CN112083465A - Position information acquisition system and method - Google Patents

Position information acquisition system and method Download PDF

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Publication number
CN112083465A
CN112083465A CN202010984948.0A CN202010984948A CN112083465A CN 112083465 A CN112083465 A CN 112083465A CN 202010984948 A CN202010984948 A CN 202010984948A CN 112083465 A CN112083465 A CN 112083465A
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position information
formula
follows
satellite
positioning module
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顾杨杰
丁俊明
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Asiatelco Technologies Shanghai Co ltd
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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
    • 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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Abstract

The invention is suitable for the technical field of position information acquisition, and provides a position information acquisition system, which comprises: the satellite positioning module is used for acquiring position information according to the satellite signals; the position information calculation module is used for calculating the position information of the current equipment according to the position information of the positioning module when the positioning module stops running within the stop running time of the positioning module; and the data integration filtering module is used for correcting the position information calculated by the position information calculation module when the satellite positioning module works normally. The invention correspondingly provides a position information acquisition method. Therefore, the invention can provide the positioning information for the equipment in the period from the power-on of the satellite positioning receiver to the acquisition of the positioning signal.

Description

Position information acquisition system and method
Technical Field
The present invention relates to the field of location information acquisition technologies, and in particular, to a location information acquisition system and method.
Background
More and more electronic devices have higher and higher requirements on power consumption, generally, the power consumption of the satellite positioning receiving chip is higher, and the power supply of the satellite positioning receiving chip needs to be turned off during the period that the devices stop working. In a building-dense environment, the satellite signal is weak. The satellite positioning receiver has a long positioning time from power-off to recovery from operation.
In view of the above, the prior art is obviously inconvenient and disadvantageous in practical use, and needs to be improved.
Disclosure of Invention
In view of the above-mentioned drawbacks, an object of the present invention is to provide a position information acquiring system and method.
In order to achieve the above object, the present invention provides a position information acquisition system including:
the satellite positioning module is used for acquiring position information according to the satellite signals; and
the position information calculation module is used for calculating the position information of the current equipment according to the position information of the positioning module when the positioning module stops operating within the stop operating time of the positioning module;
and the data integration filtering module is used for correcting the position information calculated by the position information calculation module when the satellite positioning module works normally.
According to the position information acquisition system of the present invention, the position information calculation module includes an accelerometer and a gyroscope.
The invention also provides a position information acquisition method, which comprises the following steps:
acquiring position information according to the satellite signals;
when the satellite signal is weaker than a preset threshold value, acquiring the current equipment position information, and calculating and acquiring the position information of the equipment after movement;
and when the satellite signal is normal, correcting the equipment position information.
According to the location information acquiring method of the present invention, the step of calculating the location information of the mobile device includes:
the attitude matrix is updated and calculated by four elements, and four-element differential equation is as follows
Figure BDA0002688905490000021
In the formula (1), Λ ═ λ0，λ1，λ2，λ3]TRepresenting four elements of the posture;
Figure BDA0002688905490000022
is an oblique symmetric matrix of the rotation angular velocity of the body coordinate system corresponding to the four elements relative to the navigation coordinate system;
the four-element update algorithm is as follows:
Figure BDA0002688905490000023
in formula (2), Δ Θ ═ Θx，Θy，Θz]T；
Figure BDA0002688905490000024
Δ t is the sampling interval;
Figure BDA0002688905490000025
the attitude angle at the time k +1 is as follows;
Figure BDA0002688905490000026
in the formula (3), psi, theta and gamma respectively represent a heading angle, a pitch angle and a roll angle;
Figure BDA0002688905490000027
the acceleration in the navigation coordinate system is calculated as follows
Figure BDA0002688905490000031
In the formula (4), fbIs the acceleration output at time k of the accelerometer,
Figure BDA0002688905490000032
converting the attitude into a matrix;
the differential equation of velocity is as follows
Figure BDA0002688905490000033
In the formula (5), the reaction mixture is,
Figure BDA0002688905490000034
to represent
Figure BDA0002688905490000035
G is the earth gravity acceleration;
the position of the device can be determined by equation (6):
Figure BDA0002688905490000036
l, lambda and h respectively represent longitude, latitude and height; rMIs a transverse curvature radius, measured in the east-west direction; rNThe radius of curvature in the north-south direction is measured as the radius of curvature in the meridian.
According to the position information acquiring method of the present invention, the step of correcting the device position information when the satellite signal is normal includes:
the error state is calculated according to the following equation (7):
Figure BDA0002688905490000037
in the formula (7), the reaction mixture is,
Figure BDA0002688905490000038
is an error vector; p is a radical ofn、Vn、
Figure BDA0002688905490000039
Position, velocity, attitude errors, respectively; b. d is a constant zero-offset term of the accelerometer and the gyroscope respectively; w is aa、wgRandom noise items of an accelerometer and a gyroscope respectively;
Figure BDA0002688905490000041
Figure BDA0002688905490000042
Figure BDA0002688905490000043
Figure BDA0002688905490000044
the measurement equation is as follows:
Figure BDA0002688905490000045
in the formula (8), ykIs an observation vector;
Figure BDA0002688905490000046
resolving the position and the speed of the SINS under the navigation coordinate system;
Figure BDA0002688905490000051
position and speed measured for the GNSS in the navigation coordinate system;
Figure BDA0002688905490000052
measuring random errors for position and speed respectively; and finally, estimating the SINS position, speed and attitude error through Kalman filtering, wherein the SINS position, speed and attitude error is as follows:
Figure BDA0002688905490000053
in the formula (9), the reaction mixture is,
Figure BDA0002688905490000054
the invention is suitable for the technical field of position information acquisition, and provides a position information acquisition system, which comprises: the satellite positioning module is used for acquiring position information according to the satellite signals; the position information calculation module is used for calculating the position information of the current equipment according to the position information of the positioning module when the positioning module stops running within the stop running time of the positioning module; and the data integration filtering module is used for correcting the position information calculated by the position information calculation module when the satellite positioning module works normally. Therefore, the invention can provide the positioning information for the equipment in the period from the power-on of the satellite positioning receiver to the acquisition of the positioning signal.
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FIG. 1 is a schematic diagram of the system architecture of the present invention;
FIG. 2 is a flow chart of a method according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, the present invention provides a position information acquiring system including:
and a satellite positioning module 10 for acquiring the position information according to the satellite signal. The satellite positioning module 10 may employ existing positioning chips, such as GPS, beidou positioning receiver, etc. The position and the speed of the carrying equipment can be measured, and the detailed description is omitted.
And the position information calculating module 20 is configured to calculate the position information of the current device according to the position information of the positioning module when the positioning module stops operating within the stop operating time of the positioning module. Since in practical applications, in areas with weak signals, such as tall and dense areas of buildings, the transmission of satellite signals is affected, the satellite signals are weak, and the positioning time from power-off to work-back of the satellite positioning module 10 is long. The present invention is therefore based on the location information calculation module 20 providing the estimation and presentation of location information when the satellite signals are weak. The position information calculation module 10 includes an accelerometer and a gyroscope
And the data integration filtering module 30 is used for correcting the position information calculated by the position information calculation module when the satellite positioning module works normally. Considering that the error of the position information calculation is larger than that of the satellite positioning, when the satellite signal recovers to a normal level, the position information can be corrected to be more accurate. The data integration filtering module 30 employs a data fusion filter, and can correct errors of the position, velocity, and attitude calculated by the acceleration gyroscope when the satellite positioning receiver can normally receive the satellite positioning information.
In an embodiment of the invention, the satellite positioning receiver is powered off when the device is in a low power mode. And monitoring the motion state of the equipment by using the low-power consumption modes of the accelerometer and the gyroscope. When the equipment is started again, position information deduction is carried out by using the acceleration and the angular velocity detected by the accelerometer and the gyroscope as reference when the equipment stops moving, and the position information is provided for the equipment until the satellite positioning receiver obtains the positioning information.
The invention correspondingly provides a method, and with reference to fig. 2, the method comprises the following steps:
in step S201, position information is acquired from the satellite signal.
Step S202, when the satellite signal is weaker than a preset threshold value, the current equipment position information is obtained, and the position information of the equipment after movement is calculated and obtained.
And step S203, correcting the equipment position information when the satellite signals are normal.
Specifically, step S202 includes:
and resolving the attitude by adopting a four-element method according to the acceleration and the angular velocity. The specific calculation process is as follows:
the attitude matrix is updated and calculated by four elements, and four-element differential equation is as follows
Figure BDA0002688905490000071
In the formula (1), Λ ═ λ0，λ1，λ2，λ3]TRepresenting four elements of the posture;
Figure BDA0002688905490000072
is an oblique symmetric matrix of the rotation angular velocity of the body coordinate system corresponding to the four elements relative to the navigation coordinate system;
the four-element update algorithm is as follows:
Figure BDA0002688905490000073
in formula (2), Δ Θ ═ Θx，Θy，Θz]T；
Figure BDA0002688905490000074
Δ t is the sampling interval;
Figure BDA0002688905490000075
the attitude angle at the time k +1 is as follows;
Figure BDA0002688905490000076
in the formula (3), psi, theta and gamma respectively represent a heading angle, a pitch angle and a roll angle;
Figure BDA0002688905490000077
the acceleration in the navigation coordinate system is calculated as follows
Figure BDA0002688905490000078
In the formula (4), fbIs the acceleration output at time k of the accelerometer,
Figure BDA0002688905490000079
converting the attitude into a matrix;
the differential equation of velocity is as follows
Figure BDA00026889054900000710
In the formula (5), the reaction mixture is,
Figure BDA0002688905490000081
to represent
Figure BDA0002688905490000082
G is the earth gravity acceleration;
the position of the device can be determined by equation (6):
Figure BDA0002688905490000083
l, lambda and h respectively represent longitude, latitude and height; rMIs a transverse curvature radius, measured in the east-west direction; rNThe radius of curvature in the north-south direction is measured as the radius of curvature in the meridian.
Step S203 includes:
the error state is calculated according to the following equation (7):
Figure BDA0002688905490000084
in the formula (7), the reaction mixture is,
Figure BDA0002688905490000085
is an error vector; p is a radical ofn、Vn、
Figure BDA0002688905490000086
Position, velocity, attitude errors, respectively; b. d is a constant zero-offset term of the accelerometer and the gyroscope respectively; w is aa、wgAre respectively an accelerometerRandom noise term of the gyroscope;
Figure BDA0002688905490000091
Figure BDA0002688905490000092
Figure BDA0002688905490000093
Figure BDA0002688905490000094
the measurement equation is as follows:
Figure BDA0002688905490000095
in the formula (8), ykIs an observation vector;
Figure BDA0002688905490000096
resolving the position and the speed of the SINS under the navigation coordinate system;
Figure BDA0002688905490000101
position and speed measured for the GNSS in the navigation coordinate system;
Figure BDA0002688905490000102
measuring random errors for position and speed respectively; and finally, estimating the SINS position, speed and attitude error through Kalman filtering, wherein the SINS position, speed and attitude error is as follows:
Figure BDA0002688905490000103
in the formula (9), the reaction mixture is,
Figure BDA0002688905490000104
in summary, the present invention is applicable to the technical field of location information acquisition, and provides a location information acquisition system, including: the satellite positioning module is used for acquiring position information according to the satellite signals; the position information calculation module is used for calculating the position information of the current equipment according to the position information of the positioning module when the positioning module stops running within the stop running time of the positioning module; and the data integration filtering module is used for correcting the position information calculated by the position information calculation module when the satellite positioning module works normally. Therefore, the invention can provide the positioning information for the equipment in the period from the power-on of the satellite positioning receiver to the acquisition of the positioning signal.
The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it should be understood that various changes and modifications can be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (5)

1. A position information acquisition system characterized by comprising:
the satellite positioning module is used for acquiring position information according to the satellite signals; and
the position information calculation module is used for calculating the position information of the current equipment according to the position information of the positioning module when the positioning module stops operating within the stop operating time of the positioning module;
and the data integration filtering module is used for correcting the position information calculated by the position information calculation module when the satellite positioning module works normally.
2. The position information acquisition system according to claim 1, wherein the position information calculation module includes an accelerometer and a gyroscope.
3. A method for acquiring location information, the method comprising:
acquiring position information according to the satellite signals;
when the satellite signal is weaker than a preset threshold value, acquiring the current equipment position information, and calculating and acquiring the position information of the equipment after movement;
and when the satellite signal is normal, correcting the equipment position information.
4. The method according to claim 1, wherein the step of calculating the position information after the device is moved comprises:
the attitude matrix is updated and calculated by four elements, and four-element differential equation is as follows
Figure FDA0002688905480000011
In the formula (1), Λ ═ λ0，λ1，λ2，λ3]TRepresenting four elements of the posture;
Figure FDA0002688905480000012
is an oblique symmetric matrix of the rotation angular velocity of the body coordinate system corresponding to the four elements relative to the navigation coordinate system;
the four-element update algorithm is as follows:
Figure FDA0002688905480000013
in formula (2), Δ Θ ═ Θx，Θy，Θz]T；
Figure FDA0002688905480000014
Δ t is the sampling interval;
Figure FDA0002688905480000015
the attitude angle at the time k +1 is as follows;
Figure FDA0002688905480000021
in the formula (3), psi, theta and gamma respectively represent a heading angle, a pitch angle and a roll angle;
T12＝2(λ1λ2-λ0λ3)，
Figure FDA0002688905480000022
T32＝2(λ2λ3+λ0λ1)，
Figure FDA0002688905480000023
the acceleration in the navigation coordinate system is calculated as follows
Figure FDA0002688905480000024
In the formula (4), fbIs the acceleration output at time k of the accelerometer,
Figure FDA0002688905480000025
converting the attitude into a matrix;
the differential equation of velocity is as follows
Figure FDA0002688905480000026
In the formula (5), the reaction mixture is,
Figure FDA0002688905480000027
to represent
Figure FDA0002688905480000028
G is the earth gravity acceleration;
the position of the device can be determined by equation (6):
Figure FDA0002688905480000029
l, lambda and h respectively represent longitude, latitude and height; rMIs a transverse curvature radius, measured in the east-west direction; rNThe radius of curvature in the north-south direction is measured as the radius of curvature in the meridian.
5. The method according to claim 4, wherein the step of correcting the device position information when the satellite signal is normal includes:
the error state is calculated according to the following equation (7):
Figure FDA00026889054800000210
in the formula (7), the reaction mixture is,
Figure FDA0002688905480000031
is an error vector; p is a radical ofn、Vn、
Figure FDA0002688905480000032
Position, velocity, attitude errors, respectively; b. d is a constant zero-offset term of the accelerometer and the gyroscope respectively; w is aa、wgRandom noise items of an accelerometer and a gyroscope respectively;
Figure FDA0002688905480000033
Figure FDA0002688905480000034
Figure FDA0002688905480000035
Figure FDA0002688905480000036
the measurement equation is as follows:
Figure FDA0002688905480000041
in the formula (8), ykIs an observation vector;
Figure FDA0002688905480000042
resolving the position and the speed of the SINS under the navigation coordinate system;
Figure FDA0002688905480000043
position and speed measured for the GNSS in the navigation coordinate system;
Figure FDA0002688905480000044
measuring random errors for position and speed respectively; and finally, estimating the SINS position, speed and attitude error through Kalman filtering, wherein the SINS position, speed and attitude error is as follows:
Figure FDA0002688905480000045
in the formula (9), the reaction mixture is,
Figure FDA0002688905480000046
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