CN107894603A - A kind of method based on Low-cost GPS inertia combined navigation positioning and optimizing - Google Patents
A kind of method based on Low-cost GPS inertia combined navigation positioning and optimizing Download PDFInfo
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- CN107894603A CN107894603A CN201711392601.1A CN201711392601A CN107894603A CN 107894603 A CN107894603 A CN 107894603A CN 201711392601 A CN201711392601 A CN 201711392601A CN 107894603 A CN107894603 A CN 107894603A
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- gps
- points
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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
- G01S19/45—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
- 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
Abstract
The invention discloses a kind of method based on Low-cost GPS inertia combined navigation positioning and optimizing, comprise the steps of：A, the latitude and longitude coordinates and deflection of vehicle can be got in real time from GPS；B, the angle change of vehicle movement, i.e. the deflection change from A points to B points in the horizontal direction are calculated using gyroscope；C, distance is calculated using accelerometer, i.e., quadratic integral is carried out to acceleration, get A points to the distance of B points；D, according to A point coordinates and move distance, B point coordinates is extrapolated；E, an EKF blending algorithm is designed, step A and step D output result are input in EKF, merge out an optimal coordinate.The beneficial effects of the invention are as follows：In GPS no signals, a metastable coordinate points can also be got.There is very big improvement for the problem of GPS scatterplots.
Description
Technical field
The present invention relates to GPS technology field, specifically a kind of side based on Low-cost GPS inertia combined navigation positioning and optimizing
Method.
Background technology
Existing vehicle-mounted intelligent monitoring product uses pure GPS location, and the GPS of low cost has problems with：
During no signal, position error is very big or can not position.When having signal, it may appear that scatterplot situation, i.e., it is fixed when walking straight line
The coordinate points of position out have greatly not on this straight line.
The content of the invention
It is an object of the invention to provide a kind of method based on Low-cost GPS inertia combined navigation positioning and optimizing, with solution
The problem of being proposed in certainly above-mentioned background technology.
To achieve the above object, the present invention provides following technical scheme：
A kind of method based on Low-cost GPS inertia combined navigation positioning and optimizing, is comprised the steps of：
A, the latitude and longitude coordinates and deflection of vehicle can be got in real time from GPS；
B, the angle change of vehicle movement, i.e. the deflection change from A points to B points in the horizontal direction are calculated using gyroscope；
C, distance is calculated using accelerometer, i.e., quadratic integral is carried out to acceleration, get A points to the distance of B points；
D, according to A point coordinates and move distance, B point coordinates is extrapolated；
E, an EKF blending algorithm is designed, step A and step D output result are input in EKF, merges out one most preferably
Coordinate.
One kind is based on Low-cost GPS inertia combined navigation alignment system, including GPS, gyroscope, accelerometer, DR boat position
Calculate that module and extended Kalman filter, the extended Kalman filter connect GPS and DR dead-reckoning modules, DR respectively
Dead-reckoning module is also respectively connected with gyroscope and accelerometer.
Compared with prior art, the beneficial effects of the invention are as follows：In GPS no signals, one can also be got relatively
Stable coordinate points.There is very big improvement for the problem of GPS scatterplots.
Brief description of the drawings
Fig. 1 is the structured flowchart based on Low-cost GPS inertia combined navigation alignment system.
Fig. 2 is the schematic diagram of the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Fig. 1-2 is referred to, a kind of method based on Low-cost GPS inertia combined navigation positioning and optimizing, is comprised the steps of：
A, the latitude and longitude coordinates and deflection of vehicle can be got in real time from GPS；
B, the angle change of vehicle movement, i.e. the deflection change from A points to B points in the horizontal direction are calculated using gyroscope；
C, distance is calculated using accelerometer, i.e., quadratic integral is carried out to acceleration, get A points to the distance of B points；
D, according to A point coordinates and move distance, B point coordinates is extrapolated；
E, an EKF blending algorithm is designed, step A and step D output result are input in EKF, merges out one most preferably
Coordinate.
One kind is based on Low-cost GPS inertia combined navigation alignment system, including GPS, gyroscope, accelerometer, DR boat position
Calculate that module and extended Kalman filter, the extended Kalman filter connect GPS and DR dead-reckoning modules, DR respectively
Dead-reckoning module is also respectively connected with gyroscope and accelerometer.
The present invention operation principle be：Tested in the complicated plot of an environment, A roads have tree, and B is blocked, and C exists
In tunnel, D is more open.
As seen from the figure, at C, GPS is in the state of complete no signal, and the coordinate after optimizing is relatively stable；
A, blocked at B, so scatterplot situation be present, and the coordinate after optimizing is than more uniform.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as to the involved claim of limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (2)
- A kind of 1. method based on Low-cost GPS inertia combined navigation positioning and optimizing, it is characterised in that comprise the steps of：A, the latitude and longitude coordinates and deflection of vehicle can be got in real time from GPS；B, the angle change of vehicle movement, i.e. the deflection change from A points to B points in the horizontal direction are calculated using gyroscope；C, distance is calculated using accelerometer, i.e., quadratic integral is carried out to acceleration, get A points to the distance of B points；D, according to A point coordinates and move distance, B point coordinates is extrapolated；E, an EKF blending algorithm is designed, step A and step D output result are input in EKF, merges out one most preferably Coordinate.
- 2. one kind is based on Low-cost GPS inertia combined navigation alignment system, it is characterised in that including GPS, gyroscope, acceleration Meter, DR dead-reckoning modules and extended Kalman filter, the extended Kalman filter connect GPS and DR boats position and pushed away respectively Module is calculated, DR dead-reckoning modules are also respectively connected with gyroscope and accelerometer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711392601.1A CN107894603A (en) | 2017-12-21 | 2017-12-21 | A kind of method based on Low-cost GPS inertia combined navigation positioning and optimizing |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711392601.1A CN107894603A (en) | 2017-12-21 | 2017-12-21 | A kind of method based on Low-cost GPS inertia combined navigation positioning and optimizing |
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| Publication Number | Publication Date |
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| CN107894603A true CN107894603A (en) | 2018-04-10 |
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| CN201711392601.1A Pending CN107894603A (en) | 2017-12-21 | 2017-12-21 | A kind of method based on Low-cost GPS inertia combined navigation positioning and optimizing |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108873780A (en) * | 2018-07-04 | 2018-11-23 | 李艳华 | A kind of preceding dress TPMS device for supporting automatic positioning function |
| CN109031373A (en) * | 2018-06-08 | 2018-12-18 | 北京航天光华电子技术有限公司 | A kind of Intelligent Mobile Robot navigation system and method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101907714A (en) * | 2010-06-25 | 2010-12-08 | 陶洋 | GPS aided positioning system and method based on multi-sensor data fusion |
| CN102519463A (en) * | 2011-12-13 | 2012-06-27 | 华南理工大学 | Navigation method and device based on extended Kalman filter |
| CN104698485A (en) * | 2015-01-09 | 2015-06-10 | 中国电子科技集团公司第三十八研究所 | BD, GPS and MEMS based integrated navigation system and method |
-
2017
- 2017-12-21 CN CN201711392601.1A patent/CN107894603A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101907714A (en) * | 2010-06-25 | 2010-12-08 | 陶洋 | GPS aided positioning system and method based on multi-sensor data fusion |
| CN102519463A (en) * | 2011-12-13 | 2012-06-27 | 华南理工大学 | Navigation method and device based on extended Kalman filter |
| CN104698485A (en) * | 2015-01-09 | 2015-06-10 | 中国电子科技集团公司第三十八研究所 | BD, GPS and MEMS based integrated navigation system and method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109031373A (en) * | 2018-06-08 | 2018-12-18 | 北京航天光华电子技术有限公司 | A kind of Intelligent Mobile Robot navigation system and method |
| CN108873780A (en) * | 2018-07-04 | 2018-11-23 | 李艳华 | A kind of preceding dress TPMS device for supporting automatic positioning function |
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Application publication date: 20180410 |