CN111707256A - Comprehensive positioning navigation equipment for rapidly arranging special vehicle by aid of navigation lamp - Google Patents
Comprehensive positioning navigation equipment for rapidly arranging special vehicle by aid of navigation lamp Download PDFInfo
- Publication number
- CN111707256A CN111707256A CN202010402094.0A CN202010402094A CN111707256A CN 111707256 A CN111707256 A CN 111707256A CN 202010402094 A CN202010402094 A CN 202010402094A CN 111707256 A CN111707256 A CN 111707256A
- Authority
- CN
- China
- Prior art keywords
- navigation
- positioning
- mode
- special vehicle
- interface
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000004438 eyesight Effects 0.000 claims abstract description 17
- 238000005259 measurement Methods 0.000 claims description 27
- 238000012545 processing Methods 0.000 claims description 20
- 230000000007 visual effect Effects 0.000 claims description 11
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 11
- 239000000306 component Substances 0.000 description 6
- 239000008358 core component Substances 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004304 visual acuity Effects 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
-
- 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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
-
- 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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
Landscapes
- 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)
- Navigation (AREA)
Abstract
The invention discloses comprehensive positioning navigation equipment for rapidly arranging special vehicles by aid of navigation lamps, and relates to the technical field of positioning navigation. According to the invention, the position information and the advancing direction information of the special vehicle are comprehensively positioned through signals of the differential Beidou satellite receiver, the single-point Beidou satellite receiver, the sideline camera, the inertial navigation module, the angle and angular velocity sensors, the laser altimeter and the like, and reliable and high-precision positioning navigation support can be provided for realizing tasks such as rapid arrangement of an airport navigation aid lamp. The invention comprehensively utilizes the Beidou satellite signals and various sensor information, has the advantages of high positioning and navigation precision, has various working modes which can be freely switched, and still has certain applicability under the conditions that the differential Beidou satellite signals are unavailable and the vision of the sideline of the airport runway is unavailable.
Description
Technical Field
The invention belongs to the technical field of positioning and navigation, and particularly relates to comprehensive positioning and navigation equipment for quickly arranging special vehicles by aid of navigation lamps.
Background
In some special application occasions, such as task scenes of airport navigation aid lamp arrangement, street lamp arrangement, lane marking and the like, special vehicles which need to execute the special tasks have high-precision positioning capability and navigation capability, and can accurately finish the tasks according to planned indexes.
Patent CN 208477375U (title: a positioning navigation device based on smart car, granted announcement date: 2019.02.25) discloses a positioning navigation device based on smart car, which comprises a shell, a rotating rod, a telescopic antenna device, a sliding block and the like, and solves the problems that the information transmission device used by the existing positioning navigation device of smart car can not transmit information well and the information transmission performance can not meet the requirements.
The design and implementation method of the integrated navigation equipment based on the Beidou navigation positioning is researched in the document 'design and implementation of the integrated navigation equipment based on the Beidou positioning' (author: Guojie; type: engineering Master academic paper; unit: Sigan electronic technology university; time: 12 months in 2018), the overall requirements of the integrated navigation equipment are introduced, the calculation of attitude information and the transmission of multi-path information for a calculation and transmission core by using an inertial navigation module are provided, and other general cases are provided on the basis.
Due to the particularity of the task, the positioning and navigation equipment of the special vehicle is required to have high positioning and navigation accuracy, the application of the positioning and navigation equipment is often limited by the use environment, various sensors are required to be integrated to provide positioning and navigation information in an auxiliary manner, and at present, no relevant literature data of the high-accuracy comprehensive positioning and navigation equipment for quickly arranging the special vehicle by the aid of the navigation lamp exists.
Disclosure of Invention
The invention mainly aims to provide comprehensive positioning navigation equipment for quickly arranging special vehicles by aid of navigation lamps, and aims to provide reliable and high-precision positioning navigation equipment for the special vehicles and provide necessary technical support for finishing given arrangement tasks of the special vehicles.
In order to achieve the purpose, the invention provides comprehensive positioning navigation equipment for quickly arranging special vehicles by aid of navigation lights based on a Beidou satellite system.
The vehicle-mounted hardware subsystem comprises a receiving and sensing part, an interface part and a processing part, wherein the receiving and sensing part comprises a differential Beidou receiver, an inertial navigation module, a steering wheel angle sensor, a wheel angular velocity sensor, a wheel center laser altimeter, a single-point Beidou receiver and a sideline camera, the interface part comprises a laser altimeter interface, an angle sensor interface, an angular velocity sensor interface and a visual equipment interface, and the processing part comprises an image processing module and a CPU control panel; the differential Beidou receiver and the single-point Beidou receiver provide special vehicle position and advancing direction measurement, the inertial navigation module provides acceleration, angular speed and angle measurement, the steering wheel angle sensor provides turning angle measurement, the wheel angle sensor provides wheel turn number measurement, the wheel angular speed sensor provides advancing speed measurement of a vehicle, the wheel center laser altimeter provides ground height of wheels, driving errors caused by wheel sinking are indirectly measured, and the sideline camera is used for detecting sidelines of an airport runway and correcting the advancing direction of a special vehicle; the image processing module is provided with the visual equipment interface and is used for accessing a visual signal of the sideline camera, and a processing result of the image processing module is transmitted to the CPU control panel; the laser altimeter interface, the angle sensor interface and the angular velocity sensor interface are arranged on the CPU control panel, the wheel center laser altimeter is connected with the CPU control panel through the laser altimeter interface, the steering wheel angle sensor and the wheel angle sensor are connected with the CPU control panel through the angle sensor interface, and the wheel angular velocity sensor is connected with the CPU control panel through the angular velocity sensor interface;
a positioning navigation algorithm is integrated in the navigation software subsystem and is used for determining the position and the advancing direction of the special vehicle;
and the display terminal subsystem is used for displaying the positioning and navigation information of the special vehicle.
The positioning navigation algorithm comprises a difference Beidou and inertial navigation combined filter, a sensor and an inertial navigation combined filter.
The integrated positioning and navigation equipment has four working modes comprising a first working mode, a second working mode, a third working mode and a fourth working mode,
the first working mode is a normal borderline mode, and refers to a positioning navigation mode in which a differential Beidou satellite signal is available and the sideline vision of the airport runway is available;
the second working mode is a normal borderless mode, and is a positioning navigation mode in which a differential Beidou satellite signal is available but airport runway sideline vision is unavailable.
The third working mode is a silent borderline mode, and refers to a positioning navigation mode in which the differential Beidou satellite signals are unavailable, but the airport runway borderline vision is available.
The fourth working mode is a silent borderless mode, and refers to a positioning navigation mode in which a differential Beidou satellite signal is unavailable and airport runway borderline vision is unavailable.
In the first working mode, the differential Beidou receiver is adopted for direct positioning, information such as speed and angle is provided with an original measurement value by the inertial navigation component, the differential Beidou and inertial navigation combined filter is adopted for a navigation algorithm, and course information is further corrected by a view field sideline.
In the second working mode, the differential Beidou receiver is adopted for direct positioning, information such as speed and angle is provided with an original measurement value by the inertial navigation component, and the differential Beidou and inertial navigation combined filter is adopted for a navigation algorithm.
In the third working mode, the single-point Beidou satellite signal is adopted to assist the multi-view vision to carry out direct positioning, the inertial navigation component provides original measurement information such as speed, angle and the like, the navigation algorithm adopts a sensor and an inertial navigation combined filter, and the course information is further corrected by a view field sideline.
And in the fourth working mode, positioning and orientation are carried out in a mode of combining a sensor and inertial navigation.
Furthermore, the four working modes can be switched, and the switching mode comprises manual switching and automatic switching.
Preferably, the steering wheel angle sensor and the wheel angle sensor use rotating code disks.
The beneficial effects of the technical scheme of the invention are mainly embodied in the following two aspects:
firstly, the differential Beidou satellite signal, the single-point Beidou satellite signal and various sensor information including a sideline camera, a steering wheel angle sensor, a wheel angular velocity sensor and the like can be comprehensively utilized, and the method has the advantages of high positioning and navigation accuracy;
secondly, the invention has a plurality of freely switchable working modes, and still has certain applicability under the conditions that the differential Beidou satellite signal is unavailable, the sideline visual signal of the airport runway is unavailable and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a system architecture diagram of the integrated positioning and navigation device of the present invention;
FIG. 2 is a hardware configuration diagram (side view) of the invention on a special vehicle with a navigation aid light for rapid deployment;
FIG. 3 is a core component architecture diagram of the present invention;
FIG. 4 is a schematic diagram of a first mode of operation of the present invention;
FIG. 5 is a schematic diagram of a second mode of operation of the present invention;
FIG. 6 is a schematic diagram of a third mode of operation of the present invention;
FIG. 7 is a schematic diagram of a fourth mode of operation of the present invention;
fig. 8 is a schematic diagram illustrating the switching process of four working modes according to the present invention.
Reference numerals: 1-vehicle head; 2, a compartment; 3-front wheel; 4-rear wheel; 5-a steering wheel; 6, a belt; 7, paving; 8, a damping platform; 9 — core Components of the invention; 10-sideline camera; 11-wheel center laser altimeter; 12-rotating code disc.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
The invention provides high-precision comprehensive positioning navigation equipment aiming at the use requirements of special vehicles with quickly arranged navigation lights. In the embodiment, the use requirements of the special vehicle are as follows:
The design idea of the invention is as follows: aiming at the working characteristics of the special vehicle, corresponding sensor information (comprising a sideline camera, a steering wheel angle sensor, a wheel angular velocity sensor and the like) and differential Beidou satellite signals, single-point Beidou satellite signals and the like are combined, so that reliable and high-precision positioning navigation equipment is provided for the special vehicle.
According to the indexes provided by the background use requirements, in order to meet the index requirements, the system index requirements of the positioning navigation equipment are specifically as follows:
In order to calculate the traveling direction and the traveling mileage of a special vehicle quickly arranged by a navigation aid lamp, the invention provides a comprehensive positioning navigation device which comprises a vehicle-mounted hardware subsystem, a navigation software subsystem and a display terminal subsystem. The vehicle-mounted hardware subsystem comprises a receiving and sensing part, an interface part and a processing part, wherein the receiving and sensing part comprises a differential Beidou receiver, an inertial navigation module, a steering wheel angle sensor, a wheel angular velocity sensor, a wheel center laser altimeter, a single-point Beidou receiver and a sideline camera, the interface part comprises a laser altimeter interface, an angle sensor interface, an angular velocity sensor interface and a visual equipment interface, and the processing part comprises an image processing module and a CPU control panel; a positioning navigation algorithm is integrated in the navigation software subsystem and is used for determining the position and the advancing direction of the special vehicle; and the display terminal subsystem is used for displaying the positioning and navigation information of the special vehicle.
The system architecture diagram of the integrated positioning navigation equipment is shown in figure 1, and the equipment adopts the following sensors for measurement: the special vehicle position and advancing direction measurement is provided by utilizing a differential Beidou receiver and a single-point Beidou receiver, the inertial navigation module provides acceleration, angular speed and angle measurement, the steering wheel angle sensor provides turning angle measurement, the wheel angle sensor provides wheel turn number measurement (odometer), the wheel angle sensor provides advancing speed measurement of a vehicle, the wheel center laser altimeter provides the ground height of the wheel, the traveling error caused by wheel depression is indirectly measured, and the sideline camera is used for detecting the sideline of an airport runway and correcting the advancing direction of the special vehicle. These measurements are redundant and calibrated to each other, and can be used simultaneously or separately.
Fig. 2 is a hardware configuration diagram of the invention on a special vehicle with a navigation aid lamp rapidly arranged, wherein 1 and 2 respectively represent a head and a carriage of the special vehicle, 3 and 4 respectively represent a front wheel and a rear wheel, 5 represents a steering wheel, 6 represents a belt, and 7 represents a road surface; a core component 9 of the invention is arranged above a vehicle head 1 through a damping platform 8; the sideline camera 10 is used for detecting the sidelines of the airport runway; the wheel center laser altimeter 11 is arranged at the positive center position of the front wheel 3 and the rear wheel 4 of the special vehicle; in the embodiment, the wheel angle sensor and the steering wheel angle sensor are both realized by adopting the rotary coded disc 12, and the rotary coded disc has the advantages of strong resolving power, high measurement precision, reliable work and the like, and is a common displacement sensor for measuring the rotating angle position of a shaft.
The architecture diagram of the core component 9 of the invention is shown in fig. 3, and the core component mainly comprises a differential Beidou receiver, an inertial navigation module, and an interface part and a processing part in a vehicle-mounted hardware subsystem. And the image processing module is provided with a visual equipment interface and is used for accessing the visual signals of the sideline camera, and the image processing module analyzes and processes the visual signals acquired by the camera and transmits the processing result to the CPU control panel. The central processing unit is characterized in that the CPU control panel is provided with the laser altimeter interface, the angle sensor interface and the angular velocity sensor interface, the wheel center laser altimeter is connected with the CPU control panel through the laser altimeter interface, the steering wheel angle sensor and the wheel angle sensor are connected with the CPU control panel through the angle sensor interface, and the wheel angular velocity sensor is connected with the CPU control panel through the angular velocity sensor interface.
As can be seen from fig. 1, the present invention has two types of modes during operation, namely, a differential beidou mode and a silent operation mode, wherein the silent operation mode refers to a situation without differential beidou satellite signals. Considering that there are two cases of availability and unavailability of airport runway edge using edge cameras, the present invention can be subdivided into four specific modes of operation, detailed as follows:
a first operating mode: normal side line
The normal sideline working mode refers to a positioning navigation mode in which a differential Beidou satellite signal is available and sideline vision of an airport runway is available. As shown in fig. 4, in this mode, the differential compass receiver is used for direct positioning, the inertial navigation component provides an original measurement value for speed, angle and other information, the differential compass and inertial navigation combined filter is used for a navigation algorithm, and the course information is further corrected by a view field edge. This mode is also the default mode of operation when wireless signals are available.
A second working mode: normal no sideline
The normal borderless working mode refers to a positioning navigation mode in which differential Beidou satellite signals are available but borderline vision of the airport runway is unavailable. As shown in fig. 5, in this mode, the differential compass receiver is used for direct positioning, the inertial navigation component provides an original measurement value for information such as velocity and angle, and the differential compass and inertial navigation combined filter is used for the navigation algorithm. This mode is the mode of operation when the vehicle enters the middle of the airport.
The third working mode is as follows: silent sidelines
The silent borderline working mode refers to a positioning navigation mode in which differential Beidou satellite signals are unavailable, but airport runway borderline vision is available. As shown in fig. 6, during radio silence, the differential beidou satellite signal is unavailable, the single-point beidou satellite signal (beidou absolute positioning) is used to assist multi-view vision to perform direct positioning, the inertial navigation component provides original measurement information such as speed and angle, the navigation algorithm uses a sensor and an inertial navigation combination filter, and the course information is further corrected by the view field sideline.
The fourth working mode: silent borderless
The silent borderline working mode refers to a positioning navigation mode that the differential Beidou satellite signals are unavailable and the airport runway borderline vision is unavailable. As shown in fig. 7, in the wireless silence situation, the borderline vision is not available when the vehicle travels to the middle of the airport, and the positioning and orientation are performed by using the combined filtering of the sensor and the inertial navigation.
Switching of four operating modes
The four working modes can be switched, either manually or automatically, and the switching process is shown in fig. 8.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (9)
1. A comprehensive positioning navigation device for a special vehicle with a navigation aid lamp arranged quickly comprises a vehicle-mounted hardware subsystem, a navigation software subsystem and a display terminal subsystem,
the vehicle-mounted hardware subsystem comprises a receiving and sensing part, an interface part and a processing part, wherein the receiving and sensing part comprises a differential Beidou receiver, an inertial navigation module, a steering wheel angle sensor, a wheel angular velocity sensor, a wheel center laser altimeter, a single-point Beidou receiver and a sideline camera, the interface part comprises a laser altimeter interface, an angle sensor interface, an angular velocity sensor interface and a visual equipment interface, and the processing part comprises an image processing module and a CPU control panel; the differential Beidou receiver and the single-point Beidou receiver provide special vehicle position and advancing direction measurement, the inertial navigation module provides acceleration, angular speed and angle measurement, the steering wheel angle sensor provides turning angle measurement, the wheel angle sensor provides wheel turn number measurement, the wheel angular speed sensor provides advancing speed measurement of a vehicle, the wheel center laser altimeter provides ground height of wheels, driving errors caused by wheel sinking are indirectly measured, and the sideline camera is used for detecting sidelines of an airport runway and correcting the advancing direction of a special vehicle; the image processing module is provided with the visual equipment interface and is used for accessing a visual signal of the sideline camera, and a processing result of the image processing module is transmitted to the CPU control panel; the laser altimeter interface, the angle sensor interface and the angular velocity sensor interface are arranged on the CPU control panel, the wheel center laser altimeter is connected with the CPU control panel through the laser altimeter interface, the steering wheel angle sensor and the wheel angle sensor are connected with the CPU control panel through the angle sensor interface, and the wheel angular velocity sensor is connected with the CPU control panel through the angular velocity sensor interface;
a positioning navigation algorithm is integrated in the navigation software subsystem and is used for determining the position and the advancing direction of the special vehicle;
and the display terminal subsystem is used for displaying the positioning and navigation information of the special vehicle.
2. The integrated positioning and navigation device for the special vehicle with the navigation aid lamp arranged rapidly as claimed in claim 1, wherein the positioning and navigation algorithm comprises a differential Beidou and inertial navigation combination filter, a sensor and an inertial navigation combination filter.
3. The integrated positioning and navigation device of a special vehicle with fast-arrangement navigation lights as claimed in claim 1, wherein the integrated positioning and navigation device has four operation modes, including a first operation mode, a second operation mode, a third operation mode and a fourth operation mode,
the first working mode is a normal borderline mode, and refers to a positioning navigation mode in which a differential Beidou satellite signal is available and the sideline vision of the airport runway is available;
the second working mode is a normal borderless mode, and is a positioning navigation mode in which a differential Beidou satellite signal is available but airport runway sideline vision is unavailable.
The third working mode is a silent borderline mode, and refers to a positioning navigation mode in which the differential Beidou satellite signals are unavailable, but the airport runway borderline vision is available.
The fourth working mode is a silent borderless mode, and refers to a positioning navigation mode in which a differential Beidou satellite signal is unavailable and airport runway borderline vision is unavailable.
4. The integrated positioning and navigation device of the special vehicle with the navigation aid lamps arranged rapidly as claimed in claim 1 or 3, wherein in the first operation mode, the direct positioning adopts a differential Beidou receiver, information such as speed and angle is provided by an inertial navigation component to be a raw measurement value, a navigation algorithm adopts a combined filter of differential Beidou and inertial navigation, and course information is further corrected by a view field sideline.
5. The integrated positioning and navigation device for special vehicles with navigation aid lamps arranged rapidly as claimed in claim 1 or 3, wherein in the second operation mode, the direct positioning uses a differential Beidou receiver, the information of speed, angle and the like is provided by an inertial navigation component to obtain raw measurement values, and the navigation algorithm uses a combined filter of differential Beidou and inertial navigation.
6. The integrated positioning and navigation equipment for the special vehicle with the navigation aid lamps arranged rapidly as claimed in claim 1 or 3, wherein in the third operating mode, the single-point Beidou satellite signal is used for assisting the multi-view vision to perform direct positioning, the inertial navigation component provides original measurement information such as speed and angle, the navigation algorithm adopts a sensor and an inertial navigation combination filter, and the course information is further corrected by the view field sideline.
7. The integrated positioning and navigation device for the special vehicle with the navigation lights arranged rapidly as claimed in claim 1 or 3, wherein in the fourth operation mode, the positioning and orientation are performed by means of combined filtering of a sensor and inertial navigation.
8. The integrated positioning and navigation device for the special vehicle with the navigation lights arranged rapidly as claimed in claim 1 or 3, wherein the four operation modes can be switched, and the switching mode includes manual switching and automatic switching.
9. The integrated positioning and navigation device of a special vehicle with fast-arrangement navigation lights as claimed in claim 1, wherein the steering wheel angle sensor and the wheel angle sensor employ rotating code discs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010402094.0A CN111707256A (en) | 2020-05-13 | 2020-05-13 | Comprehensive positioning navigation equipment for rapidly arranging special vehicle by aid of navigation lamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010402094.0A CN111707256A (en) | 2020-05-13 | 2020-05-13 | Comprehensive positioning navigation equipment for rapidly arranging special vehicle by aid of navigation lamp |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111707256A true CN111707256A (en) | 2020-09-25 |
Family
ID=72537710
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010402094.0A Pending CN111707256A (en) | 2020-05-13 | 2020-05-13 | Comprehensive positioning navigation equipment for rapidly arranging special vehicle by aid of navigation lamp |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111707256A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112987786A (en) * | 2021-02-26 | 2021-06-18 | 山东鹰格信息工程有限公司 | Beidou-based navigation aid facility calibration method and device, storage medium and robot |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006209567A (en) * | 2005-01-31 | 2006-08-10 | Nippon Sharyo Seizo Kaisha Ltd | Guidance device for automated guided vehicle |
| JP2007064853A (en) * | 2005-08-31 | 2007-03-15 | Hitachi Ltd | Controller, system and program for positioning mobile object by using complex positioning |
| RU2439497C1 (en) * | 2010-06-09 | 2012-01-10 | Открытое акционерное общество "Завод им. В.А. Дегтярева" | Automated system of navigation and survey control |
| US20190033466A1 (en) * | 2017-07-31 | 2019-01-31 | Stmicroelectronics S.R.L. | System for Land Vehicle Navigation and Corresponding Method |
| CN109946732A (en) * | 2019-03-18 | 2019-06-28 | 李子月 | A kind of unmanned vehicle localization method based on Fusion |
| JP2019106941A (en) * | 2017-12-19 | 2019-07-04 | 株式会社クボタ | Mower |
| JP2019106940A (en) * | 2017-12-19 | 2019-07-04 | 株式会社クボタ | Automatic traveling mowing machine |
| RU195749U1 (en) * | 2019-07-15 | 2020-02-05 | Общество с ограниченной ответственностью "МИРП-Интеллектуальные Системы" | Intelligent vision system for an unmanned aerial vehicle for solving navigation problems, building a three-dimensional map of the surrounding space and obstacles, and autonomous patrolling |
| CN210038170U (en) * | 2018-12-20 | 2020-02-07 | 东莞市普灵思智能电子有限公司 | Tightly-coupled automatic driving sensing system |
| CN110779521A (en) * | 2019-11-12 | 2020-02-11 | 成都中科微信息技术研究院有限公司 | Multi-source fusion high-precision positioning method and device |
| CN111006655A (en) * | 2019-10-21 | 2020-04-14 | 南京理工大学 | Multi-scene autonomous navigation positioning method for airport inspection robot |
| CN111077556A (en) * | 2020-01-02 | 2020-04-28 | 东南大学 | Airport luggage tractor positioning device and method integrating Beidou and multiple sensors |
| CN111089562A (en) * | 2019-12-26 | 2020-05-01 | 湖北航天技术研究院总体设计所 | Detection method and system suitable for body posture of special vehicle and special vehicle |
| CN111098785A (en) * | 2019-12-20 | 2020-05-05 | 天津市航天安通电子科技有限公司 | Driving assistance system, special vehicle and method |
-
2020
- 2020-05-13 CN CN202010402094.0A patent/CN111707256A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006209567A (en) * | 2005-01-31 | 2006-08-10 | Nippon Sharyo Seizo Kaisha Ltd | Guidance device for automated guided vehicle |
| JP2007064853A (en) * | 2005-08-31 | 2007-03-15 | Hitachi Ltd | Controller, system and program for positioning mobile object by using complex positioning |
| RU2439497C1 (en) * | 2010-06-09 | 2012-01-10 | Открытое акционерное общество "Завод им. В.А. Дегтярева" | Automated system of navigation and survey control |
| US20190033466A1 (en) * | 2017-07-31 | 2019-01-31 | Stmicroelectronics S.R.L. | System for Land Vehicle Navigation and Corresponding Method |
| JP2019106940A (en) * | 2017-12-19 | 2019-07-04 | 株式会社クボタ | Automatic traveling mowing machine |
| JP2019106941A (en) * | 2017-12-19 | 2019-07-04 | 株式会社クボタ | Mower |
| CN210038170U (en) * | 2018-12-20 | 2020-02-07 | 东莞市普灵思智能电子有限公司 | Tightly-coupled automatic driving sensing system |
| CN109946732A (en) * | 2019-03-18 | 2019-06-28 | 李子月 | A kind of unmanned vehicle localization method based on Fusion |
| RU195749U1 (en) * | 2019-07-15 | 2020-02-05 | Общество с ограниченной ответственностью "МИРП-Интеллектуальные Системы" | Intelligent vision system for an unmanned aerial vehicle for solving navigation problems, building a three-dimensional map of the surrounding space and obstacles, and autonomous patrolling |
| CN111006655A (en) * | 2019-10-21 | 2020-04-14 | 南京理工大学 | Multi-scene autonomous navigation positioning method for airport inspection robot |
| CN110779521A (en) * | 2019-11-12 | 2020-02-11 | 成都中科微信息技术研究院有限公司 | Multi-source fusion high-precision positioning method and device |
| CN111098785A (en) * | 2019-12-20 | 2020-05-05 | 天津市航天安通电子科技有限公司 | Driving assistance system, special vehicle and method |
| CN111089562A (en) * | 2019-12-26 | 2020-05-01 | 湖北航天技术研究院总体设计所 | Detection method and system suitable for body posture of special vehicle and special vehicle |
| CN111077556A (en) * | 2020-01-02 | 2020-04-28 | 东南大学 | Airport luggage tractor positioning device and method integrating Beidou and multiple sensors |
Non-Patent Citations (2)
| Title |
|---|
| 张小跃;刘鹏博;易晓静;张春熹;: "惯导/北斗/里程计一体化紧组合导航方法研究" * |
| 张飞舟,BASHARAT MAHMOOD KHAWAJA,范跃祖,孙先仿: "GPS/INU/DM组合定位导航技术在ITS中的应用" * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112987786A (en) * | 2021-02-26 | 2021-06-18 | 山东鹰格信息工程有限公司 | Beidou-based navigation aid facility calibration method and device, storage medium and robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11829138B1 (en) | Change detection using curve alignment | |
| US20060265127A1 (en) | Vehicle position detector device and its processing method | |
| CN101218136B (en) | Determination of the actual yaw angle and the actual slip angle of a land vehicle | |
| JP2020024715A (en) | Traffic signal response for autonomous vehicles | |
| CN102928816B (en) | High-reliably integrated positioning method for vehicles in tunnel environment | |
| CN102208011B (en) | Image processing system and vehicle control system | |
| CN108162974B (en) | Vehicle control using road angle data | |
| CN101201255A (en) | Vehicle combined navigation system based on intelligent navigation algorithm | |
| JP2020516898A (en) | Vehicle Position Enhancement for Global Navigation Satellite Systems Using Map-Enhanced Dead Reckoning | |
| CN101498583A (en) | Vehicle navigation apparatus and its positioning method | |
| CN111344765B (en) | Road map generation system and road map generation method | |
| JP6036198B2 (en) | Driving support device and driving support system | |
| CN102903258A (en) | Automatic vehicle navigation method, navigational pattern information compiling method and vehicle navigation equipment | |
| JP2011013039A (en) | Lane determination device and navigation system | |
| KR101744781B1 (en) | Control Method for Shifting through Recognizing Road Configuration | |
| CN211956223U (en) | Lane change track planning system | |
| CN106643712A (en) | Vehicle-mounted combined navigation system | |
| US20220026224A1 (en) | Systems and methods for autonomous route navigation | |
| CN109374315B (en) | Acquisition methods, control method, system, the device of the instantaneous slippage rate of wheel of vehicle | |
| JP5101691B2 (en) | Information display device, position calculation device, display control method, position calculation method, display control program, position calculation program, and recording medium | |
| CN111413990A (en) | Lane change track planning system | |
| CN113674551A (en) | Vehicle forward collision early warning method and system based on vehicle-road cooperation | |
| CN114646322A (en) | System and method for updating a navigation map | |
| CN111707256A (en) | Comprehensive positioning navigation equipment for rapidly arranging special vehicle by aid of navigation lamp | |
| KR20170070725A (en) | Control Method for Predictive Shifting through Recognizing Road Configuration |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200925 |
|
| WD01 | Invention patent application deemed withdrawn after publication |