CN108072366B - Navigation positioning method based on auxiliary positioning - Google Patents
Navigation positioning method based on auxiliary positioning Download PDFInfo
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- CN108072366B CN108072366B CN201611029616.7A CN201611029616A CN108072366B CN 108072366 B CN108072366 B CN 108072366B CN 201611029616 A CN201611029616 A CN 201611029616A CN 108072366 B CN108072366 B CN 108072366B
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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
- G01S19/42—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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Abstract
The invention provides a navigation positioning method based on auxiliary positioning.A vehicle navigation system adopts position information output by a satellite positioning system when satellite signals are normal; if the satellite signal is unlocked, the vehicle-mounted navigation system calculates the current position coordinate of the vehicle-mounted detection sensor by using the position coordinate of the auxiliary positioning device and the relative distance and the relative angle between the auxiliary positioning device and the vehicle-mounted detection sensor, takes the current position coordinate of the vehicle-mounted detection sensor as the current position coordinate of the vehicle and outputs position information. The invention can improve the navigation positioning precision through an algorithm by means of auxiliary positioning equipment, and provides a navigation positioning method based on auxiliary positioning.
Description
Technical Field
The invention relates to a navigation positioning method based on auxiliary positioning.
Background
With the development of the unmanned technology, the high-precision navigation positioning technology is more and more concerned. However, in the high-precision navigation positioning technology, how to ensure the high-precision positioning requirement is a relatively outstanding problem in the state that the satellite signals are unlocked. The current mainstream solution is to use an inertial navigation device after the satellite signal is unlocked, and calculate the current position information by means of the acceleration, speed and attitude information integration measured by the inertial navigation device. However, in practical situations, in the integration process, the error existing in the inertial navigation device is gradually amplified along with the accumulation of time, and finally, the accuracy of the calculation result cannot be ensured. In order to meet the requirement of high-precision positioning after the satellite signal is unlocked, the calculation accumulated error is generally reduced by reducing the hardware error of the inertial navigation equipment, but the cost of the inertial navigation equipment is increased, and the method only reduces the error in theory, cannot eliminate the error and still has insufficient positioning accuracy.
The patent with the application number of 201410378154.4 discloses an urban vehicle-mounted navigation positioning method based on street lamp auxiliary positioning, which takes a street lamp as a reference road sign for navigation positioning and takes the position of the street lamp as a vehicle position for navigation, thereby overcoming the problem that the satellite navigation signal is blocked and the accurate positioning cannot be realized. However, the present invention still has the following disadvantages: in practical situations, the street lamp still has a distance from the vehicle, and a great error exists when the street lamp position is taken as the vehicle position, so that the positioning is not accurate enough.
Disclosure of Invention
The invention provides a navigation positioning method based on auxiliary positioning, which can improve the positioning precision of navigation through an algorithm by means of auxiliary positioning equipment.
A navigation positioning method based on auxiliary positioning comprises the following steps:
(1) numbering auxiliary positioning equipment on a driving line of a vehicle, establishing a database in which position coordinates and the numbers of the auxiliary positioning equipment correspond to each other, and storing the database in a vehicle-mounted navigation system;
(2) judging whether the satellite signal of the vehicle navigation system is normal or not; if the satellite signal is normal, the vehicle navigation system adopts the position information output by the satellite positioning system; if the satellite signal is unlocked, executing the step (3);
(3) detecting the auxiliary positioning equipment by using a vehicle-mounted detection sensor, wherein the vehicle-mounted detection sensor obtains the serial numbers of two auxiliary positioning equipment on the same side of a vehicle driving line; respectively calculating the distance between each of the two auxiliary positioning devices and the vehicle-mounted detection sensor and the included angle between the connecting line of each of the two auxiliary positioning devices and the vehicle-mounted detection sensor and the same reference direction line passing through the vehicle-mounted detection sensor;
(4) the vehicle-mounted navigation system receives the number information of the two auxiliary positioning devices and obtains the position coordinates of the two auxiliary positioning devices by combining the database; calculating to obtain the position coordinates of the vehicle-mounted detection sensor according to the distance between each of the two auxiliary positioning devices and the vehicle-mounted detection sensor, the position coordinates of the two auxiliary positioning devices and the angle difference between the connecting line of each of the two auxiliary positioning devices and the vehicle-mounted detection sensor and the same reference direction line passing through the vehicle-mounted detection sensor;
(5) and outputting the position information by taking the position coordinates of the vehicle-mounted detection sensor as the position coordinates of the vehicle.
The method comprises the following steps of (1) numbering auxiliary positioning equipment on a vehicle running line, and accurately measuring and calibrating position coordinates of the auxiliary positioning equipment. And establishing a database in which the position coordinates and the serial numbers of the auxiliary positioning equipment correspond to each other, and storing the database in the vehicle-mounted navigation system.
The number of the auxiliary locating device needs to be obvious and easy to detect, and the auxiliary locating device is arranged on a vehicle driving line and aims to provide auxiliary locating information for the vehicle. The auxiliary positioning device can be a street lamp provided with a passive tag on a vehicle running line, and the auxiliary positioning device is positioned on the same side of the vehicle running line.
Detecting the auxiliary positioning equipment by using a vehicle-mounted detection sensor, wherein the vehicle-mounted detection sensor obtains the serial numbers of two auxiliary positioning equipment on the same side of a vehicle running line; and respectively calculating the distance between each of the two auxiliary positioning devices and the vehicle-mounted detection sensor and the included angle between the connecting line of each of the two auxiliary positioning devices and the vehicle-mounted detection sensor and the same reference direction line passing through the vehicle-mounted detection sensor.
The vehicle-mounted detection sensor is arranged on a vehicle, and the detection range of the vehicle-mounted detection sensor at least covers two auxiliary positioning devices on the same side of the vehicle running line.
The vehicle-mounted detection sensor reads the numbers of two auxiliary positioning devices on the same side of the detected vehicle running line; in another embodiment, the two auxiliary positioning devices transmit their own number information to the vehicle-mounted detection sensor by using their own sensing devices.
And (4) receiving the number information of the two auxiliary positioning devices by the vehicle-mounted navigation system, and obtaining the position coordinates of the two auxiliary positioning devices by combining the database. The vehicle-mounted navigation system calculates the position coordinate of the vehicle-mounted detection sensor according to the distance between each of the two auxiliary positioning devices and the vehicle-mounted detection sensor, the position coordinate of the two auxiliary positioning devices and the angle difference between the connecting line of each of the two auxiliary positioning devices and the vehicle-mounted detection sensor and the same reference direction line passing through the vehicle-mounted detection sensor.
The coordinates of the auxiliary positioning device A are noted as (x)1，y1) The distance between the auxiliary locating device a and the vehicle-mounted detection sensor is recorded as a. The coordinates of the auxiliary positioning device B are noted as (x)2，y2) And the distance between the auxiliary positioning equipment B and the vehicle-mounted detection sensor is recorded as B. Formula (x-x)1)2 +(y-y1)2＝a2And (x-x)2)2 +(y-y2)2＝b2The combination may deduce the position coordinates (x, y) of the on-board detection sensor.
There may be two position coordinates (x, y) of the on-vehicle detection sensor derived from the formula. When the two deduced position coordinates (x, y) of the vehicle-mounted detection sensor are two, the unique position coordinate of the vehicle-mounted detection sensor is determined through the angle difference between the connecting line of the two different auxiliary positioning devices and the vehicle-mounted detection sensor and the reference direction line.
In one embodiment of the invention, a direction line right in front of the running of the vehicle is taken as a reference direction line; the reference direction line is rotated in a clockwise direction to form a positive angle, and the reference direction line is rotated in a counterclockwise direction to form a negative angle.
The difference between the angles may be an angle of a connecting line of the auxiliary positioning device and the vehicle-mounted detection sensor which is positioned at the rear in the vehicle traveling direction of the two auxiliary positioning devices with respect to the reference direction line, minus an angle of a connecting line of the auxiliary positioning device and the vehicle-mounted detection sensor which is positioned at the front with respect to the reference direction line; the angle of a connecting line between the auxiliary positioning device and the vehicle-mounted detection sensor, which is positioned at the front in the vehicle traveling direction, of the two auxiliary positioning devices may be different from the angle of a connecting line between the same rear auxiliary positioning device and the vehicle-mounted detection sensor with respect to the reference direction line.
In one embodiment of the present invention, whether a satellite signal of a car navigation system is normal is determined. If the satellite signal is normal, the vehicle navigation system adopts the position information output by the satellite positioning system; if the satellite signal is unlocked, the vehicle-mounted navigation system firstly adopts the position information output by the inertial navigation system, and then the steps (3) to (5) are executed to reset the position information output by the inertial navigation system.
The vehicle-mounted navigation system comprises a satellite positioning system and an inertial navigation system, and the position information output by the inertial navigation system is periodically reset; the period is adjustable. The inertial navigation system comprises a gyroscope, an accelerometer and a microprocessor, and can calculate the position of the vehicle through attitude information provided by the gyroscope and acceleration information provided by the accelerometer.
The invention has the beneficial effects that:
(1) according to the method provided by the invention, under the condition that the satellite signal is unlocked, the positioning precision of navigation can be improved without increasing the hardware cost of inertial navigation, so that the positioning is more accurate;
(2) the method provided by the invention can accurately position by adopting two auxiliary positioning devices, effectively reduces the arrangement quantity and density of the auxiliary positioning devices, and is beneficial to reducing the cost;
(3) compared with the mode of reducing the hardware error of the inertial navigation equipment, the method provided by the invention can effectively reduce the cost of navigation positioning, thereby ensuring that the whole project is easy to realize mass production;
(4) the method provided by the invention only carries out periodic resetting on the position information output by the inertial navigation system under the condition that the satellite signal is unlocked, so as to improve the positioning precision of the inertial navigation, reduce the calculation amount and save the resources.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiments will be briefly described below.
FIG. 1: a navigation positioning flow chart of the vehicle navigation system in the first embodiment;
FIG. 2: and the navigation and positioning flow chart of the vehicle navigation system in the second embodiment.
Detailed Description
The following specific examples describe the present invention in detail, however, the present invention is not limited to the following examples. The first embodiment is as follows:
as shown in fig. 1, the present embodiment provides a navigation positioning method based on assisted positioning.
A navigation positioning method based on auxiliary positioning is characterized in that: the method comprises the following steps:
(1) and arranging auxiliary positioning equipment on the same side of a vehicle running line, accurately measuring the position coordinates of the auxiliary positioning equipment and numbering the auxiliary positioning equipment. And establishing a database in which the position coordinates and the serial numbers of the auxiliary positioning equipment correspond to each other, and storing the database in the vehicle-mounted navigation system.
The number of the auxiliary locating device needs to be obvious and easy to detect, and the auxiliary locating device is arranged on a vehicle driving line and aims to provide auxiliary locating information for the vehicle. The auxiliary positioning equipment comprises a street lamp on the same side of the vehicle running line and a passive tag arranged on the street lamp.
(2) And judging whether the satellite signal of the vehicle navigation system is normal or not. If the satellite signal is normal, the vehicle navigation system adopts the position information output by the satellite positioning system; and (4) if the satellite signal is unlocked, executing the step (3).
And judging the state of the satellite signal, and if the satellite signal is normal, correcting the position judgment based on the satellite positioning system by adopting a differential positioning method, thereby further improving the positioning accuracy. Specifically, the result output from the satellite positioning system is corrected using the satellite differential position information.
(3) And detecting the auxiliary positioning equipment by using a vehicle-mounted detection sensor, wherein the vehicle-mounted detection sensor obtains the serial numbers of the two auxiliary positioning equipment on the same side of the vehicle running line. And respectively calculating the distance between each of the two auxiliary positioning devices and the vehicle-mounted detection sensor and the included angle between the connecting line of each of the two auxiliary positioning devices and the vehicle-mounted detection sensor and the same reference direction line passing through the vehicle-mounted detection sensor.
The vehicle-mounted detection sensor is arranged on a vehicle, and the detection range of the vehicle-mounted detection sensor at least covers two auxiliary positioning devices on the same side of the vehicle running line.
The vehicle-mounted detection sensor reads the serial numbers of the two auxiliary positioning devices on the same side of the detected vehicle running line, and the two auxiliary positioning devices transmit the serial number information of the two auxiliary positioning devices to the vehicle-mounted detection sensor by using the sensing devices of the two auxiliary positioning devices.
And a processor of the vehicle-mounted navigation system processes and calculates the detected signals to obtain the number information of the two auxiliary positioning devices, the distance information between each of the two auxiliary positioning devices and the vehicle-mounted detection sensor and the included angle information of the connecting line of each of the two auxiliary positioning devices and the vehicle-mounted detection sensor relative to the same reference direction line passing through the vehicle-mounted detection sensor, and delivers the obtained information to the vehicle-mounted navigation system.
When calculating the included angle between the connection line of each of the two auxiliary positioning devices and the vehicle-mounted detection sensor and the same reference direction line passing through the vehicle-mounted detection sensor, the following method can be adopted: arranging a light source on the vehicle-mounted detection sensor, wherein the light source rotates clockwise in a horizontal plane around a fixed axis; the light source is marked as 0 when being overlapped with the reference direction line, the angles of the light source within a half circle of clockwise rotation from the reference direction line are marked as 0-180 degrees in sequence, and the angles of the light source within a half circle of clockwise rotation from the reference direction line to one circle are marked as-180-0 degrees in sequence; in the rotating process, when the light of the light source contacts with the auxiliary positioning equipment, the auxiliary positioning equipment immediately sends a feedback signal, and when the vehicle-mounted detection sensor receives the feedback signal, the angle sensor is used for recording the rotating angle of the light source at the moment. Therefore, the included angle of the connection line of each of the two auxiliary positioning devices and the vehicle-mounted detection sensor relative to the same reference direction line passing through the vehicle-mounted detection sensor can be known.
(4) And the vehicle-mounted navigation system receives the number information of the two auxiliary positioning devices and acquires the position coordinates of the two auxiliary positioning devices by combining the database. And the vehicle-mounted navigation system calculates the position coordinate of the vehicle-mounted detection sensor according to the distance between each of the two auxiliary positioning devices and the vehicle-mounted detection sensor, the position coordinates of the two auxiliary positioning devices and the difference between the angle of the connecting line of each of the two auxiliary positioning devices and the vehicle-mounted detection sensor relative to the reference direction line.
In the plane, the coordinate of the auxiliary positioning device A is marked as (x)1，y1) Auxiliary positioning deviceThe distance between the device A and the vehicle-mounted detection sensor is marked as a. The coordinates of the auxiliary positioning device B are noted as (x)2，y2) And the distance between the auxiliary positioning equipment B and the vehicle-mounted detection sensor is recorded as B. Formula (x-x)1)2 +(y-y1)2＝a2And (x-x)2)2 +(y-y2)2＝b2The combination may deduce the position coordinates (x, y) of the on-board detection sensor.
There may be two position coordinates (x, y) of the on-vehicle detection sensor derived from the formula. When the two deduced position coordinates (x, y) of the vehicle-mounted detection sensor are two, the unique position coordinate of the vehicle-mounted detection sensor is determined through the angle difference between the connecting line of the two different auxiliary positioning devices and the vehicle-mounted detection sensor and the reference direction line.
Specifically, the unique position coordinates of the vehicle-mounted detection sensor are determined by judging the positive and negative of the angle difference between the connecting line of each of two different auxiliary positioning devices and the vehicle-mounted detection sensor and the same reference direction line passing through the vehicle-mounted detection sensor.
The calculation of the difference between the angles and the selection of the two position coordinates (x, y) is carried out in advance, all the auxiliary locating devices being arranged on the same side of the vehicle path.
The difference between the angles may be an angle of a connecting line of the auxiliary positioning device and the vehicle-mounted detection sensor which is positioned at the rear in the vehicle traveling direction of the two auxiliary positioning devices with respect to the reference direction line, minus an angle of a connecting line of the auxiliary positioning device and the vehicle-mounted detection sensor which is positioned at the front with respect to the reference direction line; the angle of the connecting line between the auxiliary positioning device and the vehicle-mounted detection sensor, which is positioned at the front in the vehicle driving direction, of the two auxiliary positioning devices with respect to the reference direction line may be subtracted from the angle of the connecting line between the auxiliary positioning device and the vehicle-mounted detection sensor, which is positioned at the rear with respect to the reference direction line. The calculation of the difference in angle is not arbitrarily changeable after determination.
The two position coordinates (x, y) are chosen in such a way that after the auxiliary positioning device has been set up, the position coordinate to be discarded can be determined by calculating the positive or negative difference between the set angles.
Taking a direction line right in front of the running of the vehicle as a reference direction line; the reference direction line is rotated in a clockwise direction to form a positive angle, and the reference direction line is rotated in a counterclockwise direction to form a negative angle.
The light source rotates within a half cycle in the clockwise direction from the reference direction line, which is equivalent to the reference direction line rotating in the clockwise direction; the light source rotates from the reference direction line in the clockwise direction by half a revolution to a revolution, which corresponds to the reference direction line rotating in the counterclockwise direction.
(5) And outputting the position information by taking the position coordinates of the vehicle-mounted detection sensor as the position coordinates of the vehicle.
The device for implementing the invention comprises a vehicle carrying all devices, a vehicle-mounted navigation system, a vehicle-mounted detection sensor and auxiliary positioning devices A, B and C.
When the method provided by the invention is implemented, the satellite signal state of the vehicle navigation system needs to be judged in advance when the vehicle navigation positioning is carried out. If the satellite signal is normal, position judgment is carried out based on the satellite positioning system, positioning accuracy is improved by adopting a differential positioning method, the result output by the satellite positioning system is corrected by utilizing satellite differential position information, and finally current position information is output. And if the satellite signals are unlocked, performing position output based on auxiliary positioning.
It should be noted that: the distance between two auxiliary positioning devices should not be too far away, and too far away on the one hand can increase the cost and the technical difficulty of on-vehicle detection sensor, and on the other hand also leads to the location inaccurate easily.
Example two:
as shown in fig. 2, the present embodiment provides a navigation positioning method based on auxiliary positioning.
The difference between the second embodiment and the first embodiment is that: if the satellite signal is unlocked, the vehicle navigation system firstly adopts the position information output by the inertial navigation system, and then the step (5) is executed to reset the position information output by the inertial navigation system.
The vehicle-mounted navigation system also comprises an inertial navigation system, and the position information output by the inertial navigation system is periodically reset.
When the method provided by the invention is implemented, the satellite signal state of the vehicle navigation system needs to be judged in advance when the vehicle navigation positioning is carried out. If the satellite signal is normal, position judgment is carried out based on the satellite positioning system, positioning accuracy is improved by adopting a differential positioning method, the result output by the satellite positioning system is corrected by utilizing satellite differential position information, and finally current position information is output.
If the satellite signal is unlocked, position output is firstly carried out based on inertial navigation, but in order to improve the positioning accuracy of the inertial navigation system, the position coordinate output by the inertial navigation system needs to be reset after a certain time period, the basis of the reset is that the coordinate of the auxiliary positioning equipment is used for estimating the current vehicle coordinate, integral calculation of the vehicle position is carried out again after the reset, and the current position information is output.
When the satellite signals are unlocked, the inertial navigation system starts to perform integral calculation on the position coordinates of the vehicle based on the current state, and the calculation result is used as the new position coordinates of the vehicle. After a certain period of time, the accumulated error calculated by the inertial navigation system is gradually increased, the position referential ability is reduced, and at the moment, the current position coordinate of the vehicle-mounted detection sensor is calculated by means of the database in the vehicle-mounted navigation system and the information detected by the vehicle-mounted detection sensor. And correcting the position information output by the inertial navigation system by taking the current position coordinate of the vehicle-mounted detection sensor as the current position coordinate of the vehicle, and carrying out integral calculation of the position coordinate of the vehicle again on the basis. The time period is determined and adjusted according to actual requirements.
The above description is only one embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. A navigation positioning method based on auxiliary positioning is characterized in that: the method comprises the following steps:
(1) numbering auxiliary positioning equipment on a driving line of a vehicle, establishing a database in which position coordinates and the numbers of the auxiliary positioning equipment correspond to each other, and storing the database in a vehicle-mounted navigation system;
(2) judging whether the satellite signal of the vehicle navigation system is normal or not; if the satellite signal is normal, the vehicle navigation system adopts the position information output by the satellite positioning system; if the satellite signal is unlocked, executing the step (3);
(3) detecting the auxiliary positioning equipment by using a vehicle-mounted detection sensor, wherein the vehicle-mounted detection sensor obtains the serial numbers of two auxiliary positioning equipment on the same side of a vehicle driving line; respectively calculating the distance between each of the two auxiliary positioning devices and the vehicle-mounted detection sensor and the included angle between the connecting line of each of the two auxiliary positioning devices and the vehicle-mounted detection sensor and the same reference direction line passing through the vehicle-mounted detection sensor;
(4) the vehicle-mounted navigation system receives the number information of the two auxiliary positioning devices and obtains the position coordinates of the two auxiliary positioning devices by combining the database; calculating to obtain the position coordinates of the vehicle-mounted detection sensor according to the distance between each of the two auxiliary positioning devices and the vehicle-mounted detection sensor, the position coordinates of the two auxiliary positioning devices and the angle difference between the connecting line of each of the two auxiliary positioning devices and the vehicle-mounted detection sensor and the same reference direction line passing through the vehicle-mounted detection sensor;
(5) and outputting the position information by taking the position coordinates of the vehicle-mounted detection sensor as the position coordinates of the vehicle.
2. An aided location based navigational positioning method according to claim 1, further comprising: taking a direction line right in front of the running of the vehicle as a reference direction line; the reference direction line is rotated in a clockwise direction to form a positive angle, and the reference direction line is rotated in a counterclockwise direction to form a negative angle.
3. An aided location based navigational positioning method according to claim 1, further comprising: the angle difference in the step (4) is the angle difference between the connecting line of the auxiliary positioning device and the vehicle-mounted detection sensor at the back in the vehicle driving direction of the two auxiliary positioning devices and the angle difference between the connecting line of the auxiliary positioning device and the vehicle-mounted detection sensor at the front and the reference direction line.
4. An aided location based navigational positioning method according to claim 1, further comprising: and (4) the difference of the angles in the step (4) is the angle of the connecting line of the auxiliary positioning device and the vehicle-mounted detection sensor which is positioned at the front in the vehicle driving direction in the two auxiliary positioning devices relative to the reference direction line, and the angle of the connecting line of the auxiliary positioning device and the vehicle-mounted detection sensor which is positioned at the back relative to the reference direction line is subtracted.
5. An aided location based navigational positioning method according to claim 1, further comprising: and (4) the two auxiliary positioning devices in the step (3) transmit the number information of the auxiliary positioning devices to the vehicle-mounted detection sensor by using the sensing devices of the auxiliary positioning devices.
6. An aided location based navigational positioning method according to claim 1, further comprising: in the step (2), if the satellite signal is unlocked, the vehicle-mounted navigation system firstly outputs the position information by using the inertial navigation system, and then the steps (3) to (5) are executed to reset the position information output by the inertial navigation system.
7. An aided location based navigational positioning method according to claim 6, further comprising: the resetting of the position information output by the inertial navigation system is performed periodically.
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| CN102867163A (en) * | 2012-08-23 | 2013-01-09 | 南京大学 | Positioning method for detecting fixed radio frequency identification (RFID) electronic tag by utilizing movable reader |
| CN103499350B (en) * | 2013-09-28 | 2016-01-27 | 长安大学 | Vehicle high-precision localization method and the device of multi-source information is merged under GPS blind area |
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Application publication date: 20180525 Assignee: Huzhou Hongwei New Energy Vehicle Co., Ltd Assignor: Weihong power system (Huzhou) Co., Ltd Contract record no.: X2021330000737 Denomination of invention: A navigation and positioning method based on auxiliary positioning Granted publication date: 20210115 License type: Common License Record date: 20211108 |