc., should not be used as to the method for the embodiment of the present application herein
Limitation.
IMU units 1-6 includes gyroscope and accelerometer, gathers the measured value of gyroscope and accelerometer, and will measurement
Value is sent to navigation integrated unit 1-11.
Satellite signal receiving unit 1-7 is responsible for receiving satellite navigation signals, carries out base band signal process, obtains mobile terminal and carries
Wave phase and pseudo range observed quantity, and be sent to Difference Solution and calculate unit 1-9.Satellite signal receiving unit 1-7 also receives satellite-based simultaneously
The differential data that WAAS is broadcast.
Satellite signal receiving unit 1-7 can receive GPS, the Big Dipper, GLONASS either one system or more of Galileo
The signal of individual system, it receives the satellite system signal of phase and is consistent with base station receiving unit 1-3.Need the explanation illustrated
It is that relevant technical staff in the field will be understood that the satellite navigation system of existing operation and supporting satellite-based wide area enhancing system
Uniting, there have to be a variety of, such as GPS and supporting WAAS, MSAS, the Big Dipper and supporting Big Dipper satellite-based augmentation system, the present invention's
In specific embodiment, it can be used, be not construed as the limitation to invention embodiment herein.
Differential data receiving unit 1-10 be configured with GNSS base station 1-2 identical broadband wireless communications reception systems,
Be responsible for receiving the base station differential data that broadband wireless data communication unit 1-4 is sent, and judgment standard station differential data whether
It is accurate enough.The discrimination standard that the present embodiment uses is that quality factor and threshold value are compared.If being less than threshold value, recognize
On the basis of stand differential data it is accurate enough, can be used for difference resolving, be then then forwarded to difference solving unit 1-9.It is if high
In threshold value, then it is assumed that base station differential data is not accurate enough, then jettisoning, receives next group of data.
When receiving base station carrier phase and pseudo range observed quantity, difference solving unit 1-9 uses base station carrier wave phase
Position and pseudo range observed quantity and mobile terminal carrier phase and pseudo range observed quantity, the position of mobile terminal is calculated using double difference difference algorithm
And velocity information.It should be noted that difference, which resolves, can use any ripe difference algorithm in this area, such as can also
Using three poor difference algorithms etc., the limitation to the specific embodiment of the invention is not construed as herein.
If the base station differential data received is not accurate enough, and mobile terminal receives corresponding satellite-based wide area enhancing system
When the differential data that system is broadcast, difference solving unit 1-9 calculates mobile terminal locations and speed using GPS wide area differential GPS algorithm
Spend information.Here, GPS wide area differential GPS algorithm is the ripe technology in this area, be will not be described here.
The differential position calculated and velocity information are sent into navigation integrated unit 1-11 by difference solving unit 1-9.Lead
Integrated unit 1-11 navigate using differential position and velocity information as initial value, merges gyroscope and acceleration information, characteristics of image
Point data, using inertial navigation-vision Multi-sensor Fusion algorithm, calculate the high precision position of current time mobile terminal, speed and
Attitude data.The explanation for needing to illustrate is that inertial navigation-vision blending algorithm can use any ripe technology in this area, than
Such as EKF, MSCKF, optimization scheduling algorithm, will not be described here.
When mobile terminal is not received by satellite-signal, difference solving unit 1-9 can not provide current differential position
And velocity information, navigation integrated unit 1-11 merge current time sight by the last position, speed and attitude information
IMU data and surrounding image characteristic point information are measured to calculate high precision position, speed and the posture at mobile terminal current time
Data.
In the present invention, the limitation of the range size and base station coverage that are moved according to terminal, can allow portion
Affix one's name to one or more base station.When multiple base stations are deployed with, the overlay area of each base station not fully phase
Together, but need to keep overlapping, complete the seamless coverage to whole terminal movement area domain.Because each base station is assigned one
Recognizable tag ID, this label are sent together in company with base station carrier phase and pseudo range observed quantity, therefore when mobile-terminated
When receiving base station carrier phase and pseudo range observed quantity, the base station broadcast by tag recognition.When mobile terminal is from one
When the overlay area of base station enters the overlay area of another base station, two or two can be received simultaneously in some positions
The carrier phase and pseudo range observed quantity of above base station broadcast.
Fig. 2 show mobile terminal in the present embodiment and receives only single base station signal schematic representation.Base station 2-1 is received
Satellite-signal, base station differential data is broadcasted by system of broadband wireless communication.Mobile terminal 2-2 receives satellite navigation
The differential data that signal and satellite-based WAAS are broadcast, while base station difference number is received by system of broadband wireless communication
According to then the ambient image of fusion camera acquisition and the gyroscope and accelerometer data of the acquisition of IMU units, calculate movement
High precision position, speed and the attitude data of terminal.
Fig. 3, which show mobile terminal in embodiment, can receive the schematic diagram of multiple base station signals.In such case, move
Dynamic terminal is in the overlapping region of multiple base station overlay areas, can receive the difference of two or more base stations simultaneously
Divided data.In the example shown, mobile terminal 3-4 is in base station 3-1, base station 3-2 and base station 3-3 overlapping range, can
To receive the differential data of these three base stations simultaneously.Mobile terminal 3-4 differential data receiving unit is all by what is received
Base station differential data is sent into difference solving unit 1-9.Difference solving unit 1-9 includes more base station difference blending algorithms.Should
The carrier phase and pseudo range observed quantity of the multiple base stations of algorithm fusion calculate the differential position and velocity information of mobile terminal.Need
It it is noted that in the existing ripe technology of the more base station blending algorithms in this area, will not be described here, for example weighting can be based on
Averaging method, can also be based on the method for passing through sequence Kalman fused filterings.
Fig. 4 show the flow chart of the present embodiment.It is as shown in Figure 4, GNSS base stations including the step of be：
S101. GNSS satellite signal is received.
In the method for the present embodiment, GNSS satellite signal is including GPS, the Big Dipper, GLONASS or Galileo one
The signal of system or multiple systems.The explanation for needing to illustrate is that relevant technical staff in the field will be understood that that runs at present defends
Star navigation system has a variety of, can receive the signal of one or more NAVSTAR, is not construed as herein to hair
The limitation of bright embodiment.
S102. differential data is produced.
In the method for the present embodiment, satellite-signal produces differential data by Base-Band Processing, and differential data includes benchmark
Carrier phase of standing and pseudo range observed quantity, quality factor, while also include benchmark station location, id information.
S103. differential data is sent.
In the method for the present embodiment, differential data is sent to mobile terminal by broadband wireless data communication system.Need
It is noted that wireless 4G data network can be used in broadband wireless data communication system, it is possible to use other broadband communication networks
Network, its speed reach 4G or the standard more than 4G, and relevant technical staff in the field will be understood that specific broadband wireless communications
System has a variety of, for example UWB, 5G technology etc., these technologies can be used as transport vehicle, be not construed as herein to this
The limitation of invention embodiment.
It is as shown in Figure 4, mobile terminal including the step of be：
S104. base station differential data is received.
S105. mobile terminal receives satellite-signal.
In the method for the present embodiment, the satellite-signal that mobile terminal receives includes GNSS satellite signal and satellite-based wide area increases
The signal of strong system, wherein, GNSS satellite signal includes GPS, the Big Dipper, GLONASS either one system or multiple of Galileo
The signal of system, and the GNSS signal received with base station is consistent.
S106. IMU measured value is read.
In the method for the present embodiment, the measured value that IMU produces gyroscope and accelerometer is read, is sent to inertial navigation-regard
Feel blending algorithm S111.
S107. camera obtains view data.
In the method for the present embodiment, camera gathers the image of mobile terminal surrounding environment.If camera is configured to
Monocular or binocular camera, gather the gray level image of surrounding environment；If configured to RGB-D cameras, then can gather week
The coloured image and depth data in collarette border.It should be noted that relevant technical staff in the field will be understood that camera removes
It is outer using monocular, binocular or RGB-D configurations, can so that other configurations can be used, acquired image is used equally for spy
The extraction and analysis of point is levied, should not be used as the limitation to the method for the embodiment of the present application herein.
S108. judge whether that satellite-signal can be received.
In the method for the present embodiment, GNSS satellite signal is captured to judge whether to receive by checking whether
Satellite-signal.If can not receive satellite-signal, measured value and image characteristic point information of the mobile terminal based on IMU, hold
Row inertial navigation-vision blending algorithm S111；If satellite-signal can be received, operation differential position resolves S110, calculates movement
The differential position of terminal, it is sent to inertial navigation-vision blending algorithm S111.
S109. image characteristics extraction and matching
In the method for the present embodiment, by the analyzing and processing to view data, extract and match the characteristic point information in image,
Characteristic point information includes the data such as projection coordinate and the numbering of characteristic point, is sent to inertial navigation-vision blending algorithm S111.Need
Illustrate, it is a variety of that relevant technical staff in the field will be understood that image characteristic point has, such as SIFT, ORB, FAST, SURF
Deng, it is usable, the limitation to the method for the embodiment of the present application is should not be used as herein.
S110. differential position is performed to resolve.
In the method for the present embodiment, after only mobile terminal can receive satellite-signal, i.e. step S108's sentences
When disconnected result is Y, it can be performed.Mobile terminal uses the differential data of base station and the carrier phase and pseudorange of mobile terminal
Observed quantity, almanac data, the differential position of mobile terminal is calculated, be sent to inertial navigation-vision blending algorithm S111.
S111. inertial navigation-vision blending algorithm is performed.
In the method for the present embodiment, the result of inertial navigation-vision blending algorithm output is the position of mobile terminal, speed and
Posture.When mobile terminal can receive satellite-signal, i.e., when step S108 judged result is Y, inertial navigation-vision fusion is calculated
Method is calculated using the difference result of IMU measured value, image characteristic point information and mobile terminal；When mobile terminal can not
When receiving satellite-signal, i.e., when step S108 judged result is N, inertial navigation-vision blending algorithm is by the last position
Put, speed and attitude information, and merge IMU measured value, image characteristic point information is calculated.The explanation for needing to illustrate is,
Relevant technical staff in the field will be understood that inertial navigation-vision blending algorithm can use any ripe technology in this area,
Such as EKF, MSCKF, figure optimization scheduling algorithm, it will not be described here.
Fig. 5 show differential position resolve in flowage structure figure, including the step of be：
S201, whether judgement receives base station differential data accurate.
In the method for the present embodiment, for the base station carrier phase and the differential data of pseudo range observed quantity received,
Need to judge it whether enough precisely.Criterion in the present embodiment is：If the deviation of base stationOrLess than door
Limit value, explanation are that observed quantity is accurate enough, then further determine whether to receive the data S203 of more base stations；If greater than thresholding
Value, explanation is that the differential data of base station is unreliable, can not carry out carrier phase difference or pseudo range difference resolves, then perform wide
Domain difference algorithm S204.
S202, mobile terminal carry out Base-Band Processing to satellite-signal.
In the method for the present embodiment, the satellite-signal that mobile terminal receives includes GNSS satellite signal and satellite-based wide area increases
Strong system.Satellite-signal can obtain mobile terminal carrier phase and pseudo range observed quantity, almanac data after Base-Band Processing, with
And the data such as satellite-based GPS wide area differential GPS data.
S203, judge whether to receive the data of more base stations.
In the method for the present embodiment, if receiving base station ID quantity equal to 1, show only to receive a benchmark
The differential data stood, then perform the mono- base station difference algorithm S205 of GNSS；If receiving base station ID quantity more than 1, show to connect
The differential data of multiple base stations is received, then performs more base station difference blending algorithm S206.
S204, perform GPS wide area differential GPS algorithm.
In the method for the present embodiment, when the base station differential data of reception is not accurate enough, i.e. step S201 judgement knot
When fruit is N, mobile terminal then performs GPS wide area differential GPS algorithm.GPS wide area differential GPS algorithm is according to mobile terminal carrier phase and pseudorange observation
Amount, almanac data, and satellite-based GPS wide area differential GPS data, calculate the differential position and speed data for obtaining mobile terminal.Here, extensively
Domain difference algorithm is the mature technology in this area, be will not be described here.
S205, perform the mono- base station difference algorithms of GNSS.
In the method for the present embodiment, when the base station differential data of reception is accurate enough, but one is only received only
During individual base station differential data, i.e., step S201 judged result is Y, while when step S203 judged result is N, is performed
The mono- base station difference algorithms of GNSS.Specifically, benchmark station carrier phase and pseudo range observed quantity, mobile terminal carrier phase and pseudorange
Observed quantity, almanac data, single base station real time dynamic differential algorithm is performed, obtain the differential position and speed data of mobile terminal.
Here, single base station real time dynamic differential algorithm can use any ripe technology, such as double difference difference, three poor difference algorithms
Deng will not be described here.
S206, perform more base station difference blending algorithms.
In the method for the present embodiment, when the base station differential data of reception is accurate enough, while multiple benchmark are received
Stand differential data when, i.e., step S201 judged result is Y, while when step S203 judged result is Y, it is poor to perform more base stations
Divide blending algorithm.Specifically, more base station data blending algorithms use weighted mean approach in this example, according to multiple base station carrier waves
Phase and pseudo range observed quantity, mobile terminal carrier phase and pseudo range observed quantity, almanac data, are calculated corresponding to each base station respectively
Mobile terminal differential positional information, then after being weighted average and filtering, obtain the final differential position of mobile terminal
And speed data.It should be noted that relevant technical staff in the field will be understood that the algorithm of more base station datas fusion not by
It is limited to described in this example, for example method for passing through sequence Kalman fused filterings etc. can also be used, is not construed as herein to the present invention
The limitation of embodiment.
A kind of height based on satellite difference and inertial navigation-vision fusion location technology provided above the embodiment of the present invention
Precision air navigation aid, is described in detail, and specific case used herein is carried out to the principle and embodiment of the present invention
Illustrate, the explanation of above example is only intended to help to understand method and its core concept of the invention；Meanwhile for ability
The those skilled in the art in domain, according to the thought of the present invention, various changes can also be made in specific embodiments and applications
Change and modification.In summary, this specification content should not be construed as limiting the invention, and all equivalent technical schemes also belong to
In scope of the invention.
Claims (8)
1. a kind of Position Fixing Navigation System for being used to obtain target device exact position, speed and posture, real based on short baseline satellite
When difference, inertial sensor, camera Multi-sensor Fusion and the broadband wireless data communication technology, it is characterised in that：The system
Including mobile terminal guider（1-1）With GNSS base stations（1-2）, mobile terminal guider（1-1）Set installed in target
Standby upper, GNSS base stations（1-2）In fixed equipment, oneself high precision position data and ID have been obtained in advance,
Wherein：
GNSS base stations（1-2）Including a GNSS base station receiving unit（1-3）, it is responsible for producing differential data, differential data
Comprising Pseudo-range Observations and carrier phase observation data, quality factor, also comprising benchmark station location and base station ID；
GNSS base stations（1-2）Also include a broadband wireless data communication unit（1-4）, it is responsible for differential data to be sent to end
Hold guider（1-1）；
Mobile terminal guider（1-1）Including camera（1-5）, surrounding environment image is obtained, and be sent to image procossing list
Member（1-8）, graphics processing unit（1-8）It is responsible for analysis view data, extracts and match the characteristic point in image, characteristic point is believed
Breath is sent into navigation integrated unit（1-11）；
Mobile terminal guider（1-1）Also include inertial sensor unit（1-6）, gyroscope and accelerometer data are measured,
And data are sent into navigation integrated unit（1-11）；
Mobile terminal guider（1-1）Also include satellite signal receiving unit（1-7）, it is responsible for receiving GNSS satellite navigation signal
With the signal of satellite-based WAAS, the data of acquisition include mobile terminal carrier phase and pseudo range observed quantity, almanac data, with
And satellite-based GPS wide area differential GPS data, and it is sent to difference solving unit（1-9）；
Mobile terminal guider（1-1）Also include differential data receiving unit（1-10）, it is responsible for receiving the base that base station is sent
Quasi- station location, base station ID, its Pseudo-range Observations and carrier phase observation data and quality factor, and transfer to difference and resolve list
Member（1-9）, difference solving unit（1-9）It is responsible for calculating the differential position and velocity information of mobile terminal using difference algorithm,
And issue navigation integrated unit（1-11）.
2. according to the system described in right 1, it is characterised in that：Inertial sensor unit（1-6）, include gyroscope and acceleration
Meter.
3. according to the system described in right 1, it is characterised in that：Broadband wireless data communication unit（1-4）, wireless 4G can be used
Data network, it is possible to use other broadband communications technologies.
4. according to the system described in right 3, it is characterised in that：GNSS base stations（1-2）To mobile terminal guider（1-1）Hair
Sending the mode of differential data has two kinds of forms：By broadcast mode to mobile terminal guider（1-1）Transmit data, Huo Zheyi
Dynamic terminal guidance device（1-1）According to demand after active request, GNSS base stations（1-2）Corresponding differential data is transmitted again.
5. according to the system described in right 1, it is characterised in that：Differential data receiving unit（1-10）Receive one or two with
Upper base station differential data, difference solving unit（1-9）According to the ID quantity of base station perform respectively single base station difference algorithm or
The more base station difference blending algorithms of person.
6. according to the system described in right 1, it is characterised in that：When Difference Solution calculates unit（1-9）Mobile terminal can be calculated
When differential position and velocity information, navigate integrated unit（1-11）Use the differential position and velocity information of mobile terminal, IMU numbers
Data fusion is carried out according to image characteristic point information around, calculates position, speed and the posture number at mobile terminal current time
According to；When Difference Solution calculates unit（1-9）When can not resolve the differential position and velocity information of mobile terminal, navigate integrated unit（1-
11）By position, speed and the attitude information of the last time, and merge current time and observe that IMU data and surrounding image are special
Point information is levied to calculate high precision position, speed and the attitude data at mobile terminal current time.
7. a kind of positioning navigation method for being used to obtain target device exact position, speed and posture, real based on short baseline satellite
When differential technique, inertial sensor, camera Multi-sensor Fusion and the broadband wireless data communication technology, it is characterised in that：
GNSS base stations obtain the high precision position information and ID of itself in advance, and in fixed equipment, include satellite reception list
Member and broadband wireless communications unit, mobile terminal guider is arranged on mobile target device, including camera, IMU, satellite
Receiving unit, broadband wireless communications unit and algorithm computing module,
GNSS base stations including the step of be：
S101. GNSS satellite signal is received；
S102. differential data is produced, satellite-signal produces differential data by Base-Band Processing, and differential data includes base station carrier wave
Phase and pseudo range observed quantity, range deviation and position deviation, while also include benchmark station location, id information；
S103. differential data is sent, differential data is sent to mobile terminal by broadband wireless data communication system；
Mobile terminal including the step of be：
S104. base station differential data is received；
S105. mobile terminal receives satellite-signal, including the signal of GNSS satellite signal and satellite-based WAAS；
S106. IMU measured value is read, and the measured value of gyroscope and accelerometer is sent to inertial navigation-vision blending algorithm S111；
S107. camera obtains surrounding environment image data,
S108. judge whether that satellite-signal can be received,
If can not receive satellite-signal, the characteristic point information in measured value and image of the mobile terminal based on IMU, perform
Inertial navigation-vision blending algorithm S111；
If satellite-signal can be received, the differential data based on base station, and observed quantity, the almanac data of mobile terminal, fortune
Row differential position algorithm S110；
S109. image characteristics extraction and matching, surrounding environment image data is analyzed and processed, extracts and matches in image
Characteristic point information, be sent to inertial navigation-vision blending algorithm S111；
S110. perform differential position to resolve, only after mobile terminal can receive satellite-signal, utilize differential data
The differential position and velocity information of mobile terminal are calculated, is sent to inertial navigation-vision blending algorithm S111；
S111. inertial navigation-vision blending algorithm is performed, specifically, when mobile terminal can receive satellite-signal, inertial navigation-regard
Feel that blending algorithm is calculated using the difference calculation result of IMU measured value, image characteristic point information and mobile terminal；When
When mobile terminal can not receive satellite-signal, inertial navigation-vision blending algorithm is by the last differential position and speed letter
Breath, merges IMU measured value, image characteristic point information is calculated.
8. according to the method described in right 7, it is characterised in that:Differential position algorithm S110 input includes base station difference number
According to this and satellite-signal, including the step of be：
S201. judge to receive base station differential data it is whether accurate, base station differential data include base station carrier phase and
Pseudo range observed quantity；
S202. mobile terminal carries out Base-Band Processing to satellite-signal, and satellite-signal includes GNSS satellite signal and satellite-based wide area increases
Strong system, after Base-Band Processing, mobile terminal carrier phase and pseudo range observed quantity, almanac data can be obtained, and satellite-based is wide
Domain differential data；
S203. judge whether to receive the data of more base stations, if receiving base station ID quantity equal to 1, perform the mono- bases of GNSS
Stand difference algorithm S205；If receiving base station ID quantity more than 1, more base station difference blending algorithm S206 are performed；
S204. when step S201 judged result is N, GPS wide area differential GPS algorithm is performed, according to mobile terminal carrier phase and pseudorange
Observed quantity, almanac data, and satellite-based GPS wide area differential GPS data, calculate the differential position and speed data for obtaining mobile terminal；
S205. when step S201 judged result is Y, while step S203 judged result is N, the mono- base stations of GNSS are performed
Difference algorithm, benchmark station carrier phase and pseudo range observed quantity, mobile terminal carrier phase and pseudo range observed quantity, almanac data,
Single base station real time dynamic differential algorithm is performed, calculates the differential position and speed data of simultaneously output mobile terminal；
S206. when step S201 judged result is Y, while step S203 judged result is Y, more base station difference are performed
Blending algorithm, according to multiple base station carrier phases and pseudo range observed quantity, mobile terminal carrier phase and pseudo range observed quantity, ephemeris number
According to performing the data anastomosing algorithms of more base stations, calculate and the differential position and speed data of output mobile terminal.
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