CN111650628A - High-precision fusion positioning method, computer medium and device - Google Patents
High-precision fusion positioning method, computer medium and device Download PDFInfo
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- CN111650628A CN111650628A CN202010698946.5A CN202010698946A CN111650628A CN 111650628 A CN111650628 A CN 111650628A CN 202010698946 A CN202010698946 A CN 202010698946A CN 111650628 A CN111650628 A CN 111650628A
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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
- 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
Abstract
The invention relates to the technical field of high-precision positioning, and discloses a high-precision fusion positioning method, a computer medium and a device. Acquiring satellite observation data, inertial measurement data and differential telegraph text data; acquiring speed information and a satellite carrier-to-noise ratio according to the satellite observation data; obtaining course data and acceleration data according to the inertia measurement data; when the satellite number of the satellite carrier-to-noise ratio is larger than or equal to a first threshold value and larger than or equal to a second threshold value, obtaining high-precision positioning data according to the satellite observation data and the differential text data, and generating a high-precision fusion positioning result according to the high-precision positioning data; and when the number of satellites with the satellite carrier-to-noise ratio larger than or equal to a first threshold is smaller than a second threshold, obtaining inertial navigation positioning data according to the speed information, the course data and the acceleration data, and generating a high-precision fusion positioning result according to the inertial navigation positioning data.
Description
Technical Field
The invention relates to the technical field of high-precision positioning, in particular to a high-precision fusion positioning method, a computer medium and a device.
Background
In recent years, with the vigorous development of intelligent operating systems such as Android and ios, smart phones and smart terminals become important tools for people to live. Accurate, real-time, continuous and reliable positioning becomes an urgent need for navigation, trip and monitoring of people. In addition, in the scenes of automatic driving, unmanned aerial vehicles, high-precision map drawing and the like, the positioning precision and reliability directly influence the quality and safety of products. High-precision fusion positioning based on a satellite system and an inertial navigation system becomes an important research direction for solving the problems.
At present, most of the existing researches are from the aspect of improving the positioning precision of a satellite system or the reliability of positioning, and the accuracy and the reliability of positioning of intelligent equipment are comprehensively improved without combining a high-precision positioning technology and a fusion positioning technology of an inertial navigation system.
Disclosure of Invention
In order to at least solve the technical problem of fusion positioning of a high-precision positioning technology and an inertial navigation system, the invention provides a high-precision fusion positioning method, which has the following technical scheme: acquiring satellite observation data, inertial measurement data and differential telegraph text data; acquiring speed information and a satellite carrier-to-noise ratio according to the satellite observation data; obtaining course data and acceleration data according to the inertia measurement data; when the satellite number of the satellite carrier-to-noise ratio is larger than or equal to a first threshold value and larger than or equal to a second threshold value, obtaining high-precision positioning data according to the satellite observation data and the differential text data, and generating a high-precision fusion positioning result according to the high-precision positioning data; and when the number of satellites with the satellite carrier-to-noise ratio larger than or equal to a first threshold is smaller than a second threshold, obtaining inertial navigation positioning data according to the speed information, the course data and the acceleration data, and generating a high-precision fusion positioning result according to the inertial navigation positioning data.
Preferably, the satellite observations and inertial measurement data are formatted for storage.
Preferably, obtaining the differential textual data comprises: and obtaining a single-point positioning result according to the satellite observation data, and obtaining the differential message data in real time according to the single-point positioning result.
Preferably, obtaining the speed information comprises: and obtaining the speed information according to the satellite Doppler frequency shift in the satellite observation data.
Preferably, when the high-precision positioning data cannot be obtained within a preset first time period, the high-precision fusion positioning result is not generated.
Preferably, the high-precision fusion positioning result is transmitted to position service data.
Preferably, the high-precision fusion positioning result is transmitted to an application program in response to a position service request instruction of the application program.
The invention also proposes a computer medium having a computer program stored thereon, which computer program, when being executed by a processor, carries out the fusion localization method.
In addition, the invention also provides a high-precision fusion positioning device, which is characterized in that: the high-precision fusion positioning device comprises a data acquisition module, a data analysis module and a positioning module; the data acquisition module is used for acquiring satellite observation data, inertial measurement data and differential telegraph text data; the data analysis module is used for obtaining speed information and satellite carrier-to-noise ratio according to the satellite observation data; the data analysis module is also used for obtaining course data and acceleration data according to the inertial measurement data; the positioning module is used for obtaining high-precision positioning data according to the satellite observation data and the differential text data when the number of satellites with the satellite carrier-to-noise ratio larger than or equal to a first threshold is larger than or equal to a second threshold, and generating a high-precision fusion positioning result according to the high-precision positioning data; the positioning module is further used for obtaining inertial navigation positioning data according to the speed information, the course data and the acceleration data when the number of satellites with the satellite carrier-to-noise ratio larger than or equal to a first threshold is smaller than a second threshold, and generating a high-precision fusion positioning result according to the inertial navigation positioning data.
Preferably, the fusion positioning device is provided with a serial port, a USB, a SPI or a connection port of I2C.
Some technical effects of the invention are as follows: the fusion positioning combining the differential positioning and the inertial navigation positioning is provided, the accuracy and the reliability of the positioning capability of the intelligent equipment are improved, the differential positioning result is reported when the differential positioning result is reliable, and the inertial navigation positioning result is reported when the differential positioning is unreliable.
Drawings
For a better understanding of the technical solution of the present invention, reference is made to the following drawings, which are included to assist in describing the prior art or embodiments. These drawings will selectively demonstrate articles of manufacture or methods related to either the prior art or some embodiments of the invention. The basic information for these figures is as follows:
FIG. 1 is a diagram illustrating a high-precision fusion positioning method according to an embodiment.
Detailed Description
The technical means or technical effects related to the present invention will be further described below, and it is obvious that the examples provided are only some embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step, will be within the scope of the present invention based on the embodiments of the present invention and the explicit or implicit representations or hints.
On the general idea, the invention provides a high-precision fusion positioning method, which comprises the following steps: acquiring satellite observation data, inertial measurement data and differential telegraph text data; acquiring speed information and a satellite carrier-to-noise ratio according to the satellite observation data; obtaining course data and acceleration data according to the inertia measurement data; when the satellite number of the satellite carrier-to-noise ratio is larger than or equal to a first threshold value and larger than or equal to a second threshold value, obtaining high-precision positioning data according to the satellite observation data and the differential text data, and generating a high-precision fusion positioning result according to the high-precision positioning data; and when the number of satellites with the satellite carrier-to-noise ratio larger than or equal to a first threshold is smaller than a second threshold, obtaining inertial navigation positioning data according to the speed information, the course data and the acceleration data, and generating a high-precision fusion positioning result according to the inertial navigation positioning data.
As shown in step 1 of fig. 1, the intelligent device obtains satellite observation data and inertial measurement data through an external or internal satellite positioning module and an inertial navigation positioning module, and obtains differential message data through a communication module; as shown in step 2 of fig. 1, a satellite carrier-to-noise ratio can be obtained according to satellite observation data and speed information of the intelligent device can be obtained through calculation; obtaining course data or course angle data and acceleration data of the intelligent equipment according to the inertia measurement data; satellite carrier-to-noise ratio (snr) is a standard measurement scale used to indicate the carrier-to-carrier noise relationship, commonly referred to as CNR or C/n (db). A high carrier to noise ratio may provide better network reception, better network communication quality, and better network reliability, and thus the first threshold is typically set to a value of 60 or more than 60. As shown in step 3 of fig. 1, when the number of satellites is 4, a better positioning effect can be generally obtained, and therefore the second threshold is generally set to a value of 4 or more than 4, that is, when the number of satellites with a satellite carrier-to-noise ratio greater than or equal to 60 is greater than or equal to 4, it is determined that satellite positioning is suitable under the current conditions, high-precision positioning data is obtained according to the satellite observation data and the differential text data, and a high-precision fusion positioning result is generated according to the high-precision positioning data; as shown in step 4 of fig. 1, when the number of satellites with a satellite carrier-to-noise ratio of 60 or more is less than 4, it is determined that inertial navigation positioning needs to be performed by an inertial measurement module, and then inertial navigation positioning data is obtained according to the speed information, the heading data and the acceleration data, and a high-precision fusion positioning result is generated according to the inertial navigation positioning data.
The inertial navigation system is a dead reckoning navigation method, i.e. the position of the next point is calculated from the position of a known point according to the continuously measured heading angle and speed of the carrier, thereby continuously measuring the current position of the moving body. The gyroscope in the inertial navigation system is used for forming a navigation coordinate system to enable the measuring axis of the accelerometer to be stabilized in the coordinate system and give course data and attitude data/attitude angle data; the accelerometer is used for measuring the acceleration of the moving body to obtain the speed through the first integration of the time, and the distance can be obtained through the speed through the first integration of the time.
Some technical effects of the scheme are that a positioning strategy of fusion positioning is determined, and in a differential positioning reliable scene, high-precision positioning data obtained through satellite positioning is reported to the high-precision positioning data. And under the condition that the differential positioning is unreliable or the differential positioning has no solution, the inertial navigation positioning data is reported through the inertial navigation positioning, so that the accuracy of the positioning capability of the intelligent equipment and the reliability of the two positioning methods during switching are improved.
In some embodiments, the satellite observations and inertial measurement data are formatted for storage.
The acquired satellite observation data and the acquired inertial measurement data are generally not uniform in format and large in data volume, so that the satellite observation data and the inertial measurement data need to be formatted according to a uniform format requirement for storage.
In some embodiments, obtaining the differential textual data comprises: and obtaining a single-point positioning result according to the satellite observation data, and obtaining the differential message data in real time according to the single-point positioning result.
And obtaining a single-point positioning result according to the satellite observation data, and if the single-point positioning result is near a real position, generally in an area with the real position as a circular point and a radius of 5 meters, judging that the single-point positioning result tends to be stable, so that the differential text data is obtained in real time according to the single-point positioning result.
In some embodiments, obtaining the speed information comprises: and obtaining the speed information according to the satellite Doppler frequency shift in the satellite observation data.
Doppler shift refers to a measurement technique and method for determining the rate of change of range from a station to a satellite or the difference in range between two adjacent points of the satellite by measuring the doppler shift or doppler count of a radio signal transmitted from the satellite by a satellite signal receiver.
In a real-time example, the speed information of the intelligent device in the moving process is obtained according to the satellite Doppler frequency shift in the satellite observation data.
In some embodiments, when the high-precision positioning data cannot be obtained within a preset first time period, the high-precision fusion positioning result is not generated.
The first duration is generally set to 60 seconds, and of course, a person skilled in the art may preset other durations according to technical needs and an external environment, that is, high-precision positioning data cannot be obtained within the preset first duration, which indicates that a satellite signal received by the smart device is poor within the preset first duration, and data subjected to the preset first duration inertial navigation is no longer accurate, so that the smart device does not generate the high-precision fusion positioning result.
In some embodiments, the high accuracy fused positioning results are transmitted into location services data.
And transmitting the high-precision fusion positioning result to a position service data packet/database of the intelligent equipment for other programs to call.
In some embodiments, the high-precision fused positioning result is transmitted to an application in response to a location service request instruction of the application.
The high-precision fused positioning result can be transmitted to the application program corresponding to the position service request instruction of the application program for the application program to use.
The present invention also provides a computer medium characterized by: the computer medium has stored thereon a computer program which, when executed by a processor, implements the fusion localization method.
It will be understood by those skilled in the art that all or part of the steps in the embodiments may be implemented by hardware instructions associated with a computer program, and the program may be stored in a computer readable medium, which may include various media capable of storing program code, such as a flash memory, a removable hard disk, a read-only memory, a random access memory, a magnetic or optical disk, and the like.
In addition, the invention also provides a high-precision fusion positioning device, which is characterized in that: the high-precision fusion positioning device comprises a data acquisition module, a data analysis module and a positioning module; the data acquisition module is used for acquiring satellite observation data, inertial measurement data and differential telegraph text data; the data analysis module is used for obtaining speed information and satellite carrier-to-noise ratio according to the satellite observation data; the data analysis module is also used for obtaining course data and acceleration data according to the inertial measurement data; the positioning module is used for obtaining high-precision positioning data according to the satellite observation data and the differential text data when the number of satellites with the satellite carrier-to-noise ratio larger than or equal to a first threshold is larger than or equal to a second threshold, and generating a high-precision fusion positioning result according to the high-precision positioning data; the positioning module is further used for obtaining inertial navigation positioning data according to the speed information, the course data and the acceleration data when the number of satellites with the satellite carrier-to-noise ratio larger than or equal to a first threshold is smaller than a second threshold, and generating a high-precision fusion positioning result according to the inertial navigation positioning data.
In some embodiments, the modules, i.e., the data acquisition module, the data analysis module and the positioning module, may be integrated into a single working unit and may be operated in cooperation with each other in independent working units.
In some embodiments, the fusion positioning device is provided with a serial port, a USB, SPI or I2C connection port.
Fuse positioner and be provided with serial ports, USB, SPI or I2C's connection port, will high accuracy fuses the data derivation or strengthen high accuracy and fuse the location ability through the external other devices of connection port that want to use through corresponding connection port.
The various embodiments or features mentioned herein may be combined with each other as additional alternative embodiments without conflict, within the knowledge and ability level of those skilled in the art, and a limited number of alternative embodiments formed by a limited number of combinations of features not listed above are still within the scope of the present disclosure, as understood or inferred by those skilled in the art from the figures and above.
Finally, it is emphasized that the above-mentioned embodiments, which are typical and preferred embodiments of the present invention, are only used for explaining and explaining the technical solutions of the present invention in detail for the convenience of the reader, and are not used to limit the protection scope or application of the present invention.
Therefore, any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. A high-precision fusion positioning method is characterized by comprising the following steps:
acquiring satellite observation data, inertial measurement data and differential telegraph text data;
acquiring speed information and a satellite carrier-to-noise ratio according to the satellite observation data;
obtaining course data and acceleration data according to the inertia measurement data;
when the satellite number of the satellite carrier-to-noise ratio is larger than or equal to a first threshold value and larger than or equal to a second threshold value, obtaining high-precision positioning data according to the satellite observation data and the differential text data, and generating a high-precision fusion positioning result according to the high-precision positioning data;
and when the number of satellites with the satellite carrier-to-noise ratio larger than or equal to a first threshold is smaller than a second threshold, obtaining inertial navigation positioning data according to the speed information, the course data and the acceleration data, and generating a high-precision fusion positioning result according to the inertial navigation positioning data.
2. The fusion localization method of claim 1, wherein:
formatting the satellite observation data and inertial measurement data for storage.
3. The fusion localization method of claim 1, wherein:
obtaining the differential textual data, comprising:
and obtaining a single-point positioning result according to the satellite observation data, and obtaining the differential message data in real time according to the single-point positioning result.
4. The fusion localization method of claim 1, wherein:
obtaining the speed information, including:
and obtaining the speed information according to the satellite Doppler frequency shift in the satellite observation data.
5. The fusion localization method of claim 1, wherein:
and when the high-precision positioning data cannot be obtained within a preset first time, the high-precision fusion positioning result is not generated.
6. The fusion localization method of claim 1, wherein:
and transmitting the high-precision fusion positioning result to position service data.
7. The fusion localization method of claim 1, wherein:
and responding to a position service request instruction of an application program, and transmitting the high-precision fusion positioning result to the application program.
8. A computer medium, characterized in that:
the computer medium has stored thereon a computer program which, when executed by a processor, implements the fusion localization method of 1-7.
9. The utility model provides a high accuracy fuses positioner which characterized in that: the high-precision fusion positioning device comprises a data acquisition module, a data analysis module and a positioning module;
the data acquisition module is used for acquiring satellite observation data, inertial measurement data and differential telegraph text data;
the data analysis module is used for obtaining speed information and satellite carrier-to-noise ratio according to the satellite observation data;
the data analysis module is also used for obtaining course data and acceleration data according to the inertial measurement data;
the positioning module is used for obtaining high-precision positioning data according to the satellite observation data and the differential text data when the number of satellites with the satellite carrier-to-noise ratio larger than or equal to a first threshold is larger than or equal to a second threshold, and generating a high-precision fusion positioning result according to the high-precision positioning data;
the positioning module is further used for obtaining inertial navigation positioning data according to the speed information, the course data and the acceleration data when the number of satellites with the satellite carrier-to-noise ratio larger than or equal to a first threshold is smaller than a second threshold, and generating a high-precision fusion positioning result according to the inertial navigation positioning data.
10. The utility model provides a high accuracy fuses positioner which characterized in that:
the fusion positioning device is provided with a serial port, a USB, a SPI or a connection port of I2C.
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Cited By (1)
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