CN108195388B - Low-cost high-precision detection method for uphill and downhill of overhead - Google Patents

Low-cost high-precision detection method for uphill and downhill of overhead Download PDF

Info

Publication number
CN108195388B
CN108195388B CN201711429497.9A CN201711429497A CN108195388B CN 108195388 B CN108195388 B CN 108195388B CN 201711429497 A CN201711429497 A CN 201711429497A CN 108195388 B CN108195388 B CN 108195388B
Authority
CN
China
Prior art keywords
ramp
pitch angle
slope
information
elevated
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201711429497.9A
Other languages
Chinese (zh)
Other versions
CN108195388A (en
Inventor
张馨
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Qianxun Spatial Intelligence Inc
Original Assignee
Qianxun Spatial Intelligence Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Qianxun Spatial Intelligence Inc filed Critical Qianxun Spatial Intelligence Inc
Priority to CN201711429497.9A priority Critical patent/CN108195388B/en
Publication of CN108195388A publication Critical patent/CN108195388A/en
Application granted granted Critical
Publication of CN108195388B publication Critical patent/CN108195388B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—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

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Navigation (AREA)

Abstract

The invention provides a low-cost high-precision detection method for uphill and downhill of an elevated, which adopts a GNSS + IMU + odometer combined positioning navigation system and comprises the following steps: step 1, inputting information of a combined positioning navigation system; step 2, if the map is matched on or near the ramp of the entrance and exit of the elevated frame, executing the next step; step 3, checking whether the pitch angle is effective and available, and if the pitch angle is invalid or in the process of calibration, waiting to enter a combined positioning navigation state until the pitch angle is available; if yes, executing step 3; step 4, outputting the pitch angle and the speed of the odometer; step 5, low-pass filtering is carried out; step 6, capturing an initial average value of the pitch angle before entering the ramp or when just entering the ramp as zero offset; step 7, calculating a pitch angle after zero offset compensation and a height difference after zero offset compensation; step 8, judging whether the overhead is lifted up/down or the flat slope is lifted up/down; step 9, repeating the step 4 to the step 8; step 10, clearing the calculation state.

Description

Low-cost high-precision detection method for uphill and downhill of overhead
Technical Field
The invention relates to the technical field of road detection, in particular to a low-cost high-precision detection method for an overhead uphill slope and a downhill slope.
Background
At present, the urbanization process of a city is gradually accelerated, the number of automobiles is sharply increased, the traffic of the city is increasingly complicated and congested, and an elevated road becomes a necessary scheme for relieving traffic congestion and improving travel conditions. Due to the technical accuracy limitation, navigation software generally only displays 2D positions, and the confidence coefficient in elevation is not high, so that whether the current position is on an elevated road or on an ordinary channel road under the elevated road cannot be positioned, and great trouble is often caused to a vehicle operator.
At present, some vehicle-mounted systems (including front-mounted systems or rear-mounted systems) equipped with vehicle-mounted navigation modules are often equipped with a navigation resolving module (GNSS-global navigation satellite system, IMU-inertial measurement unit) based on GNSS + IMU + automobile odometer combined positioning, and the navigation resolving module is used for improving positioning accuracy of urban complex environments and solving positioning blind spots of tunnels. Such navigation solutions provide 3-dimensional longitude, latitude, and altitude information, as well as 3-dimensional attitude angle information of the vehicle, including heading, pitch, and roll. In addition, real-time map matching according to the longitude and latitude position information can provide information whether the current position is near the overhead and whether the current position moves to the position on or near the ramp of the entrance and exit of the overhead. Therefore, when the map is matched on or near the entrance ramp of the overhead, the pitch angle information and the odometer speed information provided by the integrated navigation calculation module are extracted, and the slope angle and the height difference of the road at the moment are calculated, so that the up-slope and down-slope attributes of the road at the moment are obtained; and meanwhile, the attribute of the road is matched with the attribute of an elevated gateway ramp of the map, if the attributes of the road are the same, the road is in an elevated state/off-elevated state currently, and if the attributes of the road are different, the road is driven on a flat slope common road under the elevated currently.
The existing schemes for getting on and off the high altitude include a scheme for judging getting on and off the high altitude based on the altitude difference of a barometer, a scheme for judging getting on and off the high altitude based on the altitude difference of a GNSS, and a scheme for calculating the projection of the gravity component in the speed direction by using the acceleration sensor in a mobile phone and the speed information provided by the GPS to get on and off the high altitude.
The scheme for judging whether the upper frame and the lower frame are elevated by utilizing the GNSS altitude difference information has low precision because the GNSS has large resolving error in the altitude direction, is easily influenced by the terrain and the surrounding environment, and cannot judge the condition of ascending and descending under the condition that GNSS signals are lost. The scheme of judging whether the mobile phone is elevated or not by utilizing the height difference of the barometer needs higher cost and needs an additional barometer sensor, but only high-end mobile phones are equipped with the barometer in the market at present, and the barometer is not configured in a general vehicle-mounted system, so that the application range is narrower. The projection scheme of the gravity component in the speed direction calculated by the built-in acceleration of the mobile phone and the GPS speed information is greatly influenced by error noise during the sensor period, and the zero offset, the installation error angle and the random noise item of the sensor need to be accurately estimated, so the accuracy is low.
Disclosure of Invention
The invention provides a low-cost high-precision overhead uphill and downhill detection method, which solves the technical problem that an overhead identification is carried out by utilizing attitude angle and odometer speed information which are calculated and output by a GNSS + IMU + odometer combined navigation system and combining overhead access information of a map so as to assist the navigation system in accurately positioning an overhead or common road.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a low-cost high-precision detection method for uphill and downhill of an elevated frame is characterized in that a GNSS + IMU + odometer combined positioning navigation system is adopted, and the method comprises the following steps:
step 1, inputting information of a combined positioning navigation system;
step 2, if the map is matched on or near the ramp of the entrance and exit of the elevated frame, executing step 3;
step 3, checking whether the pitch angle given by the integrated positioning navigation system is valid and usable, and if the pitch angle is invalid or in the calibration process, waiting for entering the integrated positioning navigation state and the pitch angle is usable; if yes, executing step 4;
step 4, acquiring a pitch angle output by the combined positioning navigation system and the speed of the odometer;
step 5, low-pass filtering is carried out on the pitch angle and the speed, and noise is filtered;
Step 6, capturing an initial average value of the pitch angles before entering the ramp or when just entering the ramp as zero offset;
step 7, calculating a pitch angle after zero offset compensation and a height difference after zero offset compensation;
step 8, judging whether the vehicle is an upper elevated vehicle, a lower elevated vehicle or a flat slope;
step 9, repeating the steps 4 to 8 until the map matching is not on or near the ramp of the entrance and exit of the elevated frame;
and step 10, clearing the calculation state and finishing the uphill and downhill detection.
Further, the information of the combined positioning and navigation system in the step 1 comprises attitude angle information, speed information of the odometer and information whether the combined positioning and navigation system is on or near the ramp at the entrance and exit of the high frame given by map matching.
Further, in step 1, the vicinity of the entrance ramp of the overhead is less than 50m away from the entrance ramp of the overhead.
Further, in step 1, the attitude angle information of the integrated positioning navigation system, the speed information of the odometer and the information whether the information is on or near the ramp at the entrance and exit of the high frame are input according to 1 Hz.
Further, in step 5, the current time is set as nth second, and the pitch angle after low-pass filtering is recorded as PnAnd the velocity after low-pass filtering is denoted as VnAnd the zero offset in step 6 is marked as P0。
Further, the pitch angle P after zero offset compensation is calculated in step 7 n' and zero offset compensated height difference HnThe following:
Pn′＝Pn-P0，Hn＝Hn-1+sin(Pn-P0)*Vnin which Hn-1The height difference calculated for time n-1.
Further, in step 8, if the pitch angle meets the threshold condition and is consistent with the ramp gradient property of the map, it is determined as an upper elevated frame or a lower elevated frame; if the pitch angle does not meet the threshold condition, the altitude difference meets the threshold condition and is consistent with the ramp gradient attribute of the map, the vehicle is judged to be an upper elevated vehicle or a lower elevated vehicle; if the conditions are not met, judging the slope to be flat;
further, step 8 specifically includes the following steps:
if Pn' and PnIf the slope of the ramp of the currently matched map is an ascending slope, judging that the current map is an ascending frame;
if Pn' and PnWhen the slope property of the ramp of the current matched map is downhill, judging that the ramp is currently off-set;
when P is presentn' and PnIf none of the conditions satisfies the threshold, if HnIf the slope of the ramp is larger than the positive threshold E and the slope attribute of the ramp of the currently matched map is an uphill slope, judging that the current ramp is an uphill slope;
if H isnIf the slope of the ramp is larger than the negative threshold F and the slope of the ramp of the currently matched map is downhill, judging that the ramp is currently off-set;
If the conditions are not met, judging that the slope is flat slope currently.
Further, the threshold A, B, C, D, E, F and time T are dynamically adjusted based on odometer speed information.
The invention has the advantages that no additional hardware configuration is needed, and the cost is lower; and attribute information of a map and position and attitude calculation information of the GNSS + IMU + odometer speed combined positioning system are comprehensively utilized, the coverage is complete, the system can normally work under the condition that the GNSS is free of signals, and the accuracy and the reliability are high.
Drawings
Fig. 1 is a schematic diagram of carrier coordinate system definition.
Fig. 2 is a flow chart of an overhead uphill and downhill detection method.
Detailed Description
The invention judges the upper and lower elevated frames by utilizing the absolute value of the pitch angle of the GNSS + IMU + odometer combined navigation system and the value after zero offset compensation, and judges the upper and lower elevated frames by utilizing the pitch angle of the GNSS + IMU + odometer combined navigation system and the height difference calculated by combining the odometer speed. The invention is further illustrated below with reference to the figures and examples.
The schematic view of the carrier coordinate system definition is shown in fig. 1, the carrier system is an IMU coordinate system fixedly connected with an automobile, and the xyz axis is defined as front, right and bottom, and meets the right-hand rule.
The invention adopts a GNSS + IMU + odometer combined positioning navigation system, and the input is as follows: and the map matching provides attributes of whether the vehicle is on or near the entrance and exit of the elevated ramp and whether the vehicle is on or off the ramp, and the GNSS + IMU + odometer is used for combining the pitch angle of the positioning navigation system and the speed of the odometer. When the map is matched and the current positioning point is positioned on the entrance and the exit of the ramp of the overhead or near the entrance and the exit of the ramp (the distance between the current positioning point and the vicinity of the entrance and the exit of the ramp is less than 50m), the detection of the ascending and descending slopes of the overhead is triggered; otherwise, clearing the internal relevant calculation state and not detecting the uphill and downhill.
Because the vehicle-mounted GNSS + IMU + odometer combined positioning navigation system is normally and fixedly connected with the automobile, the pitch angle of the carrier coordinate system output by the combined navigation system after the installation error angle compensation is equal to the pitch angle of the automobile. According to the definition of a coordinate system, when the automobile runs on an overhead uphill, the pitch angle is a positive value larger than 0, and the height is increased; when the automobile runs on an overhead downhill, the pitch angle is a negative value smaller than 0, and the height is reduced; when the automobile runs on a common flat road, the pitch angle is close to 0, and the height is not obviously changed. However, since the calculation accuracy of the integrated navigation system is affected by various factors, such as the estimation accuracy of the installation error angle, the noise term of the sensor, and the like, the given pitch angle is expressed by the following formula:
P′＝P+P0+W
wherein P' is the solution value of the pitch angle, P is the true value of the pitch angle, P0For an offset of the pitch angle in a flat slope, i.e. zero offset, W is the noise term.
Based on the above characteristics, it is necessary to calculate the offset (offset) of the pitch angle during the flat slope, i.e. zero offset, and determine the slope condition of the current road by using the value of the pitch angle after zero offset compensation. Aiming at the conditions of slow ascending and descending, the pitch angle on the elevated ramp is small, and the increase error can be brought by simply utilizing the information characteristic of the pitch angle; and at the moment, the gradient condition of the current road is judged by calculating the altitude difference by combining the pitch angle and the speed.
If the slope condition of the road judged currently is matched with the slope condition of the elevated ramp given by the map and the conditions are met within a period of time or a distance, the road is considered to be driven on the elevated up-down slope entrance ramp at the moment, and the slope attribute is equal to the slope attribute of the current map road.
The present invention is further described with reference to the following embodiments, and fig. 2 is a flow chart of the method for detecting an ascending/descending slope of an elevated rack according to the present invention, which includes the following steps:
step 1, attitude angle information, odometer speed information and information whether the information is on or near an elevated entrance ramp or not, which is given by map matching, of the GNSS + IMU + odometer combined positioning navigation system are all input according to 1Hz, and the resolving frequency is 1 Hz.
And 2, if the map is matched on or near the ramp of the entrance and exit of the viaduct, triggering the following detection logic.
The information of whether the map is matched on the ramp at the entrance or the adjacent ramp of the elevated buildings is used for assisting the judgment of the upper and lower elevated buildings, so that the accuracy rate is improved compared with the whole judgment.
And 3, checking whether the pitch angle information given by the integrated navigation system is valid and available, and if the pitch angle information is invalid or in the calibration process, waiting until the integrated navigation system enters the integrated navigation state and the pitch angle information is available.
And 4, acquiring a pitch angle output by the integrated navigation system and the speed of the odometer.
And 5, performing low-pass filtering on the pitch angle and the speed to filter noise. Setting the current time as the nth second, the output values are respectively marked as PnAnd Vn。
And 5, dynamically capturing an initial average value of the pitch angle before entering the ramp or when just entering the ramp as zero offset, and recording the initial average value as P0And the calculation accuracy of the pitch angle is improved.
Step 7, calculating Pn′＝Pn-P0Calculating Hn＝Hn-1+sin(Pn-P0)*VnIn which H isn-1The height value calculated for time n-1.
Step 8, if Pn' and PnIf the slope property of the currently matched ramp is an ascending slope, judging that the current ramp is an ascending frame; if Pn' and PnWhen the slope property of the ramp matched currently is downhill and the slope property of the ramp matched currently is smaller than the negative threshold values C and D within a continuous period of time T, judging that the ramp is currently set to be elevated; when P is presentn' and PnIf none of the conditions satisfies the threshold, if HnIf the slope attribute of the currently matched ramp is an ascending slope, judging that the current ramp is an ascending frame; if H isnAnd if the slope property of the currently matched ramp is more than the negative threshold value F and the slope property of the currently matched ramp is downhill, judging that the ramp is currently off-set. If the conditions are not met, judging that the slope is flat slope currently.
The slope information of the ramp at the entrance and exit of the map is used for assisting the judgment of the upper and lower elevated frames, and when the slope attribute of the ramp of the map is consistent with the behavior of the upper and lower slopes judged based on the pitch angle and the odometer, the ramp is considered as the upper elevated frame or the lower elevated frame, so that the accuracy rate is improved.
And 9, repeating the steps 4 to 8 until the map is not matched near the ramp of the entrance and the exit of the elevated.
And step 10, if the map matching result is not near the entrance ramp of the overhead, clearing all variable values in the calculation.
Preferably, the threshold A, B, C, D, E, F and time T are dynamically adjusted based on the odometer speed, improving the adaptive capability of the system.
The preferred language of the present invention is C/C + +, Java.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.

Claims (2)

1. A low-cost high-precision detection method for uphill and downhill of an overhead crane is characterized in that a GNSS + IMU + odometer combined positioning navigation system is adopted, and the method comprises the following steps:
step 1, inputting information of a combined positioning navigation system;
step 2, if the map is matched on or near the ramp of the entrance and exit of the elevated frame, executing step 3;
step 3, checking whether the pitch angle given by the integrated positioning navigation system is valid and usable, and if the pitch angle is invalid or in the calibration process, waiting for entering the integrated positioning navigation state and the pitch angle is usable; if yes, executing step 4;
step 4, acquiring a pitch angle output by the combined positioning navigation system and the speed of the odometer;
step 5, low-pass filtering is carried out on the pitch angle and the speed, and noise is filtered;
step 6, capturing an initial average value of the pitch angle before entering the ramp or when just entering the ramp as zero offset;
step 7, calculating a pitch angle after zero offset compensation and a height difference after zero offset compensation;
step 8, judging whether the vehicle is an upper elevated vehicle, a lower elevated vehicle or a flat slope;
step 9, repeating the steps 4 to 8 until the map matching is not on or near the ramp of the entrance and exit of the elevated frame;
step 10, clearing the calculation state and finishing the detection of the uphill and downhill;
The information of the combined positioning navigation system in the step 1 comprises attitude angle information, speed information of a speedometer and information about whether the combined positioning navigation system is on or near an elevated gateway ramp or not, wherein the information is given by map matching;
in the step 5, the current time is set as the nth second, and the pitch angle after low-pass filtering is recorded as PnAnd the velocity after low-pass filtering is denoted as VnAnd the zero offset in step 6 is marked as P0；
Inputting attitude angle information of the combined positioning navigation system, speed information of the odometer and information whether the information is on or near an entrance ramp of the viaduct or not according to 1 Hz;
in step 7, the pitch angle Pn' after zero offset compensation and the height difference Hn after zero offset compensation are calculated as follows:
pn ═ Pn-P0, Hn ═ Hn-1+ sin (Pn-P0) × Vn, where Hn-1 is the height difference calculated at time n-1;
the step 8 specifically comprises the following steps:
if Pn' and PnIf the slope of the ramp of the currently matched map is an ascending slope, judging that the current map is an ascending frame;
if Pn' and PnWhen the slope property of the ramp of the current matched map is downhill, judging that the ramp is currently off-set;
when P is presentn' and PnIf none of the conditions satisfies the threshold, if H nIf the slope of the ramp is larger than the positive threshold E and the slope attribute of the ramp of the currently matched map is an uphill slope, judging that the current ramp is an uphill slope;
if H isnGreater than negative threshold F and of currently matching mapsIf the ramp gradient attribute is downhill, judging that the ramp is currently off-going;
if the conditions are not met, judging that the slope is a flat slope at present;
the threshold A, B, C, D, E, F and time T are dynamically adjusted based on odometer speed information.
2. A low-cost high-precision method for detecting an ascending and descending slope of an elevated frame as claimed in claim 1, wherein the vicinity of the entrance ramp of the elevated frame is less than 50m from the entrance ramp of the elevated frame.
CN201711429497.9A 2017-12-25 2017-12-25 Low-cost high-precision detection method for uphill and downhill of overhead Active CN108195388B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711429497.9A CN108195388B (en) 2017-12-25 2017-12-25 Low-cost high-precision detection method for uphill and downhill of overhead

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711429497.9A CN108195388B (en) 2017-12-25 2017-12-25 Low-cost high-precision detection method for uphill and downhill of overhead

Publications (2)

Publication Number Publication Date
CN108195388A CN108195388A (en) 2018-06-22
CN108195388B true CN108195388B (en) 2022-06-28

Family

ID=62584056

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201711429497.9A Active CN108195388B (en) 2017-12-25 2017-12-25 Low-cost high-precision detection method for uphill and downhill of overhead

Country Status (1)

Country Link
CN (1) CN108195388B (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109682376B (en) * 2019-02-19 2021-04-30 南京楚航科技有限公司 Method for positioning object in vertical direction by using inertial navigation system
CN109917440B (en) * 2019-04-09 2021-07-13 广州小鹏汽车科技有限公司 Combined navigation method, system and vehicle
CN111860921A (en) * 2019-04-29 2020-10-30 阿里巴巴集团控股有限公司 Overhead identification method, related device and navigation client
CN111735469B (en) * 2020-06-15 2022-08-23 腾讯科技（深圳）有限公司 Map navigation implementation method, storage medium and server
CN112945247A (en) * 2021-02-01 2021-06-11 新石器慧义知行智驰(北京)科技有限公司 Map matching positioning method for unmanned vehicle and automatic driving vehicle
CN114526732B (en) * 2022-01-25 2024-01-16 岚图汽车科技有限公司 Vehicle positioning method and system

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10111137A (en) * 1996-10-07 1998-04-28 Hitachi Ltd Gps navigator
JP2003075172A (en) * 2001-09-05 2003-03-12 Mitsubishi Electric Corp Vehicle behavior measuring apparatus
WO2006126367A1 (en) * 2005-05-25 2006-11-30 Pioneer Corporation Position setting device, position setting method, position setting program, and recording medium
CN101762275A (en) * 2008-12-25 2010-06-30 佛山市顺德区顺达电脑厂有限公司 Vehicle-mounted navigation system and method
JP2011053024A (en) * 2009-08-31 2011-03-17 Pioneer Electronic Corp Elevated-road identifying device, method of identifying elevated road, and elevated-road identification program
CN104567885A (en) * 2013-10-25 2015-04-29 阿尔派株式会社 Navigation device and judgment method of elevated upper and lower roads
CN106989743A (en) * 2017-03-31 2017-07-28 上海电机学院 A kind of energy automatic sensing passes in and out the apparatus for vehicle navigation of overpass information

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101750086B (en) * 2008-11-28 2013-02-27 财团法人工业技术研究院 Navigation information correcting method and navigation device thereof
CN104422449B (en) * 2013-08-27 2017-09-05 上海博泰悦臻电子设备制造有限公司 A kind of method of automobile navigation, device
CN106032985A (en) * 2015-03-13 2016-10-19 厦门歌乐电子企业有限公司 Vehicle positioning device
CN107462911A (en) * 2016-06-03 2017-12-12 千寻位置网络有限公司 Overhead detection method and its device above and below automobile
CN106384529A (en) * 2016-10-18 2017-02-08 杨跃龙 Vehicle interchange vertical positioning auxiliary system
CN106568450B (en) * 2016-10-28 2019-11-26 苏州大学 Elevated road vehicle-mounted auxiliary navigation algorithm and application

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10111137A (en) * 1996-10-07 1998-04-28 Hitachi Ltd Gps navigator
JP2003075172A (en) * 2001-09-05 2003-03-12 Mitsubishi Electric Corp Vehicle behavior measuring apparatus
WO2006126367A1 (en) * 2005-05-25 2006-11-30 Pioneer Corporation Position setting device, position setting method, position setting program, and recording medium
CN101762275A (en) * 2008-12-25 2010-06-30 佛山市顺德区顺达电脑厂有限公司 Vehicle-mounted navigation system and method
JP2011053024A (en) * 2009-08-31 2011-03-17 Pioneer Electronic Corp Elevated-road identifying device, method of identifying elevated road, and elevated-road identification program
CN104567885A (en) * 2013-10-25 2015-04-29 阿尔派株式会社 Navigation device and judgment method of elevated upper and lower roads
CN106989743A (en) * 2017-03-31 2017-07-28 上海电机学院 A kind of energy automatic sensing passes in and out the apparatus for vehicle navigation of overpass information

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
Using Computer Vision and Dead Reckoning Technology to Monitor Transit Service Reliability;Dejan Paliska 等;《2006 12th International Power Electronics and Motion Control Conference》;20090210;第2041-2044页 *
数字式MEMS加速度传感器在车载导航中的应用;杨晖等;《仪器仪表学报》;20050831;第26卷;第357-358、444页 *

Also Published As

Publication number Publication date
CN108195388A (en) 2018-06-22

Similar Documents

Publication Publication Date Title
CN108195388B (en) Low-cost high-precision detection method for uphill and downhill of overhead
CN111307162B (en) Multi-sensor fusion positioning method for automatic driving scene
JP6202151B2 (en) Mobile computer atmospheric pressure system
CN105988128B (en) Vehicle positioning accuracy
EP3109589B1 (en) A unit and method for improving positioning accuracy
CN206479647U (en) Alignment system and automobile
US8510044B2 (en) Position sensing device and method
EP2926330B1 (en) Vehicle location estimation apparatus and vehicle location estimation method
DE102010060234A1 (en) Methods and applications for altitude measurement and combining user content acquisition with elevation motion for personal navigation systems
US7769506B2 (en) Driver assistance system controller and driver assistance control method for vehicles
US20230358541A1 (en) Inertial navigation system capable of dead reckoning in vehicles
US10234568B2 (en) GNSS vehicle location involving overlapping roads
CN113029139B (en) Airport flight area vehicle differential Beidou/SINS combined navigation method based on motion detection
US20170159805A1 (en) Predictive transmission control method through road shape recognition
CN112542056B (en) Vehicle monitoring method and device and storage medium
CN105675006A (en) Road deviation detection method
US11117589B2 (en) System and method for determining roadway bank angle
JP5101691B2 (en) Information display device, position calculation device, display control method, position calculation method, display control program, position calculation program, and recording medium
CN108417065B (en) Pothole road surface early warning method based on smart phone and navigation application
CN115407376A (en) Vehicle positioning calibration method and device, computer equipment and storage medium
CN115060257A (en) Vehicle lane change detection method based on civil-grade inertia measurement unit
EP3905121A1 (en) Vehicle system with a safety mechanism and method of operation thereof
CN102706364A (en) Online calibration method of scaling factors of micromachining gyroscope for vehicle
KR101316168B1 (en) Method and device for assisting vehicle
CN113359169B (en) Vehicle co-location method for crossroad with traffic light

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant