CN111474563A - Positioning signal strength detection device and method for unmanned map - Google Patents
Positioning signal strength detection device and method for unmanned map Download PDFInfo
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- CN111474563A CN111474563A CN202010433967.4A CN202010433967A CN111474563A CN 111474563 A CN111474563 A CN 111474563A CN 202010433967 A CN202010433967 A CN 202010433967A CN 111474563 A CN111474563 A CN 111474563A
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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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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- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Computer Security & Cryptography (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The disclosure relates to a positioning signal intensity detection device and a method for an unmanned map, relating to the field of unmanned vehicles (or called as automatic driving or unmanned driving), and the positioning signal intensity detection device is characterized by comprising a GNSS antenna and an inertial navigation combination connected with the GNSS antenna; the GNSS antenna and the inertial navigation combination are not mounted on the unmanned vehicle; in the process of detecting the strength of the positioning signal, the positioning signal strength detection device moves, and the GNSS antenna is used for receiving satellite signals; the inertial navigation combination is used for determining the strength of the satellite signal in the moving process based on the satellite signal so as to avoid vehicle investment, simplify the detection process, reduce the detection cost and shorten the detection time.
Description
Technical Field
The disclosure relates to the technical field of unmanned driving, in particular to a positioning signal strength detection device and method for an unmanned driving map.
Background
The unmanned vehicle is an intelligent vehicle which senses the road environment through a vehicle-mounted sensing system, automatically plans a driving route and controls the vehicle to reach a preset target. The intelligent control system integrates a plurality of technologies such as automatic control, a system structure, artificial intelligence, visual calculation and the like, is a product of high development of computer science, mode recognition and intelligent control technologies, is an important mark for measuring national scientific research strength and industrial level, and has wide application prospect in the fields of national defense and national economy.
Before an unmanned vehicle goes to a new operation field to operate, satellite signal detection needs to be carried out on each position in the new operation field to determine whether a satellite signal exists or not, and if the satellite signal exists, the strength of the satellite signal needs to be determined so as to carry out differential positioning subsequently.
At present, a method for detecting satellite signals at each position in a new operation site is to drive an unmanned vehicle into the operation site, manually control the vehicle by a professional operator, and search and detect satellite signals through a positioning system on the vehicle. Undoubtedly, vehicle investment and personnel investment are needed when the satellite signal detection is carried out on a new operation site, the detection flow is complex, the time spent is long, and the detection cost is high.
Disclosure of Invention
In order to solve the technical problem or at least partially solve the technical problem, the present disclosure provides a positioning signal strength detection apparatus and method for an unmanned map.
In a first aspect, an embodiment of the present disclosure provides a positioning signal strength detection apparatus for an unmanned map, including a GNSS antenna and an inertial navigation assembly connected to the GNSS antenna; the GNSS antenna and the inertial navigation combination are not mounted on the unmanned vehicle;
in the process of detecting the strength of the positioning signal, the positioning signal strength detection device moves, and the GNSS antenna is used for receiving satellite signals; the inertial navigation combination is used for determining the strength of the satellite signals in the moving process based on the satellite signals.
In a second aspect, the embodiment of the present disclosure further provides a method for detecting a strength of a positioning signal, where the method for detecting a strength of a positioning signal is applicable to any one of the above apparatuses for detecting a strength of a positioning signal used for an unmanned map;
the method for detecting the strength of the positioning signal comprises the following steps:
controlling the positioning signal strength detection device to move;
the GNSS antenna receives satellite signals;
the inertial navigation combination determines the strength of the satellite signals during movement based on the satellite signals.
According to the positioning signal intensity detection device for the unmanned map, which is provided by the embodiment of the disclosure, the positioning signal intensity detection device comprises a GNSS antenna and an inertial navigation combination connected with the GNSS antenna; the GNSS antenna and the inertial navigation combination are not mounted on the unmanned vehicle; in the process of detecting the strength of the positioning signal, the positioning signal strength detection device moves, and the GNSS antenna is used for receiving satellite signals; the inertial navigation combination is used for determining the strength of the satellite signals in the moving process based on the satellite signals. When carrying out satellite signal detection to each position in new operation place, this detecting device of locating signal power of unmanned map can replace unmanned vehicle, detect satellite signal, need not drive unmanned vehicle into operation place, the solution is in prior art, when carrying out satellite signal detection to each position in new operation place, need drive unmanned vehicle into operation place, and need professional operation personnel cooperation, it is complicated to detect the flow, the time of cost is long, detect the problem that the cost is high, avoided the vehicle to drop into, simplify and detect the flow, reduce the detection cost and shorten check-out time's purpose.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a block diagram of a positioning signal strength detection apparatus for an unmanned map according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a positioning signal strength detection device for an unmanned map according to an embodiment of the present disclosure;
fig. 3 is a block diagram of another positioning signal strength detection apparatus for an unmanned map according to an embodiment of the present disclosure;
fig. 4 is a flowchart of a method for detecting the strength of a positioning signal according to an embodiment of the present disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.
The unmanned vehicle detection method and the unmanned vehicle detection system have the advantages that satellite signal detection needs to be carried out on each position in a new operation field before the unmanned vehicle goes to the new operation field to operate in the prior art, the unmanned vehicle needs to be driven into the operation field during detection, professional operators are needed to cooperate, the detection process is complex, the time spent is long, and the detection cost is high.
And (4) an unmanned map, namely a high-precision map. Compared with the traditional map, the unmanned map has more expressed contents and higher precision. In particular, the unmanned map may be accurate to centimeters. Besides, the map is marked with road signs, traffic light positions, road virtual lines and solid lines, vehicle steering connecting lines, characteristic buildings on two sides of the road and the like. The unmanned map may be used to help the unmanned vehicle locate the position of the signal lights, remove erroneous information in millimeter wave radar, locate the vehicle, provide a track forecast for other vehicles, re-plan a short distance travel track, and so forth. When the vehicle is positioned based on the unmanned map, the strength of the satellite signal needs to be determined in advance.
Fig. 1 is a block diagram of a positioning signal strength detection apparatus for an unmanned map according to an embodiment of the present disclosure. Referring to fig. 1, the detection apparatus includes a GNSS antenna 110 and an inertial navigation assembly 120 connected to the GNSS antenna 110; neither the GNSS antenna 110 nor the inertial navigation combination 120 is mounted on the unmanned vehicle; in the process of detecting the strength of the positioning signal, the positioning signal strength detecting device moves, and the GNSS antenna 110 is used for receiving satellite signals; the inertial navigation combination 120 is used to determine the strength of the satellite signals during movement based on the satellite signals.
The GNSS antenna 110 is a GPS/G L ONASS compatible antenna, which may be used as a receiving antenna for GPS navigation and positioning system.
The Inertial navigation assembly 120 refers to a combination of an IMU (Inertial Measurement Unit) and a navigation positioning system (e.g., GPS positioning system). In practice, the GPS positioning system has low accuracy and low update frequency per unit time, and thus the requirement for automatic driving is far from being met. Through the combination of the IMU and the GPS, the IMU can be used for making up the defect of low updating frequency of the GPS positioning system in unit time, and further the positioning precision is improved.
When the positioning signal strength detection device of the unmanned map provided by the technical scheme is used for detecting satellite signals of all positions of a new operation site, the positioning signal strength detection device can be controlled to move firstly; during the movement, satellite signals are periodically received by the GNSS antenna 110; finally, the inertial navigation combination 120 is used to determine the strength of the satellite signal in real time during the movement process based on the satellite signal.
The GNSS antenna 110 and the inertial navigation combination 120 are not mounted on the unmanned vehicle, so that the positioning signal strength detection device has better portability, and an operator can walk with the GNSS antenna 110 and the inertial navigation combination 120 to realize the purpose of movement of the positioning signal strength detection device. Or, a dedicated trolley with wheels and a small size may be configured for the positioning signal strength detection device, and an operator controls the positioning signal strength detection device to move by controlling the movement of the trolley.
The inertial navigation module 120 determines the strength of the satellite signal in the moving process in real time based on the satellite signal, and specifically, the inertial navigation module 120 may analyze the received satellite signal in real time to determine the strength of the satellite signal in the moving process.
Because this strong and weak detection device of locating signal has better portability, above-mentioned technical scheme is when detecting the satellite signal is strong and weak, and the operation personnel only need transport this strong and weak detection device of locating signal to the operation place and just can carry out the satellite signal and detect. Obviously, the positioning signal strength detection device is much smaller than the size of an unmanned vehicle, so that the positioning signal strength detection device provided by the application is good in portability, an operator can independently complete a positioning signal strength detection task, the vehicle investment can be saved, the detection flow is simplified, and the detection cost is reduced. The positioning signal strength detection device has the characteristic of tool, can greatly shorten the detection time and detect the preparation work in the early stage, and achieves quick response. Compared with an unmanned vehicle, the positioning signal strength detection device is much smaller in size and good in portability, and can be brought into places with different terrains and different conditions to detect the strength of the positioning signal, so that the requirement of detecting multiple terrains can be met.
On the basis of the above technical solution, optionally, the inertial navigation combination 120 is further configured to determine position information at each position in the moving process, and determine a corresponding relationship between the strength of the satellite signal and the position information based on the position information at each position and the strength of the satellite signal at each position.
Specifically, in practice, there are many satellites in the sky, but the positions of different satellites with respect to the same detection point at the same time are different. This enables all satellites with satellite signal strengths greater than 0 to be received by the GNSS antenna 110 when receiving satellite signals. And the satellite signal strengths of at least some of the satellites are different.
Based on this, the GNSS antenna 110 receives satellite signals corresponding to a plurality of satellites, and the inertial navigation combination 120 may determine the position information at each position during the movement process by performing positioning based on the received satellite signals with the strength greater than a set threshold value, and further determining the position information at each satellite signal receiving time. Due to different detection points, the satellite signals of the same satellite have different strengths. The corresponding relationship between the satellite signal strength and the position information may be determined by associating all the satellite signal strengths received at time t with the position information of the positioning signal strength detection device at time t, so as to perform differential positioning based on the corresponding relationship between the satellite signal strength and the position information.
On the basis of the above technical solutions, optionally, fig. 2 is a schematic structural diagram of a positioning signal strength detection device for an unmanned map according to an embodiment of the present disclosure. Referring to fig. 2, the positioning signal intensity detecting device further includes a portable accommodating box 210; the GNSS antenna 110 and the inertial navigation unit (not shown in fig. 2) are both fixed to the portable housing box 210. The arrangement can further improve the portability of the positioning signal strength detection device. Alternatively, the portable containment case 210 may be a backpack.
Optionally, the positioning signal strength detecting device further includes a telescopic rod 220, one end of the telescopic rod 220 is fixed to the portable accommodating box 210, and the other end of the telescopic rod 220 is fixed to the GNSS antenna 110, so that the distance between the GNSS antenna 110 and the portable accommodating box 210 is variable. The device can meet the requirement of satellite signal strength detection at different heights in space.
Optionally, on the basis of the above technical solutions, in the process of detecting the strength of the positioning signal, a distance from the end of the GNSS antenna 110 far away from the telescopic rod 220 to the ground is equal to a distance from the end of the antenna on the unmanned vehicle far away from the ground, which is simulated by the positioning signal strength detecting device, to the ground. When the positioning signal strength detection device is used for replacing an unmanned vehicle to detect satellite signals of all positions in a new operation field, the distance from the end part of the GNSS antenna 110 far away from the telescopic rod 220 to the ground is equal to the distance from the end part of the antenna on the unmanned vehicle far away from the ground, which is simulated by the positioning signal strength detection device, to the ground, so that the detection result of the positioning signal strength detection device is closer to the detection result of the unmanned vehicle, and the reliability of the detection result is improved. Alternatively, the antenna on the drone vehicle may be an RTK antenna.
In practice, in order to make the distance from the end of the GNSS antenna 110 far from the telescopic rod 220 to the ground equal to the distance from the end of the antenna far from the ground on the unmanned vehicle simulated by the positioning signal strength detection device to the ground, when people with different heights use the positioning signal strength detection device, the telescopic rod 220 is different in expansion and contraction amount.
Fig. 3 is a block diagram of another positioning signal strength detection apparatus for an unmanned map according to an embodiment of the present disclosure. Optionally, referring to fig. 3, the positioning signal strength detecting apparatus further includes an intelligent terminal 130; the intelligent terminal 130 is connected to the inertial navigation assembly 120 for displaying the strength of the satellite signal. Therefore, the detection result can be visualized, and the user experience is further improved. The intelligent terminal 130 may be a mobile phone, a tablet computer, a notebook computer, an intelligent wearable device, and the like. If the intelligent terminal 130 is a tablet computer, optionally, the intelligent terminal 130 is an industrial tablet computer.
Optionally, with continued reference to fig. 2 and fig. 3, the positioning signal strength detecting apparatus further includes a router 230; the intelligent terminal 130 and the inertial navigation assembly 120 are both connected to the router 230 to realize data transmission between the inertial navigation assembly 120 and other external devices and data transmission between the intelligent terminal 130 and other external devices. Optionally, the router 230 is a 4G router. The inertial navigation assembly 120 is connected with the router 230 through a network cable, and the intelligent terminal 130 is connected with a wireless network erected by the router 230.
Optionally, the intelligent terminal 130 is connected to a cloud server to implement data transmission between the intelligent terminal 130 and the cloud server 300. On this basis, the correspondence data of the satellite signal strength and the position information may be stored on the cloud server 300.
On the basis of the above technical solutions, optionally, the positioning signal strength detection apparatus further includes a power supply device; and the power supply equipment is electrically connected with the inertial navigation combination and the router. The power supply device may be a storage battery. Further, a solar panel can be arranged on the outer surface of the portable accommodating box and connected with the storage battery to charge the storage battery.
Based on the same inventive concept, the embodiment of the disclosure also provides a method for detecting the strength of the positioning signal, and the method for detecting the strength of the positioning signal is suitable for any positioning signal strength detection device for the unmanned map provided by the embodiment of the disclosure. Fig. 4 is a flowchart of a method for detecting the strength of a positioning signal according to an embodiment of the present disclosure. Referring to fig. 4, the method for detecting the strength of the positioning signal includes:
s410, controlling the positioning signal strength detection device to move;
s420, receiving satellite signals by the GNSS antenna;
and S430, determining the strength of the satellite signal in the moving process based on the satellite signal by the inertial navigation combination.
Since the method for detecting the intensity of the positioning signal provided by the embodiment of the present disclosure is applicable to any one of the devices for detecting the intensity of the positioning signal for the unmanned map provided by the embodiment of the present disclosure, the same or corresponding beneficial effects are achieved for the device for detecting the intensity of the positioning signal for the unmanned map, which is adapted to the device, and the details are not repeated here.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A positioning signal intensity detection device for an unmanned map is characterized by comprising a GNSS antenna and an inertial navigation combination connected with the GNSS antenna; the GNSS antenna and the inertial navigation combination are not mounted on the unmanned vehicle;
in the process of detecting the strength of the positioning signal, the positioning signal strength detection device moves, and the GNSS antenna is used for receiving satellite signals; the inertial navigation combination is used for determining the strength of the satellite signals in the moving process based on the satellite signals.
2. The apparatus for detecting the intensity of a positioning signal according to claim 1,
the inertial navigation combination is further used for determining position information of each position in the moving process, and determining the corresponding relation between the strength of the satellite signal and the position information based on the position information of each position and the strength of the satellite signal of each position.
3. The apparatus for detecting the intensity of a positioning signal according to claim 1, further comprising a portable accommodating box;
the GNSS antenna and the inertial navigation combination are both fixed on the portable containing box.
4. The device for detecting the strength of the positioning signal according to claim 3, further comprising a telescopic rod, wherein one end of the telescopic rod is fixed to the portable accommodating box, and the other end of the telescopic rod is fixed to the GNSS antenna, so that the distance between the GNSS antenna and the portable accommodating box is variable.
5. The apparatus for detecting the intensity of a positioning signal according to claim 3 or 4,
in the process of detecting the strength of the positioning signal, the distance from the end part of the GNSS antenna far away from the telescopic rod to the ground is equal to the distance from the end part of the antenna on the unmanned vehicle far away from the ground, simulated by the positioning signal strength detection device, to the ground.
6. The device for detecting the strength of the positioning signal according to claim 1, further comprising an intelligent terminal;
and the intelligent terminal is connected with the inertial navigation combination and is used for displaying the strength of the satellite signal.
7. The apparatus for detecting the strength of a positioning signal according to claim 6, further comprising a router;
and the intelligent terminal and the inertial navigation combination are connected with the router.
8. The apparatus for detecting the intensity of a positioning signal according to claim 7,
the intelligent terminal is connected with the cloud server.
9. The apparatus for detecting the strength of a positioning signal according to claim 7, further comprising a power supply device;
the power supply equipment is electrically connected with the inertial navigation combination and the router.
10. A method for detecting the strength of a positioning signal, which is applied to the device for detecting the strength of a positioning signal for an unmanned map according to any one of claims 1 to 9;
the method for detecting the strength of the positioning signal comprises the following steps:
controlling the positioning signal strength detection device to move;
the GNSS antenna receives satellite signals;
the inertial navigation combination determines the strength of the satellite signals during movement based on the satellite signals.
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| CN202010433967.4A CN111474563A (en) | 2020-05-21 | 2020-05-21 | Positioning signal strength detection device and method for unmanned map |
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| CN202010433967.4A CN111474563A (en) | 2020-05-21 | 2020-05-21 | Positioning signal strength detection device and method for unmanned map |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115662189A (en) * | 2022-12-22 | 2023-01-31 | 北京路凯智行科技有限公司 | Unmanned vehicle and anti-collision method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115662189A (en) * | 2022-12-22 | 2023-01-31 | 北京路凯智行科技有限公司 | Unmanned vehicle and anti-collision method thereof |
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