CN111352141B - Vehicle-mounted satellite precise single-point real-time positioning method based on high-precision map - Google Patents
Vehicle-mounted satellite precise single-point real-time positioning method based on high-precision map Download PDFInfo
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- CN111352141B CN111352141B CN202010334718.XA CN202010334718A CN111352141B CN 111352141 B CN111352141 B CN 111352141B CN 202010334718 A CN202010334718 A CN 202010334718A CN 111352141 B CN111352141 B CN 111352141B
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
The embodiment of the invention discloses a vehicle-mounted satellite precise single-point real-time positioning method based on a high-precision map, which comprises the steps of receiving a map data value of the high-precision map by using an external server, wherein the high-precision map comprises specific positioning information characteristics; acquiring surrounding environment images in real time through a vehicle-mounted camera or a vehicle-mounted laser radar, and matching the surrounding environment images with positioning information characteristics provided by a vehicle-mounted high-precision map to form high-precision position coordinates; the high-precision position coordinates are used as verification position information and are sent to a vehicle satellite receiver, and meanwhile, the vehicle satellite receiver receives precise ephemeris data provided by an external server and satellite signals provided by an external satellite antenna; the satellite receiver utilizes the information to realize rapid initialization convergence, realize precise single-point real-time positioning resolving and output high-precision real-time positioning data. The invention solves the problems that the initial positioning time of the existing automobile precise single-point real-time positioning is too long and the re-convergence time of the interrupted satellite signal is too long.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle positioning, in particular to a vehicle-mounted satellite precise single-point real-time positioning method based on a high-precision map.
Background
The GPS/GLONASS/BDS satellite precise single-point real-time positioning technology can realize centimeter-level to decimeter-level absolute positioning under the dynamic condition in a certain area range only by using a single GPS/GLONASS/BDS satellite receiver and providing the support of precise ephemeris, satellite clock error and the like externally, and has the advantages of low construction cost, no limitation of working distance, no restriction of use quantity and the like. In actual use, however, the GPS/GLONASS/BDS satellite precise single-point real-time positioning technology has the defects of overlong initial positioning time, overlong re-convergence time after satellite signals are interrupted and the like, and the real-time positioning precision and the application range of the technology in a vehicle-mounted dynamic environment are severely limited.
Disclosure of Invention
Therefore, the embodiment of the invention provides a vehicle-mounted satellite precise single-point real-time positioning method based on a high-precision map, which aims to solve the problems that the initial positioning time of the existing vehicle precise single-point real-time positioning is too long and the re-convergence time after the satellite signal is interrupted is too long.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
according to the first aspect of the embodiment of the invention, a vehicle-mounted satellite precise single-point real-time positioning method based on a high-precision map is disclosed, and the positioning method comprises the following steps:
receiving, with an external server, map data values for a high-precision map, the high-precision map including specific positioning information features;
acquiring surrounding environment images in real time through a vehicle-mounted camera or a vehicle-mounted laser radar, and matching the surrounding environment images with positioning information characteristics provided by a vehicle-mounted high-precision map to form high-precision position coordinates;
the high-precision position coordinates are used as verification position information and sent to a vehicle GPS/GLONASS/BDS satellite receiver, and meanwhile, the vehicle GPS/GLONASS/BDS satellite receiver receives precise ephemeris data provided by an external server and satellite signals provided by an external satellite antenna;
the GPS/GLONASS/BDS satellite receiver utilizes the information to realize rapid initialization convergence, realize precise single-point real-time positioning calculation and output high-precision real-time positioning data.
Further, the high-precision map is a digital map configured for locating the automated vehicle in conjunction with a navigation system and/or a controller of the automated vehicle.
Further, the high-precision map has a maximum unsharpness of less than 20 centimeters.
Furthermore, the initialization time of the precise single-point real-time positioning of the GPS/GLONASS/BDS satellite or the convergence time after signal interruption is within 2 minutes.
Further, the precise single-point real-time positioning resolving process comprises the following steps:
s1, acquiring observation values and broadcast ephemeris of a survey station of a local area network through an external network, wherein the survey station comprises a user station, a clock error reference station and a position reference station;
s2, constructing an observation value of the observation station;
s3, troposphere parameter estimation is carried out by using the initial coordinates;
and S4, calculating the position of the user station by adopting Kalman filtering to obtain a vehicle-mounted high-precision real-time positioning result.
The embodiment of the invention has the following advantages:
the embodiment of the invention discloses a vehicle-mounted satellite precise single-point real-time positioning method based on a high-precision map, which is characterized in that a vehicle-mounted camera or a vehicle-mounted laser radar is used for collecting surrounding environment images in real time and matching the surrounding environment images with positioning information characteristics provided by the vehicle-mounted high-precision map to form high-precision position coordinates, and a vehicle GPS/GLONASS/BDS satellite receiver is used for receiving precise ephemeris data provided by an external server and satellite signals provided by an external satellite antenna, so that the rapid initialization convergence is realized, the positioning time is saved, and the positioning precision is ensured.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
The embodiment discloses a vehicle-mounted satellite precise single-point real-time positioning method based on a high-precision map, which comprises the following steps:
receiving, with an external server, map data values for a high-precision map, the high-precision map including specific positioning information features;
acquiring surrounding environment images in real time through a vehicle-mounted camera or a vehicle-mounted laser radar, and matching the surrounding environment images with positioning information characteristics provided by a vehicle-mounted high-precision map to form high-precision position coordinates;
the high-precision position coordinates are used as verification position information and sent to a vehicle GPS/GLONASS/BDS satellite receiver, and meanwhile, the vehicle GPS/GLONASS/BDS satellite receiver receives precise ephemeris data provided by an external server and satellite signals provided by an external satellite antenna, wherein the precise ephemeris data are orbit parameters of a GPS/GLONASS/BDS satellite;
the GPS/GLONASS/BDS satellite receiver utilizes the information to realize rapid initialization convergence, realize precise single-point real-time positioning calculation and output high-precision real-time positioning data.
The precise single-point real-time positioning resolving process comprises the following steps:
s1, acquiring observation values and broadcast ephemeris of a survey station of a local area network through an external network, wherein the survey station comprises a user station, a clock error reference station and a position reference station;
s2, constructing an observation value of the observation station;
s3, troposphere parameter estimation is carried out by using the initial coordinates;
and S4, calculating the position of the user station by adopting Kalman filtering to obtain a vehicle-mounted high-precision real-time positioning result.
The high-precision map is a digital map that is configured to be used in conjunction with a navigation system and/or a controller of an automated vehicle to locate the automated vehicle, the maximum uncertainty of the high-precision map should be sufficiently small to ensure safe operation of the autonomous vehicle, and for a fully automatically operated automated vehicle, the maximum uncertainty of the high-precision map is within an order of magnitude of about 20 centimeters.
The method and the device realize that the initialization time of the precise single-point real-time positioning of the GPS/GLONASS/BDS satellite or the convergence time after signal interruption is shortened from 10min to 15min to 1 min to 2min, improve the positioning efficiency, simultaneously keep the positioning precision at the decimeter level and ensure the positioning definition.
Although the invention has been described in detail with respect to the general description and the specific embodiments, it will be apparent to those skilled in the art that modifications and improvements may be made based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (4)
1. A precise single-point real-time positioning method of a vehicle-mounted satellite based on a high-precision map is characterized by comprising the following steps:
receiving, with an external server, map data values of a high-precision map, the high-precision map including specific positioning information features; the high-precision map is a digital map configured for positioning an automated vehicle in conjunction with a navigation system and/or controller of the automated vehicle;
acquiring surrounding environment images in real time through a vehicle-mounted camera or a vehicle-mounted laser radar, and matching the surrounding environment images with positioning information characteristics provided by a vehicle-mounted high-precision map to form high-precision position coordinates;
the high-precision position coordinates are used as verification position information and sent to a vehicle GPS/GLONASS/BDS satellite receiver, and meanwhile, the vehicle GPS/GLONASS/BDS satellite receiver receives precise ephemeris data provided by an external server and satellite signals provided by an external satellite antenna;
the GPS/GLONASS/BDS satellite receiver utilizes the information to realize rapid initialization convergence, realize precise single-point real-time positioning calculation and output high-precision real-time positioning data.
2. The precise single-point real-time positioning method for the vehicle-mounted satellite based on the high-precision map as claimed in claim 1, wherein the maximum unsharpness of the high-precision map is less than 20 cm.
3. The precise single-point real-time positioning method for the vehicle-mounted satellite based on the high-precision map as claimed in claim 1, wherein the initialization time or the convergence time after signal interruption of the precise single-point real-time positioning of the GPS/GLONASS/BDS satellite is within 2 minutes.
4. The precise single-point real-time positioning method of the vehicle-mounted satellite based on the high-precision map as claimed in claim 1, wherein the precise single-point real-time positioning resolving process is as follows:
s1, acquiring observation values and broadcast ephemeris of a survey station of a local area network through an external network, wherein the survey station comprises a user station, a clock error reference station and a position reference station;
s2, constructing an observation value of the observation station;
s3, troposphere parameter estimation is carried out by using the initial coordinates;
and S4, calculating the position of the user station by adopting Kalman filtering to obtain a vehicle-mounted high-precision real-time positioning result.
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| CN115390117B (en) * | 2022-10-27 | 2023-03-10 | 湖南山和勘测设计有限公司 | Precise single-point positioning deformation monitoring method and device |
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