CN108802786A - A kind of vehicle positioning method - Google Patents
A kind of vehicle positioning method Download PDFInfo
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- CN108802786A CN108802786A CN201810800788.2A CN201810800788A CN108802786A CN 108802786 A CN108802786 A CN 108802786A CN 201810800788 A CN201810800788 A CN 201810800788A CN 108802786 A CN108802786 A CN 108802786A
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- positioning
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- inertial navigation
- location information
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of vehicle positioning methods, including：1）Satellite positioning is carried out by multi-mode satellite locating module, obtains the satellite positioning information of automobile；2）Inertial navigation positioning is carried out by inertial navigation module, obtains the inertial navigation location information of automobile；3）It is positioned by images match, obtains the framing information of automobile；4）Satellite positioning information, inertial navigation location information and framing information are subjected to data fusion, bus location information is obtained by Kalman filtering algorithm, the bus location information includes the locator value, deflection and inclination data of automobile.A kind of vehicle positioning method provided by the invention, it can efficient, high-precision carry out vehicle positioning, determine the geographical location of automobile, and not exclusively rely on satellite in position fixing process, Beidou positioning information is positioned, to effective, high-precision realizations positioning.
Description
Technical field
The present invention relates to bus location field of navigation technology, and in particular to a kind of vehicle positioning method.
Background technology
In the enterprise of auto navigation, often many vehicles still carry out location navigation using single GPS, or utilize list
A GPS and Big Dipper bimodulus positioning system are positioned, but during being positioned using Big Dipper bimodulus positioning system, it is past
Toward positioning accuracy is improved by pseudo range difference technology, positioning accuracy can reach meter level, be suitable for common user into enforcement
With, but with the development of present society, for example also there is an urgent need for high-precision vehicle positioning in unmanned equal fields.Its
It is secondary, automobile is positioned since current positioning often relies on the signalling apparatus such as satellite, base station, but in letters such as satellite offlines
In the environment of number can not being received by shielding, such as in tunnel, in steel cable bridge, building, it is easy that signal can not be received,
Positioned to influence vehicle, influence automobile positioning precision.
Therefore, those skilled in the art is dedicated to studying a kind of vehicle positioning method, can it is efficient, high-precision into
Row vehicle positioning determines the geographical location of automobile, and satellite, the progress of Big Dipper positioning signal are not exclusively relied in position fixing process
Positioning, to which effective, high-precision realization positions.
Invention content
For the defects in the prior art, the present invention provides a kind of vehicle positioning method, can it is efficient, high-precision into
Row vehicle positioning determines the geographical location of automobile, and satellite, the progress of Big Dipper positioning signal are not exclusively relied in position fixing process
Positioning, to which effective, high-precision realization positions.
To achieve the above object, the present invention provides a kind of vehicle positioning methods, including：
1）Satellite positioning is carried out by multi-mode satellite locating module, obtains the satellite positioning information of automobile.
2）Inertial navigation positioning is carried out by inertial navigation module, obtains the inertial navigation location information of automobile.
3）It is positioned by images match, obtains the framing information of automobile.
4）Satellite positioning information, inertial navigation location information and framing information are subjected to data fusion, filtered by Kalman
Wave algorithm obtains bus location information, and the bus location information includes the locator value, deflection and inclination data of automobile.
Further, the satellite positioning carries out satellite positioning, the reality including the use of real-time carrier phase difference method
When carrier phase difference method including the use of the carrier phase value, pseudorange value and station coordinates obtained from differential reference station, by asking
Difference Solution obtains satellite positioning information.
Further, by automobile progress satellite positioning further include using tri- moulds of GPS+BDS+GLONSS, five frequency positioning system into
Row satellite positioning.
Further, the inertial navigation positioning is positioned including the use of inertial navigation system, and the inertial navigation is located through survey
Acceleration of the automobile in inertial reference system is measured, is sat to navigation by being integrated to the time, and by the data reduction after integral
In mark system, the position relationship maps mutually in the referential in position relationship and navigational coordinate system in the inertial reference system, really
Determine inertial navigation navigation information, the inertial navigation navigation information is included in speed, yaw angle and location information in navigational coordinate system.
Further, the inertial navigation system further includes carrying out positioning and orientation to automobile, and the positioning and orientation includes pair
Automobile is initially aligned, and described includes being directed at the coordinate in inertial reference system, initially to the initial alignment of automobile progress
It the measurement of parameter and sets.
Further, described image position the step of include：
S1：Automobile external image is shot using camera, obtains the realtime graphic of automobile external；
S2：The route panoramic picture of the travel route of automobile external is obtained, the information of the route panoramic picture is included in specific
Automobile external panoramic picture corresponding to location information；
S3:The realtime graphic of automobile external is matched with automobile external panoramic picture, obtains automobile external position.
Further, further include that image flame detection is carried out to the realtime graphic of automobile external in the step S1 of framing,
And the image after correction is removed into distortion.
Further, in step s3, include panoramic table image retrieval technologies in matching, retrieve the vapour of acquisition respectively
The panoramic picture of travel route outside vehicle, the region of search of matching positioning is retrieved according to the realtime graphic of obtained automobile external,
And feature extraction is carried out according to panoramic table image, the feature extraction includes carrying out clustering processing and visual vocabulary structure, weighing apparatus
Amount and calculating matching similarity.
Further, it includes profit satellite positioning information, inertial navigation location information and framing information to be carried out data fusion
Data fusion is carried out with Federated Filters structure.
The beneficial effects of the invention are as follows：A kind of vehicle positioning method provided by the invention, passes through multi-mode satellite locating module
Satellite positioning is carried out, inertial navigation positioning is carried out using inertial navigation module, framing is carried out using the method for images match positioning,
The information of framing is obtained, the information that the positioning of satellite positioning, inertial navigation positioning and images match respectively obtains, which is carried out data, melts
It closes, the location information of automobile is obtained using Kalman filtering algorithm, height is carried out to automobile to efficient, degree of precision
Precision positions.A kind of vehicle positioning method provided by the invention, can efficient, high-precision carry out vehicle positioning, determine vapour
The geographical location of vehicle, and not exclusively rely on satellite in position fixing process, Beidou positioning information is positioned, to it is effective,
High-precision realization positioning.
Description of the drawings
Fig. 1 is that the vehicle positioning method of the embodiment of the invention shows functional block diagram.
Fig. 2 is the functional block diagram of the images match positioning of the embodiment of the invention.
Fig. 3 is the signal structure signal of the vehicle positioning system of the Federated Filters structure of the embodiment of the invention
Figure.
Specific implementation mode
The invention will be further described with reference to the accompanying drawings and examples：
As depicted in figs. 1 and 2, the present invention provides a kind of vehicle positioning methods, including：
1）Satellite positioning is carried out by multi-mode satellite locating module, obtains the satellite positioning information of automobile.
2）Inertial navigation positioning is carried out by inertial navigation module, obtains the inertial navigation location information of automobile.Inertial navigation navigation module is not
External information is relied on, external radiation energy is not depended on yet, carry out navigator fix that can be autonomous, when by measurement running car
Acceleration can be obtained by navigator fix information.Inertial navigation is located in the Special geographical positions such as tunnel, higher buildings object still can be with
Navigator fix is persistently carried out, the specific location for positioning automobile is conducive to.
3）It is positioned by images match, obtains the framing information of automobile.Figure location information refers to by image ratio
To determining location information, the framing information that images match positions is conducive in spies such as tunnel, higher buildings objects
The phenomenon that different geographical location still can continue to carry out navigator fix, automobile is made to be not in interruption positioning during positioning.
Automobile is can continuing, high-precision to be positioned during positioning.
4）Satellite positioning information, inertial navigation location information and framing information are subjected to data fusion, filtered by Kalman
Wave algorithm obtains bus location information, and bus location information includes the locator value, deflection and inclination data of automobile.Pass through karr
It is continual, degree of precision that graceful filtering algorithm, which obtains bus location information, can also be effective by Kalman filtering algorithm
The data of fusion are filtered, the precision of obtained bus location information is higher.Obtained location data can determine
The location data of Centimeter Level is arrived in position.
Satellite positioning carries out satellite positioning, real-time carrier phase difference method including the use of real-time carrier phase difference method
Including the use of the carrier phase value, pseudorange value and station coordinates obtained from differential reference station, by asking Difference Solution to obtain satellite positioning
Information.
It further includes carrying out satellite positioning using tri- moulds of GPS+BDS+GLONSS, five frequency positioning system that automobile, which carries out satellite positioning,.
It should be understood that GPS refers to global positioning system, BDS refers to Chinese Beidou satellite navigation system, and GLONSS refers to Ge Luo
Receive this satellite navigation system.Three moulds, five frequency positioning system refers to utilizing three kinds of global position systems, what five kinds of frequencies were positioned
Method, three moulds, five frequency positioning system refer to a kind of conventional positioning system, and it is frequently fixed to carry out three moulds five using GPS+BDS+GLONSS
Position can effectively be positioned, and positioning accuracy is higher.
Inertial navigation positioning is positioned including the use of inertial navigation system, and inertial navigation, which is located through, measures automobile in inertial reference system
In acceleration, by being integrated to the time, it should be appreciated that the time is integrated using acceleration, can be effective
Know the speed of automobile in motion, what this was well known to those skilled in the art, details are not described herein.Then it will accumulate again
In data reduction to navigational coordinate system after point, in the referential in position relationship and navigational coordinate system in inertial reference system
Position relationship maps mutually is converted by the mapping relations of the referential in inertial reference system and navigational coordinate system, can be true
Determine inertial navigation navigation information, inertial navigation navigation information is included in speed, yaw angle and location information in navigational coordinate system.
Inertial navigation system further includes carrying out positioning and orientation to automobile, and positioning and orientation includes initially being aligned to automobile,
It includes being directed at the coordinate in inertial reference system, the measurement of initial parameter and setting to carry out initial alignment to automobile.It should
Understand, in other embodiments, carrying out positioning and orientation to vehicle can also include error correction, be carried out to platform stabilization
Test, progress quickly calculating etc. to direction of traffic angle and tilt angle information.According to different situations, to reach identical technology
Effect.
In step 3）In, images match position the step of include：
S1：Automobile external image is shot using camera, obtains the realtime graphic of automobile external；
S2：The route panoramic picture of the travel route of automobile external is obtained, the information of route panoramic picture is included in specific position
Automobile external panoramic picture corresponding to information；
S3:The realtime graphic of automobile external is matched with automobile external panoramic picture, obtains automobile external position.
Further include image flame detection being carried out to the realtime graphic of automobile external, and will correct in the step S1 of framing
Image removal distortion afterwards.Effectively the distortion of image can be restored by image flame detection, by real-time external image
Fuzzy place handled, so that it is apparent from, since camera is during shooting external image, image can exist certain
The distortion of degree needs to be handled at the distortion of image, obtains the image after removal distortion, the automobile external obtained from
Realtime graphic is convenient for matching, and it is more accurate to obtain automobile external location information.
In step s3, include panoramic table image retrieval technologies in matching, retrieve the automobile external row of acquisition respectively
The panoramic picture for sailing route retrieves the region of search of matching positioning according to the realtime graphic of obtained automobile external, and according to complete
Scape map image carries out feature extraction, and feature extraction builds with visual vocabulary, weighs and calculates including progress clustering processing and matches
Similarity.
Satellite positioning information, inertial navigation location information and framing information are carried out data fusion to filter including the use of federation
Wave device structure carries out data fusion., the structure of data fusion is carried out as shown in figure 3, herein no longer using Federated Filters structure
It repeats.
A kind of vehicle positioning method provided by the invention carries out satellite positioning by multi-mode satellite locating module, using used
Property navigation module carry out inertial navigation positioning, using images match positioning method carry out framing, obtain the information of framing,
The information that the positioning of satellite positioning, inertial navigation positioning and images match respectively obtains is subjected to data fusion, is calculated using Kalman filtering
Method obtains the location information of automobile, and high accuracy positioning is carried out to automobile to efficient, degree of precision.The present invention provides
A kind of vehicle positioning method, can efficient, high-precision carry out vehicle positioning, determine the geographical location of automobile, and
Not exclusively rely on satellite in position fixing process, Beidou positioning information is positioned, to effective, high-precision realizations positioning.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be in the protection domain being defined in the patent claims.
Claims (9)
1. a kind of vehicle positioning method, it is characterized in that：Including：
1）Satellite positioning is carried out by multi-mode satellite locating module, obtains the satellite positioning information of automobile；
2）Inertial navigation positioning is carried out by inertial navigation module, obtains the inertial navigation location information of automobile；
3）It is positioned by images match, obtains the framing information of automobile；
4）Satellite positioning information, inertial navigation location information and framing information are subjected to data fusion, calculated by Kalman filtering
Method obtains bus location information, and the bus location information includes the locator value, deflection and inclination data of automobile.
2. vehicle positioning method as described in claim 1, it is characterized in that：The satellite positioning is including the use of real-time carrier phase
Difference method carries out satellite positioning, and the real-time carrier phase difference method is including the use of the carrier wave phase obtained from differential reference station
Place value, pseudorange value and station coordinates, by asking Difference Solution to obtain satellite positioning information.
3. vehicle positioning method as claimed in claim 1 or 2, it is characterized in that：Further include utilizing by automobile progress satellite positioning
Tri- moulds of GPS+BDS+GLONSS, five frequency positioning system carries out satellite positioning.
4. vehicle positioning method as described in claim 1, it is characterized in that：The inertial navigation positioning is including the use of inertial navigation system
It being positioned, the inertial navigation is located through the acceleration for measuring automobile in inertial reference system, by being integrated to the time, and
By in the data reduction to navigational coordinate system after integral, the ginseng in position relationship and navigational coordinate system in the inertial reference system
The position relationship maps mutually in being is examined, determines that inertial navigation navigation information, the inertial navigation navigation information are included in navigational coordinate system
Speed, yaw angle and location information.
5. vehicle positioning method as claimed in claim 4, it is characterized in that：The inertial navigation system further includes being carried out to automobile
Positioning and orientation, the positioning and orientation include initially being aligned to automobile, and described includes by inertia to the initial alignment of automobile progress
Coordinate in referential is aligned, the measurement of initial parameter and is set.
6. vehicle positioning method as described in claim 1, it is characterized in that：Described image position the step of include：
S1：Automobile external image is shot using camera, obtains the realtime graphic of automobile external；
S2：The route panoramic picture of the travel route of automobile external is obtained, the information of the route panoramic picture is included in specific
Automobile external panoramic picture corresponding to location information；
S3:The realtime graphic of automobile external is matched with automobile external panoramic picture, obtains automobile external position.
7. vehicle positioning method as claimed in claim 6, it is characterized in that：Further include to vapour in the step S1 of framing
Realtime graphic outside vehicle carries out image flame detection, and the image after correction is removed distortion.
8. vehicle positioning method as claimed in claim 6, it is characterized in that：In step s3, include panoramic table in matching
Image retrieval technologies retrieve the panoramic picture of the automobile external travel route of acquisition, according to the reality of obtained automobile external respectively
When image retrieval matching positioning the region of search, and feature extraction is carried out according to panoramic table image, the feature extraction includes
Clustering processing is carried out to build with visual vocabulary, weigh and calculate matching similarity.
9. vehicle positioning method as described in claim 1, it is characterized in that：By satellite positioning information, inertial navigation location information and figure
As location information carries out data fusion data fusion is carried out including the use of Federated Filters structure.
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| CN201810800788.2A CN108802786A (en) | 2018-07-20 | 2018-07-20 | A kind of vehicle positioning method |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109725339A (en) * | 2018-12-20 | 2019-05-07 | 东莞市普灵思智能电子有限公司 | A kind of tightly coupled automatic Pilot cognitive method and system |
| CN110515106A (en) * | 2019-07-23 | 2019-11-29 | 东南大学 | A kind of multi-modal vehicle locating device of the Multi-source Information Fusion that BDS, GPS are combined and localization method |
| CN110579786A (en) * | 2019-07-19 | 2019-12-17 | 北京理工新源信息科技有限公司 | positioning method and system, navigation method and system and vehicle management terminal |
| CN110597252A (en) * | 2019-09-03 | 2019-12-20 | 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 |
| CN111062644A (en) * | 2019-12-31 | 2020-04-24 | 东南大学 | Airport ground service vehicle management and control system and method based on high-precision navigation positioning |
| CN111065043A (en) * | 2019-10-25 | 2020-04-24 | 重庆邮电大学 | System and method for fusion positioning of vehicles in tunnel based on vehicle-road communication |
| CN111077557A (en) * | 2020-01-02 | 2020-04-28 | 东南大学 | Positioning system and method for airport ground service vehicle |
| CN111077556A (en) * | 2020-01-02 | 2020-04-28 | 东南大学 | Airport luggage tractor positioning device and method integrating Beidou and multiple sensors |
| CN111352141A (en) * | 2019-04-24 | 2020-06-30 | 贵州宽凳智云科技有限公司 | Vehicle-mounted satellite precise single-point real-time positioning method based on high-precision map |
| CN112731497A (en) * | 2020-12-04 | 2021-04-30 | 广西融科科技有限公司 | Method for improving satellite positioning precision by using field vision field analysis |
| CN114088103A (en) * | 2022-01-19 | 2022-02-25 | 腾讯科技（深圳）有限公司 | Method and device for determining vehicle positioning information |
| CN115574818A (en) * | 2022-12-09 | 2023-01-06 | 北京理工大学 | Method and system for navigation and positioning of structured road vehicle based on improved federal filtering |
| WO2023023936A1 (en) * | 2021-08-24 | 2023-03-02 | 华为技术有限公司 | Positioning method and positioning apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109725339A (en) * | 2018-12-20 | 2019-05-07 | 东莞市普灵思智能电子有限公司 | A kind of tightly coupled automatic Pilot cognitive method and system |
| CN111352141B (en) * | 2019-04-24 | 2022-06-21 | 贵州宽凳智云科技有限公司 | Vehicle-mounted satellite precise single-point real-time positioning method based on high-precision map |
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| CN110515106A (en) * | 2019-07-23 | 2019-11-29 | 东南大学 | A kind of multi-modal vehicle locating device of the Multi-source Information Fusion that BDS, GPS are combined and localization method |
| CN110597252A (en) * | 2019-09-03 | 2019-12-20 | 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 |
| CN111065043A (en) * | 2019-10-25 | 2020-04-24 | 重庆邮电大学 | System and method for fusion positioning of vehicles in tunnel based on vehicle-road communication |
| CN111062644A (en) * | 2019-12-31 | 2020-04-24 | 东南大学 | Airport ground service vehicle management and control system and method based on high-precision navigation positioning |
| CN111077557A (en) * | 2020-01-02 | 2020-04-28 | 东南大学 | Positioning system and method for airport ground service vehicle |
| CN111077556A (en) * | 2020-01-02 | 2020-04-28 | 东南大学 | Airport luggage tractor positioning device and method integrating Beidou and multiple sensors |
| CN112731497A (en) * | 2020-12-04 | 2021-04-30 | 广西融科科技有限公司 | Method for improving satellite positioning precision by using field vision field analysis |
| WO2023023936A1 (en) * | 2021-08-24 | 2023-03-02 | 华为技术有限公司 | Positioning method and positioning apparatus |
| CN114088103B (en) * | 2022-01-19 | 2022-05-20 | 腾讯科技（深圳）有限公司 | Method and device for determining vehicle positioning information |
| CN114088103A (en) * | 2022-01-19 | 2022-02-25 | 腾讯科技（深圳）有限公司 | Method and device for determining vehicle positioning information |
| CN115574818A (en) * | 2022-12-09 | 2023-01-06 | 北京理工大学 | Method and system for navigation and positioning of structured road vehicle based on improved federal filtering |
| CN115574818B (en) * | 2022-12-09 | 2023-02-28 | 北京理工大学 | Structured road vehicle navigation positioning method and system based on improved federal filtering |
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Application publication date: 20181113 |