CN110553668A - Error correction system and method for inertial navigation of intelligent driving - Google Patents
Error correction system and method for inertial navigation of intelligent driving Download PDFInfo
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- CN110553668A CN110553668A CN201910943297.8A CN201910943297A CN110553668A CN 110553668 A CN110553668 A CN 110553668A CN 201910943297 A CN201910943297 A CN 201910943297A CN 110553668 A CN110553668 A CN 110553668A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
Abstract
The invention relates to the inertial navigation technology, in particular to an error correction system and method for inertial navigation of intelligent driving, wherein the system comprises an inertial navigation subsystem and a correction subsystem for navigating a destination, and the correction subsystem comprises a transmitting module, an acquisition module, a positioning module, a control module, a calculation module and a correction module; the method comprises the steps of navigating through an inertial navigation subsystem, collecting an actual road position through a correction subsystem, calculating an actual distance between the actual road position and an actual target position through the correction subsystem, and correcting navigation information of the inertial navigation subsystem through the correction subsystem when the actual distance is larger than a distance threshold. The navigation information of the inertial navigation subsystem is corrected according to the position of the merchant, the navigation information of the inertial navigation subsystem is corrected more timely, and the actual road position in the actual moving process of the target is corrected more accurately.
Description
Technical Field
The invention relates to an inertial navigation technology, in particular to an error correction system and method for inertial navigation of intelligent driving.
Background
Inertial navigation is a technique for obtaining instantaneous velocity and instantaneous position data of a target by measuring acceleration of the target and performing integral operation. The inertial navigation depends on an inertial navigation system in the vehicle for navigation, does not depend on external information, and does not radiate energy to the outside. Existing inertial navigation systems include inertial measurement devices (gyroscopes and accelerometers), computers, displays, and the like.
However, inertial navigation generates positioning data due to integration, which easily increases the accumulated error after the use time is prolonged, and when the accumulated error increases and a user cannot timely distinguish small deviation of navigation, the actual target position of navigation is far away from the target position, especially in high buildings, tunnels and other positions, the GPS signal of navigation is weak, and the positioning device is loosened due to jitter in the vehicle driving process, so that the measurement of the accelerometer is inaccurate.
Disclosure of Invention
The invention aims to provide an error correction method for inertial navigation of intelligent driving, so as to solve the problem of overlarge navigation error caused by accumulated inertial navigation error.
The error correction method for the inertial navigation of intelligent driving in the scheme comprises the following steps:
The inertial navigation subsystem is used for navigation, the correction subsystem is used for collecting road marks, the correction subsystem is used for collecting and calculating the actual road positions of the road marks, the correction subsystem is used for calculating the actual distance between the actual target position obtained by the inertial navigation and the actual road position, and when the actual distance is larger than a pre-stored distance threshold value, the correction subsystem is used for replacing the actual target position in the inertial navigation with the actual road position for error correction.
The beneficial effect of this scheme is: the actual target position obtained by inertial navigation is combined with the actual road position, when the actual distance between the actual target position and the actual road position is greater than a distance threshold value, the inertial navigation is indicated to have an error, at the moment, the position of the target in the navigation process is replaced by the actual road position, the navigation information of the inertial navigation subsystem is corrected more timely, and the actual road position in the actual moving process of the target is corrected more accurately.
Further, the positions of merchants along the road are used as actual road positions, and the positions of the merchants marked by the correction subsystem are used as actual road positions.
The beneficial effects are that: the target position is measured by taking the position of the merchant along the road as a reference, the stability of the position of the merchant is high, the accuracy of navigation information is improved, the transmitting distance of the position of the merchant is short, the interference is small, and the information loss rate in the transmitting process of transmitting the position of the merchant is reduced.
Further, after the positions of the merchants are collected, the advertising information of the merchants is displayed for a fixed time.
The beneficial effects are that: the advertising information of the merchants is displayed in the navigation process, and can be seen in time, so that the selection is convenient, and the target positioning target is more prominent.
Further, the merchant advertisement information is commodity information of a merchant promoted commodity.
The beneficial effects are that: the commodity information of the promoted commodity is displayed, the advertisement information of merchants is simplified, and the commodity target is more prominent.
Further, the pre-stored distance is calculated by acquiring the updated merchant position through the correction subsystem.
The beneficial effects are that: when the merchant changes, the merchant position can be updated through the updating module, so that the accuracy of the merchant position is improved
Further, merchant circuit-breaking information is obtained through the correction subsystem, and the inertial navigation subsystem marks according to the merchant circuit-breaking information.
The beneficial effects are that: marking the road traffic condition through the open circuit information of the merchant and the accuracy of the navigation information.
On the basis of the error correction method for the inertial navigation of intelligent driving, the error correction system for the inertial navigation of intelligent driving is further provided, and comprises an inertial navigation subsystem for navigating a destination, wherein the inertial navigation subsystem comprises a positioning module for performing inertial navigation positioning on an actual target position of a vehicle, and a correction subsystem, wherein the correction subsystem comprises a collection module, a control module, a calculation module and a correction module, the collection module is used for collecting road marks and sending the road marks to the control module, the control module is used for obtaining the road marks and taking the positions of the road marks as the actual road positions, the control module is used for sending the actual road positions and the actual target positions to the calculation module, the calculation module is used for calculating the actual distance between the actual road positions and the actual target positions, and the control module compares the actual distance with a pre-stored distance threshold, and when the actual distance is greater than the distance threshold, the control module controls the correction module to replace the actual target position with the actual road position for error correction.
The beneficial effect of this scheme is: in the moving process of the target, the acquisition module acquires a road mark, the road mark is acquired by the control module and is used as an actual road position to be compared with an actual target position obtained by inertial navigation, the calculation module calculates an actual distance, the position of the target in the navigation process is measured by taking the actual road position as a reference, when the actual distance is larger than a distance threshold value, the inertial navigation is marked to have an error, the navigation information of the inertial navigation subsystem is corrected at the moment, the navigation information of the inertial navigation subsystem is corrected more timely, and the actual road position in the actual moving process of the target is corrected, so that the correction is more accurate.
Further, the transmitting module is located at a merchant position along the road, and the transmitting module transmits the merchant position as the actual road position.
The beneficial effects are that: the actual road position is sent by the merchants along the road to be used as the reference position, so that the road information is more accurate.
Further, the correction subsystem further comprises an advertisement module located at a merchant, and the advertisement module is used for sending the commodity information promoted by the merchant to the control module as merchant advertisement information.
The beneficial effects are that: the advertising module sends the advertising information of the merchants along the road to the control module, so that the navigation information can be displayed, and the merchants on corresponding positions can be selected conveniently.
Further, the correction subsystem further comprises an updating module, the updating module is used for sending the updated merchant position to the control module, and the control module acquires the updated merchant position and sends the updated merchant position to the calculation module to calculate the pre-storage distance.
The beneficial effects are that: when the road edge line merchant changes, the merchant position can be updated through the updating module, and the accuracy of the merchant position is improved.
Drawings
Fig. 1 is a schematic block diagram of an error correction system for inertial navigation of intelligent driving according to a first embodiment of the present invention.
Detailed Description
The following is a more detailed description of the present invention by way of specific embodiments.
Example one
Error correction system for inertial navigation for smart driving, as shown in fig. 1: the system comprises an inertial navigation subsystem and a correction subsystem, wherein the inertial navigation subsystem is used for navigating a destination and comprises a positioning module, and the correction subsystem comprises a transmitting module, a collecting module, a display module, a control module, a calculating module, a correcting module, an advertising module, an updating module and a circuit breaking module.
The positioning module is used for positioning an actual target position, the actual target position is a vehicle position of vehicle inertial navigation, the actual target position can be a real-time longitude and latitude coordinate of a moving target (such as a vehicle), the transmitting module is positioned at a merchant along a road, the transmitting module is used for transmitting the actual road position, the transmitting module transmits the merchant position as the actual road position, the transmitting module can use an existing Bluetooth module of E72-2G4M02S2B model, the collecting module is used for receiving the actual road position, the display module is used for displaying the actual road position, the collecting module can use an existing Bluetooth module of E72-2G4M02S2B model, the actual road position can be the longitude and latitude coordinate of the merchant, the control module obtains the actual road position and the actual target position and transmits the actual road position to the calculating module, and the control module can use an existing Haisi brand SOC chip, the calculation module calculates the actual distance between the actual road position and the actual target position, the calculation of the actual distance only needs to calculate the straight-line distance by longitude and latitude, the calculation module only needs subtraction operation, the control module obtains the actual distance and compares the actual distance with a distance threshold, when the actual distance is larger than the distance threshold, the control module controls the correction module to replace the actual target position with the actual road position for error correction, the update module is used for sending the updated merchant position to the control module, the control module obtains the updated merchant position and sends the updated merchant position to the calculation module to calculate the pre-storage distance, and the update module can use the network module of the existing XPW100100B-01 model.
the advertising module is located the trade company along the road, like the gate department of trade company shop, the advertising module is used for the commodity information that promotes the trade company as trade company advertising information and sends to control module, for example the commodity information can be the best product that the trade company sold or the most representative product, the advertising module can use the network module of current XPW100100B-01 model, the advertising module sends commodity information to control module through the update module, the module that opens circuit is located the trade company, the module that opens circuit is used for sending the information that opens circuit to control module, the module that opens circuit sends cancellation information to control module and cancels the information that opens circuit, control module marks the road after obtaining the information that opens circuit.
On the basis of the error correction system for the inertial navigation of intelligent driving, the first embodiment further provides an error correction method for the inertial navigation of intelligent driving, which includes the following steps:
The navigation is carried out through the inertial navigation subsystem, for example, the inertial navigation subsystem measures the rotation motion angle of a target through three gyroscopes, and measures the acceleration of three translation motions through three accelerometers, the inertial navigation technology is the prior art, and is not repeated herein, in the navigation process of the target, a transmitting module in a merchant along the road sends the actual road position of the merchant, because each merchant does not want to or uses the merchant as the basis for sending the actual road position, the actual road position sent by the merchant is not too dense, the communication distance after the actual road position is sent is fixed, the corresponding actual road position can be received only when the target moves along the road, the actual road position is collected through a collecting module of a correcting subsystem, and the target is positioned through the inertial navigation by a positioning module to obtain the actual target position, and when the actual distance is greater than the distance threshold, the correction module of the correction subsystem replaces the actual target position with the actual road position for correction.
The position of a merchant along a road is used as an actual road position, the marked position of the merchant is collected by the correction subsystem and used as the actual road position, the marked position of the merchant is the merchant with the transmitting module, the advertising information of the merchant is displayed for a fixed time after the position of the merchant is collected by the collection module, the displaying is performed through the display module, the advertising information of the merchant is the commodity information of the promoted commodity of the merchant, the updated position of the merchant is obtained by the correction subsystem to calculate the pre-storage distance, the open circuit information of the merchant is obtained by the open circuit module of the correction subsystem, and the inertial navigation subsystem marks the open circuit information of the merchant.
In the first embodiment, in the inertial navigation process, the position of a merchant along the road is used as an actual road position for error correction, after the position of the merchant is changed, the actual road position can be updated through an updating module, the actual road position is fixed, the position of a target in the navigation process is accurately measured by taking the actual road position as a reference, when the actual distance is greater than a distance threshold value, deviation occurs in surface inertial navigation, the navigation information of an inertial navigation subsystem is corrected at the moment, the navigation information of the inertial navigation subsystem is corrected more timely, the actual road position in the target actual moving process is corrected, and correction is more accurate.
The commodity information of the merchants is displayed in the process of correcting the navigation information, the advertising information of the merchants is simplified, the advertising information of the merchants can be seen in time, selection is facilitated, the merchants along the target road are more prominent as guide targets, the open circuit information can be sent through the merchants, and the open circuit information which is open circuit and cannot pass is acquired more timely and accurately.
Example two
The difference from the first embodiment is that the acquisition module includes a camera unit, the camera unit may use an image sensor of the existing TCD1209D model, the camera unit is used to shoot a road marking image, the control module takes the position of the obtained marking image as an actual road position, the control module sends the actual road position and an actual target position to the calculation module, the calculation module calculates an actual distance between the actual road position and the actual target position, and when the actual distance is greater than a distance threshold, the control module replaces the actual target position with the actual road position to correct the actual distance.
When a vehicle passes through a tunnel or other road sections without merchants, in the intelligent driving process of the vehicle, a camera unit is used for shooting a mark image on a road, the mark image can be a distance mark in the tunnel relative to an exit of the tunnel, a control module takes the position of the mark image as an actual road position, when the distance between the actual road position and the actual target position of inertial navigation is greater than a distance threshold value, the actual target position of the inertial navigation is replaced by the actual road position, inertial navigation of the vehicle can be corrected when the vehicle passes through the tunnel or other road sections without merchants, the accuracy of an inertial navigation system is improved, and the application range of inertial navigation error correction is widened.
EXAMPLE III
The difference from the first embodiment is that the correction subsystem further comprises an environment module and a distance measurement module, the environment module is in signal connection with the control module, the environment module is used for detecting tunnel or non-merchant road information and feeding back an environment signal to the control module, the environment module performs environment recognition through an image recognition technology, the distance measurement module can use an existing laser distance measurement module of SLDM-D12 type, the distance measurement module is in signal connection with the control module, the distance measurement module is used for measuring the vehicle distance between a target vehicle and a front adjacent vehicle, the control module acquires the vehicle distance measured for the first time as an initial distance, the control module sends the acquired vehicle distance and the initial distance to the calculation module for calculating a difference value, when the difference value is larger than a difference threshold value, the control module records the change times of the vehicle distance, when the change times are two times, the control module acquires an acceleration value of an accelerometer, and the update module replaces the acceleration value in inertial navigation with the acquired acceleration value for correction, and after the acceleration value is corrected, the control module clears the change times.
In the intelligent driving process, when the driving condition of a vehicle in front changes, the operation of the vehicle after the condition has certain operation reaction time, and the change time of the vehicle after the operation also has certain lag, so that the acceleration value measured by the accelerometer in real time lags, and the inertial navigation can be positioned according to the acceleration before the speed change after the vehicle suddenly accelerates or decelerates, so as to cause the error of the inertial navigation.
The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (10)
1. The error correction method for the inertial navigation of intelligent driving is characterized by comprising the following steps:
the inertial navigation subsystem is used for navigation, the correction subsystem is used for collecting road marks, the correction subsystem is used for collecting and calculating the actual road positions of the road marks, the correction subsystem is used for calculating the actual distance between the actual target position obtained by the inertial navigation and the actual road position, and when the actual distance is larger than a pre-stored distance threshold value, the correction subsystem is used for replacing the actual target position in the inertial navigation with the actual road position for error correction.
2. The error correction method for intelligent-driven inertial navigation according to claim 1, characterized in that: and taking the positions of merchants along the road as actual road positions, and taking the marked positions of the merchants as the actual road positions by the correction subsystem.
3. The error correction method for intelligent-driven inertial navigation according to claim 2, characterized in that: and displaying the advertisement information of the merchant for a certain time after the position of the merchant is collected.
4. The error correction method for intelligent-driven inertial navigation according to claim 3, characterized in that: the merchant advertisement information is commodity information of a merchant promoted commodity.
5. The error correction method for intelligent-driven inertial navigation according to claim 2, characterized in that: and calculating the pre-stored distance by acquiring the updated merchant position through the correction subsystem.
6. The error correction method for intelligent-driven inertial navigation according to claim 5, characterized in that: the merchant open circuit information is obtained through the correction subsystem, and the inertial navigation subsystem marks according to the merchant open circuit information.
7. An error correction system for inertial navigation for intelligent driving, comprising an inertial navigation subsystem for navigating a destination, the inertial navigation subsystem comprising a positioning module for inertial navigation positioning of an actual target position of a vehicle, characterized in that: the correction system comprises a collection module, a control module, a calculation module and a correction module, wherein the collection module is used for collecting road marks and sending the road marks to the control module, the control module obtains the road marks and takes the positions of the road marks as actual road positions, the control module sends the actual road positions and actual target positions to the calculation module, the calculation module calculates the actual distance between the actual road positions and the actual target positions, the control module compares the actual distance with a prestored distance threshold value, and when the actual distance is larger than the distance threshold value, the control module controls the correction module to replace the actual target positions with the actual road positions for error correction.
8. The error correction system for intelligently driven inertial navigation of claim 7, characterized in that: the correction subsystem further comprises a transmitting module, the transmitting module is used for transmitting the actual road position, the transmitting module is located at a merchant position along the road, and the transmitting module transmits the merchant position as the actual road position.
9. The error correction system for intelligently driven inertial navigation of claim 8, characterized in that: the correction subsystem further comprises an advertisement module located at a merchant, and the advertisement module is used for sending the commodity information promoted by the merchant to the control module as merchant advertisement information.
10. the error correction system for intelligently driven inertial navigation of claim 7, characterized in that: the correction subsystem further comprises an updating module, the updating module is used for sending the updated merchant position to the control module, and the control module obtains the updated merchant position and sends the updated merchant position to the calculation module to calculate the pre-storage distance.
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Cited By (1)
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| CN111426241A (en) * | 2020-06-11 | 2020-07-17 | 北京星际荣耀空间科技有限公司 | Operation parameter correction threshold determination method and device based on navigation system |
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