CN108627864B - Positioning method and system based on automobile key and unmanned automobile system - Google Patents
Positioning method and system based on automobile key and unmanned automobile system Download PDFInfo
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- CN108627864B CN108627864B CN201710182616.9A CN201710182616A CN108627864B CN 108627864 B CN108627864 B CN 108627864B CN 201710182616 A CN201710182616 A CN 201710182616A CN 108627864 B CN108627864 B CN 108627864B
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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
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Abstract
The invention provides a positioning method and a system based on an automobile key and an unmanned automobile system, comprising a GPS device and an inertial navigation device which are arranged in the automobile key; acquiring the current GPS signal intensity; if the current GPS signal intensity is larger than a first threshold value, acquiring current positioning information by using the GPS device; if the current GPS signal intensity is between the first threshold value and the second threshold value, acquiring current positioning information by using the GPS device, and correcting the current positioning information acquired by the inertial navigation device by using the current positioning information acquired by the GPS device; the second threshold is less than the first threshold; and if the current GPS signal intensity is smaller than the second threshold value, acquiring current positioning information by using the inertial navigation device. The positioning method and the system based on the automobile key and the unmanned automobile system realize accurate positioning on the automobile key based on a mode of fusing GPS positioning and inertial navigation positioning, thereby providing accurate positioning information for the unmanned automobile.
Description
Technical Field
The invention relates to a positioning method and a positioning system, in particular to a positioning method and a positioning system based on an automobile key and an unmanned automobile system.
Background
Since the 70 s in the 20 th century, research on unmanned vehicles has been conducted in developed countries such as the united states, the united kingdom, and germany, and both feasibility and practical applications have been made. China began the research on unmanned vehicles in the 80 th 20 th century and succeeded in 1992 in developing the first unmanned vehicle in the true sense in China.
The unmanned automobile is an intelligent automobile which senses road environment through a vehicle-mounted sensing system, automatically plans a driving route and controls the steering and speed of the automobile according to the road, vehicle position and obstacle information obtained by sensing, and finally reaches a preset target.
In an actual application scene, a vehicle owner sends the current position information of the vehicle owner to the unmanned vehicle, and the unmanned vehicle automatically runs to the position of the vehicle owner. With the rapid development of mobile communication, smart phones have been deeply involved in the aspects of people's life. Since the smart phone has positioning and wireless communication functions, in the prior art, the current position information of the owner of the vehicle is usually sent to the unmanned vehicle through the smart phone. However, the above method has the following disadvantages:
(1) the smartphone must be carried around. Under the condition of no smart phone, the system cannot immediately communicate with the unmanned automobile, and has certain limitation;
(2) under the condition that no wireless signal or a wireless signal is poor, the smart phone cannot be positioned or is positioned inaccurately, so that the unmanned automobile cannot run to a required position, and the user experience is poor.
Disclosure of Invention
In view of the above drawbacks of the prior art, an object of the present invention is to provide a positioning method and system based on a car key, and an unmanned car system, in which accurate positioning of a car owner is achieved on the car key based on a fusion of GPS positioning and inertial navigation positioning, so as to provide accurate positioning information for an unmanned car.
In order to achieve the above objects and other related objects, the present invention provides a positioning method based on a car key, comprising the steps of: arranging a GPS device and an inertial navigation device in an automobile key; acquiring the current GPS signal intensity; if the current GPS signal intensity is larger than a first threshold value, acquiring current positioning information by using the GPS device; if the current GPS signal intensity is between the first threshold value and the second threshold value, acquiring current positioning information by using the GPS device, and correcting the current positioning information acquired by the inertial navigation device by using the current positioning information acquired by the GPS device; the second threshold is less than the first threshold; and if the current GPS signal intensity is smaller than the second threshold value, acquiring current positioning information by using the inertial navigation device.
In an embodiment of the invention, the second threshold is a threshold signal strength value at which the GPS device can acquire positioning information.
In an embodiment of the invention, the first threshold is set manually.
In an embodiment of the invention, the second threshold is set manually.
Meanwhile, the invention also provides a positioning system based on the automobile key, which comprises a GPS device, an inertial navigation device and a processing device; the GPS device, the inertial navigation device and the processing device are all arranged on an automobile key;
the GPS device is used for acquiring current positioning information in real time when the GPS signal intensity is greater than a first threshold value;
the inertial navigation device is used for acquiring current positioning information in real time, and correcting the current positioning information acquired by the inertial navigation device based on the current positioning information acquired by the GPS device when the GPS signal intensity is between the first threshold and a second threshold, wherein the second threshold is larger than the first threshold;
the processing module is used for acquiring the current GPS signal intensity in real time and selecting the positioning information acquired by the GPS device as the current positioning information when the GPS signal intensity is not less than the first threshold value; and when the GPS signal intensity is smaller than the first threshold value, selecting the positioning information acquired by the inertial navigation device as the current positioning information.
In an embodiment of the invention, the first threshold is a threshold signal strength value at which the GPS device can acquire positioning information.
In an embodiment of the invention, the first threshold is set manually.
In an embodiment of the invention, the second threshold is set manually.
In an embodiment of the present invention, the processing device is further configured to send the obtained current positioning information.
In addition, the invention also provides an unmanned automobile system, which comprises the positioning system based on the automobile key and an unmanned automobile;
the positioning system based on the automobile key is used for acquiring current positioning information and sending the current positioning information to the unmanned automobile;
the unmanned automobile is used for receiving the current positioning information and serving as a driving destination.
As described above, the positioning method and system based on the automobile key and the unmanned automobile system of the invention have the following advantages:
(1) on the automobile key, the accurate positioning of an automobile owner is realized based on a mode of fusing GPS positioning and inertial navigation positioning, so that accurate positioning information is provided for an unmanned automobile;
(2) other positioning devices do not need to be carried additionally, and the user experience is good;
(3) the method can provide accurate positioning information in various environments such as indoor environment, outdoor environment, building room and underground environment, and has strong applicability.
Drawings
FIG. 1 is a flow chart of a vehicle key-based location method of the present invention;
FIG. 2 is a schematic diagram of a key-based positioning system of the present invention;
fig. 3 is a schematic diagram of the unmanned vehicle system according to the present invention.
Description of the element reference numerals
1 GPS device
2 inertial navigation device
3 treatment device
10 unmanned automobile system
101 positioning system based on automobile key
102 unmanned automobile
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
The positioning method and system based on the automobile key and the unmanned automobile system integrate the GPS device and the inertial navigation device on the automobile key, so that the accurate positioning of an automobile owner is realized based on a mode of fusing the GPS positioning technology and the inertial navigation positioning technology, accurate positioning information is provided for the unmanned automobile, the unmanned automobile is not limited by external environment, extra equipment is not required to be carried, and the unmanned automobile system has good applicability.
Referring to fig. 1, the positioning method based on the automobile key of the invention comprises the following steps:
and step S1, setting a GPS device and an inertial navigation device in the automobile key.
The gps (global Positioning system), a global Positioning system, is a satellite navigation Positioning system established in the united states. The system can realize all-weather, continuous and real-time three-dimensional navigation positioning and speed measurement in a global range, and carry out high-precision time transmission and high-precision positioning. The GPS positioning is a positioning technology combining a GPS technology, a wireless communication technology (GSM/GPRS/CDMA), an image processing technology and a GIS technology, and is mainly used for carrying out remote real-time positioning monitoring on mobile people, pets, vehicles and equipment.
An Inertial Navigation System (INS), also called Inertial reference System, is an autonomous Navigation System that does not rely on external information and does not radiate energy to the outside (as in radio Navigation), and is based on newton's law of mechanics, and by measuring the acceleration of a carrier in an Inertial reference System, integrating it with time, and transforming it into a Navigation coordinate System, information such as velocity, yaw angle, and position in the Navigation coordinate System can be obtained. The working environment of the inertial navigation system comprises the air and the ground, and can also be underwater. Specifically, the inertial navigation system belongs to a dead reckoning navigation method, i.e. the position of the next point is calculated from the position of a known point according to the continuously measured course angle and speed of the moving body, so that the current position of the moving body can be continuously measured. A gyroscope in the inertial navigation system is used for forming a navigation coordinate system, so that a measuring axis of the accelerometer is stabilized in the coordinate system, and a course and an attitude angle are given; the accelerometer is used for measuring the acceleration of the moving body, the speed is obtained through the first integration of the time, and the displacement can be obtained through the first integration of the speed and the time.
Therefore, a GPS device based on GPS technology can achieve positioning in a wireless communication environment; the inertial navigation device based on the inertial navigation technology can realize autonomous positioning under any environment.
For the owner of the automobile, when the owner needs to use the automobile, the owner must carry the automobile key with him. Therefore, in the invention, the GPS device and the inertial navigation device are arranged in the automobile key, so that the automobile owner can be positioned at any time and any place without adding additional equipment.
And step S2, acquiring the current GPS signal intensity.
Since the GPS device can normally operate in a wireless communication environment, it is necessary to detect the current GPS signal strength in real time.
And step S3, if the current GPS signal intensity is larger than the first threshold value, acquiring the current positioning information by using the GPS device.
Specifically, when the GPS signal strength is greater than the first threshold, it is necessary to ensure that the GPS device can quickly and accurately acquire the current positioning information. The first threshold value can be set manually according to actual conditions.
Generally, when the device is in an open place, the strength of the GPS signal is relatively high, and at the moment, the GPS device can realize real-time accurate positioning, so that the current positioning information acquired by the inertial navigation device is not needed.
Step S4, if the current GPS signal intensity is between the first threshold and the second threshold, using the GPS device to obtain the current positioning information, and using the current positioning information obtained by the GPS device to correct the current positioning information obtained by the inertial navigation device; the second threshold is less than the first threshold.
Preferably, the second threshold is a critical signal strength value at which the GPS device is able to acquire positioning information. When the GPS signal intensity is between the first threshold value and the second threshold value, the GPS device can work normally, so that the current positioning information is still acquired by the GPS device; meanwhile, the inertial navigation device also acquires the current positioning information in real time, and corrects the current positioning information acquired by the GPS device, so that the inertial navigation device can acquire more accurate current positioning information, and the accuracy of the positioning information acquired when the inertial navigation device performs positioning independently is improved.
Typically, when in a building, the GPS signal strength is reduced compared to open ground, but the current positioning information can still be acquired using the GPS device. The second threshold value can be set manually according to actual conditions.
And step S5, if the current GPS signal intensity is smaller than a second threshold value, acquiring the current positioning information by using the inertial navigation device.
Specifically, when the GPS signal strength is smaller than the second threshold, the GPS device cannot perform positioning, so that the inertial navigation device is used to acquire current positioning information.
Typically, when underground, the GPS signal strength is little or not at all, the inertial navigation device is used to obtain current location information. In the process that the GPS signal is gradually weakened, the positioning information acquired by the inertial navigation device is corrected based on the positioning information acquired by the GPS device, so that the accuracy of the acquired current positioning information can be ensured when the current positioning information is acquired by the inertial navigation device alone.
It should be noted that, in the positioning method based on the car key of the present invention, both the GPS device and the inertial navigation device obtain the positioning information in real time, and the finally output positioning information is the corresponding device selected according to the magnitude of the GPS signal strength, so as to ensure that the car key, that is, the current positioning information of the car owner, can be accurately obtained in real time under any condition.
Referring to fig. 2, the car key-based positioning system of the present invention includes a GPS device 1, an inertial navigation device 2, and a processing device 3. Wherein, the GPS device 1, the inertial navigation device 2 and the processing device 3 are all arranged on the automobile key. For the owner of the automobile, when the owner needs to use the automobile, the owner must carry the automobile key with him. Therefore, in the invention, the GPS device 1 and the inertial navigation device 2 are arranged in the automobile key, so that the automobile owner can be positioned at any time and any place without adding extra equipment.
The GPS device 1 is configured to obtain current positioning information in real time when the GPS signal strength is greater than a first threshold.
The gps (global Positioning system), a global Positioning system, is a satellite navigation Positioning system established in the united states. The system can realize all-weather, continuous and real-time three-dimensional navigation positioning and speed measurement in a global range, and carry out high-precision time transmission and high-precision positioning. The GPS positioning is a positioning technology combining a GPS technology, a wireless communication technology (GSM/GPRS/CDMA), an image processing technology and a GIS technology, and is mainly used for carrying out remote real-time positioning monitoring on mobile people, pets, vehicles and equipment. Therefore, the GPS device 1 can acquire positioning information in real time based on the wireless signal.
Preferably, the first threshold value is a critical signal strength value at which the GPS device 1 can acquire positioning information. When the GPS signal strength is greater than the first threshold value, the GPS device 1 can operate normally.
The inertial navigation device 2 is configured to obtain current positioning information in real time, and correct the current positioning information obtained by the inertial navigation device based on the current positioning information obtained by the GPS device 1 when the GPS signal strength is between a first threshold and a second threshold, where the second threshold is greater than the first threshold.
An Inertial Navigation System (INS), also called Inertial reference System, is an autonomous Navigation System that does not rely on external information and does not radiate energy to the outside (as in radio Navigation), and is based on newton's law of mechanics, and by measuring the acceleration of a carrier in an Inertial reference System, integrating it with time, and transforming it into a Navigation coordinate System, information such as velocity, yaw angle, and position in the Navigation coordinate System can be obtained. The working environment of the inertial navigation system comprises the air and the ground, and can also be underwater. Specifically, the inertial navigation system belongs to a dead reckoning navigation method, i.e. the position of the next point is calculated from the position of a known point according to the continuously measured course angle and speed of the moving body, so that the current position of the moving body can be continuously measured. A gyroscope in the inertial navigation system is used for forming a navigation coordinate system, so that a measuring axis of the accelerometer is stabilized in the coordinate system, and a course and an attitude angle are given; the accelerometer is used for measuring the acceleration of the moving body, the speed is obtained through the first integration of the time, and the displacement can be obtained through the first integration of the speed and the time. Therefore, the inertial navigation device 2 can achieve autonomous positioning in any environment based on the inertial navigation technology.
Specifically, when the GPS signal strength is greater than the second threshold, the GPS device 1 can quickly and accurately acquire the current positioning information. Therefore, it is not necessary to correct the current positioning information acquired by the inertial navigation device 2. The first threshold and the second threshold can be set manually according to actual conditions.
The processing module 3 is connected with the GPS device 1 and the inertial navigation device 2 and is used for acquiring the current GPS signal intensity in real time and selecting the positioning information acquired by the GPS device 1 as the current positioning information when the GPS signal intensity is not less than a first threshold value; and when the GPS signal intensity is smaller than the first threshold value, selecting the positioning information acquired by the inertial navigation device 2 as the current positioning information.
Because the GPS device can normally operate in a wireless communication environment, the processing module needs to detect the current GPS signal strength in real time to select the GPS device or the inertial navigation device to acquire the positioning information.
When the GPS signal intensity is larger than the second threshold value, the GPS device can work normally. So the GPS device is selected to acquire the current location information.
When the GPS signal intensity is between the first threshold value and the second threshold value, the GPS device can work normally, so that the current positioning information is still acquired by the GPS device; meanwhile, the inertial navigation device also acquires the positioning information in real time and corrects the positioning information by using the positioning information acquired by the GPS device, so that the inertial navigation device can acquire more accurate current positioning information, and the accuracy of the current positioning information acquired when the inertial navigation device performs positioning independently is improved.
When the GPS signal intensity is smaller than the first threshold value, the GPS device cannot realize positioning, so that the inertial navigation device is utilized to acquire the current positioning information.
Generally, when the vehicle is in an open place, the strength of the GPS signal is greater than a second threshold value, and at the moment, the GPS device can realize real-time accurate positioning, so that positioning information acquired by the inertial navigation device is not needed. When the positioning device is positioned between buildings, the GPS signal intensity is weakened compared with that of the open ground, namely the GPS signal intensity is positioned between the first threshold value and the second threshold value, so that the current positioning information can be obtained by the GPS device. When the GPS signal intensity is small or completely absent when the underground, the inertial navigation device is used for acquiring the current positioning information. Since the positioning information acquired by the inertial navigation device is corrected based on the positioning information acquired by the GPS device in the process of gradually weakening the GPS signal, the accuracy of the acquired positioning information can be ensured even when the positioning information is acquired by the inertial navigation device alone.
It should be noted that, in the positioning system based on the car key of the present invention, the GPS device and the inertial navigation device both obtain the positioning information in real time, and the positioning information output by the final processing device selects the corresponding device according to the magnitude of the GPS signal strength, so as to ensure that the car key, that is, the positioning information of the car owner, can be accurately obtained in real time under any condition.
Preferably, the processing device is further configured to send the acquired current positioning information.
As shown in fig. 3, the present invention also provides an unmanned vehicle system 10, which comprises the above-mentioned vehicle key-based positioning system 101 and an unmanned vehicle 102.
The positioning system 101 based on the automobile key is used for acquiring current positioning information and sending the current positioning information to the unmanned automobile.
The unmanned vehicle 102 is configured to receive the current positioning information and serve as a driving destination.
Specifically, after the unmanned vehicle receives the current positioning information of the vehicle owner, the current positioning information can be used as a destination to drive from the current location to the current positioning information to receive the vehicle owner. Therefore, the unmanned automobile system realizes remote real-time control of the unmanned automobile, does not need to carry extra equipment, is simple and convenient, is easy to operate and has good user experience.
In conclusion, the positioning method and system based on the automobile key and the unmanned automobile system realize accurate positioning of the automobile owner on the automobile key based on a mode of fusing GPS positioning and inertial navigation positioning phases, so that accurate positioning information is provided for the unmanned automobile; other positioning devices do not need to be carried additionally, and the user experience is good; the method can provide accurate positioning information in various environments such as indoor environment, outdoor environment, building room and underground environment, and has strong applicability. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (8)
1. A positioning method based on an automobile key is characterized in that: the method comprises the following steps:
arranging a GPS device and an inertial navigation device in an automobile key;
acquiring the current GPS signal intensity;
if the current GPS signal intensity is larger than a first threshold value, acquiring current positioning information by using the GPS device;
if the current GPS signal intensity is between the first threshold and the second threshold, acquiring current positioning information by using the GPS device, and correcting the current positioning information acquired by the inertial navigation device by using the current positioning information acquired by the GPS device so as to improve the accuracy of the positioning information acquired when the inertial navigation device performs positioning independently; the second threshold is less than the first threshold;
if the current GPS signal intensity is smaller than the second threshold value, the inertial navigation device is used for acquiring current positioning information;
the second threshold is a critical signal strength value at which the GPS device is able to acquire positioning information.
2. The car key-based positioning method according to claim 1, characterized in that: the first threshold is set by human.
3. The car key-based positioning method according to claim 1, characterized in that: the second threshold is set by human.
4. A positioning system based on automobile keys is characterized in that: the system comprises a GPS device, an inertial navigation device and a processing device; the GPS device, the inertial navigation device and the processing device are all arranged on an automobile key; the GPS device is used for acquiring current positioning information in real time when the GPS signal intensity is greater than a first threshold value;
the inertial navigation device is used for acquiring current positioning information in real time, and correcting the current positioning information acquired by the inertial navigation device based on the current positioning information acquired by the GPS device when the GPS signal intensity is between the first threshold and a second threshold so as to improve the accuracy of the positioning information acquired when the inertial navigation device performs positioning independently, wherein the second threshold is larger than the first threshold;
the processing device is used for acquiring the current GPS signal intensity in real time and selecting the positioning information acquired by the GPS device as the current positioning information when the GPS signal intensity is not less than the first threshold value; when the GPS signal intensity is smaller than the first threshold value, selecting positioning information acquired by the inertial navigation device as current positioning information;
the first threshold is a critical signal strength value at which the GPS device is able to acquire positioning information.
5. The vehicle key-based positioning system of claim 4, wherein: the first threshold is set by human.
6. The vehicle key-based positioning system of claim 4, wherein: the second threshold is set by human.
7. A car key based positioning system according to any of claims 4-6, characterized in that: and the processing device is also used for sending the acquired current positioning information.
8. An unmanned automotive system, characterized in that: comprising the vehicle key-based positioning system of claim 7 and an unmanned vehicle;
the positioning system based on the automobile key is used for acquiring current positioning information and sending the current positioning information to the unmanned automobile;
the unmanned automobile is used for receiving the current positioning information and serving as a driving destination.
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| CN109859352A (en) * | 2018-12-07 | 2019-06-07 | 格陆博科技有限公司 | A kind of automobile key based on NB-IoT network |
| CN110118553B (en) * | 2019-04-16 | 2023-07-28 | 中国平安财产保险股份有限公司 | Method, device, computer equipment and storage medium for generating driving reference data |
| CN111757244B (en) * | 2019-06-14 | 2022-03-25 | 广东小天才科技有限公司 | Building positioning method and electronic equipment |
| CN110597252B (en) * | 2019-09-03 | 2021-01-05 | 安徽江淮汽车集团股份有限公司 | Fusion positioning control method, device and equipment for automatic driving automobile and storage medium |
| CN111132212A (en) * | 2019-12-10 | 2020-05-08 | 新石器慧通（北京）科技有限公司 | Unmanned vehicle network exception handling method, device, equipment and storage medium |
| CN112835086B (en) * | 2020-07-09 | 2022-01-28 | 北京京东乾石科技有限公司 | Method and device for determining vehicle position |
| CN113055819A (en) * | 2021-04-07 | 2021-06-29 | 山东中创电子科技有限公司 | Indoor positioning method, system and storage medium |
| CN113433956A (en) * | 2021-07-21 | 2021-09-24 | 武昌理工学院 | Underwater surveying and mapping robot displacement safety obtaining method |
| CN117809480B (en) * | 2024-02-28 | 2024-06-21 | 常州星宇车灯股份有限公司 | Active vehicle searching device and working method thereof |
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| US6791477B2 (en) * | 2001-07-17 | 2004-09-14 | Waypoint West, Llc | Method and apparatus for identifying waypoints and providing keyless remote entry in a handheld locator device |
| CN101403620B (en) * | 2008-09-10 | 2013-04-24 | 深圳市同洲电子股份有限公司 | Navigation device and method |
| CN101858980B (en) * | 2010-05-18 | 2012-11-28 | 东南大学 | Intelligent hypercompact combination navigation method of vehicle-mounted GPS software-based receiver |
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| CN103810898A (en) * | 2012-11-15 | 2014-05-21 | 深圳市赛格导航科技股份有限公司 | Automatic parking and picking system and method |
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