CN112179356B - Weak network environment navigation method and system based on intelligent dead reckoning - Google Patents
Weak network environment navigation method and system based on intelligent dead reckoning Download PDFInfo
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- CN112179356B CN112179356B CN202010955498.2A CN202010955498A CN112179356B CN 112179356 B CN112179356 B CN 112179356B CN 202010955498 A CN202010955498 A CN 202010955498A CN 112179356 B CN112179356 B CN 112179356B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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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
- G01S19/393—Trajectory determination or predictive tracking, e.g. Kalman filtering
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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
- G01S19/48—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
Abstract
The invention relates to the field of navigation, in particular to a method and a system for weak network environment navigation based on intelligent dead reckoning. The method comprises the following steps: when the satellite signals are lost, generating an initial travel route according to the starting point and the end point of the travel; starting a dead reckoning work, and generating a series of path points on an initial travel route; starting inertial navigation work, and generating a next expected point according to the current position; starting position fusion work, and obtaining fusion points by using the path points and the expected points; updating the fusion point as the current position at a fixed updating frequency; and when the normal satellite signals are received, the normal navigation is recovered. The method has the advantages of small error and high updating frequency in long-time use, and the corrected fusion point is used as the current position for updating so as to still keep good precision under the condition of high updating frequency, thereby overcoming the defects of large error and low updating frequency in long-time use in the prior navigation technology and meeting the navigation requirement under the weak network environment.
Description
Technical Field
The invention relates to the field of navigation, in particular to a method and a system for weak network environment navigation based on intelligent dead reckoning.
Background
Navigation includes land navigation, marine navigation, aeronautical navigation, and space navigation, which refer to the process of monitoring and controlling the movement of objects from one place to another. The current navigation is mainly satellite navigation, which is a technology for performing navigation positioning on ground, ocean, air and space users by adopting a navigation satellite, the satellite navigation integrates the advantages of the traditional navigation system, can realize global high-precision passive navigation positioning under various weather conditions, can provide functions of global and near-earth space continuous stereo coverage, high-precision three-dimensional positioning and speed measurement, and has stronger anti-interference capability.
In an actual application scenario, satellite navigation sometimes still fails, for example, when a user drives a vehicle to enter a tunnel or other weak network environment, a signal is weakened, and even a navigation signal is lost, at this time, an emergency dead reckoning technology is required to maintain a navigation function, so that the navigation function is prevented from being completely failed; the track reckoning technology is a method for obtaining a track and a ship position according to the course and the range indicated by a compass and a log, ship operation, wind current and other factors without the help of an external navigation object, and particularly, in the driving process, the track reckoning technology is a technology for maintaining navigation by using the existing driving data under the condition of not depending on satellite signals.
The existing weak network environment navigation technology is mainly realized by depending on inertial navigation, namely, when entering the weak network environment, an accelerometer, a gyroscope and a GPS receiver are utilized to obtain the current driving speed, the driving direction and the position of a vehicle, and then the expected position of the vehicle moving in the current speed and the direction is calculated, so that the navigation function is realized, the method is simple, feasible and mature in technology, but the actual effect is not satisfactory, and the method can maintain certain precision in a short time, but the accelerometer and the gyroscope have certain errors and cannot completely reflect the driving state of the vehicle, and after the vehicle travels for a certain distance, the errors can be gradually accumulated and rapidly amplified, namely, the pure inertial navigation can generate larger errors and cannot play the actual navigation role; on the other hand, the existing weak network environment navigation has a low updating frequency, that is, the location updating time interval of the vehicle is long, although this measure can avoid rapid error amplification in a short time, it is inconvenient for the user to go out, especially when a switch occurs in the updating interval, since the last updated location is far from the switch, the user is difficult to judge the correct route by the current location, and therefore a new method and system for weak network environment navigation based on intelligent dead reckoning are needed to solve the above-mentioned disadvantages.
Disclosure of Invention
In order to overcome the technical defects of large long-time use error and low updating frequency of the conventional navigation technology, the invention provides the method and the system for the weak network environment navigation based on the intelligent dead reckoning, which have small long-time use error and high updating frequency.
In order to solve the problems, the invention is realized according to the following technical scheme:
the invention discloses a method for weak network environment navigation based on intelligent dead reckoning, which is characterized by comprising the following steps:
when the satellite signals are lost, generating an initial travel route according to the starting point and the end point of the travel;
starting a dead reckoning work, and generating a string of path points on an initial route;
starting inertial navigation work, and generating a next expected point according to the current position;
starting position fusion work, and obtaining fusion points by using the path points and the expected points;
updating the fusion point as the current position at a fixed updating frequency;
and when the normal satellite signals are received, the normal navigation is recovered.
The dead reckoning work comprises the following steps:
acquiring a current position;
acquiring the current running speed;
generating a first path point on the remaining travel route at a fixed first time interval;
generating second path points at a fixed second time interval between adjacent first path points;
and returning to the second path point.
The residual travel route is the part from the current position in the initial travel route to the travel end point.
And restarting the dead reckoning work when the running speed is changed in the running process.
The inertial navigation work comprises the following steps:
acquiring a current position;
acquiring a current driving direction;
acquiring the current running speed;
calculating an expected point after a second time interval by using the current position, the current driving direction and the current driving speed;
the expected point is returned.
The current driving direction is obtained through a gyroscope.
The current running speed is obtained through an accelerometer.
The position fusion work comprises the following steps:
obtaining incoming waypoints and prospective points;
establishing a three-dimensional coordinate system by taking the geocenter as an origin;
respectively projecting the path points and the expected points on a three-dimensional coordinate system to respectively obtain components of the path points and the expected points on three coordinate axes;
respectively calculating the average values of the components of the path point and the expected point on three coordinate axes to obtain three average components;
converting the three average components into longitude and latitude to obtain the position of a fusion point;
and returning the fusion point.
The update frequency is 1 second to 5 seconds.
The invention relates to a system for weak network environment navigation based on intelligent dead reckoning, which is characterized by comprising the following steps:
the positioning module is used for receiving satellite signals;
the dead reckoning module is used for generating a string of path points on the initial route;
the inertial navigation module is used for generating a next expected point according to the current position;
the position fusion module is used for obtaining fusion points by utilizing the path points and the expected points;
the navigation module is used for updating the current position by using the fusion point at a fixed updating frequency;
and the termination module is used for recovering normal navigation when receiving normal satellite signals.
Compared with the prior art, the invention has the beneficial effects that:
the method and the system for the weak network environment navigation based on the intelligent dead reckoning have the advantages of small error in long-time use and high updating frequency, dense path points are generated by dead reckoning work so as to track the position of a vehicle on an initial travel route according to the travel time, real-time expected points are generated by inertial navigation work so as to correct the actual travel of the vehicle, and finally the corrected fusion points are used as the current position to be updated, so that the good precision can be still kept under the condition of high updating frequency, the defects of large error in long-time use and low updating frequency existing in the conventional navigation technology are overcome, and the navigation requirement under the weak network environment is met.
Drawings
Embodiments of the invention are described in further detail below with reference to the attached drawing figures, wherein:
FIG. 1 is a schematic flow diagram of the process of the present invention;
FIG. 2 is a schematic flow chart of a method of dead reckoning work of the present invention;
FIG. 3 is a schematic flow chart of a method of inertial navigation operation of the present invention;
FIG. 4 is a schematic flow chart of a method of location fusion work of the present invention;
fig. 5 is a schematic diagram of the system architecture of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
As shown in fig. 1 to fig. 5, the method for weak network environment navigation based on intelligent dead reckoning according to the present invention is characterized by comprising:
101. when the satellite signal is lost, an initial trip route is generated based on the start and end points of the trip.
Specifically, when the satellite signal loss is detected, if the user's travel route has already been generated, the existing travel route is used, and if the user has not generated a travel route, the initial travel route is generated with the current position as the starting point and the destination of the user as the ending point.
102. Starting a dead reckoning work, and generating a series of path points on an initial travel route;
the dead reckoning work comprises the following steps:
201. and acquiring the current position.
Specifically, the current position is continuously updated during the driving process, and in an initial condition, the current position is the vehicle position when the satellite signal is lost.
202. The current running speed is acquired.
Specifically, the current travel speed is obtained by an accelerometer.
203. On the remaining travel route, first path points are generated at fixed first time intervals.
Specifically, when the travel route of the user is generated, the remaining travel route is a part from the current position to the end point of the initial travel route, and if the user does not generate the travel route, the remaining travel route is the whole course of the initial travel route generated according to the current position; the first time interval is 30 seconds to 1 minute, and specifically, as a preferred embodiment of the present invention, the first time interval is 1 minute, that is, the distance between two adjacent first path points is a distance of one minute when the vehicle travels, and the first path points are respectively denoted as a point a, a point B, and a point C.
204. Between adjacent first path points, second path points are generated at a fixed second time interval.
Specifically, the distance between two adjacent first path points is a distance that the vehicle travels for one minute, and since the distance is long, the navigation update frequency is low, and the distance is not used for navigation, it is necessary to subdivide the distance, that is, the second path points are generated at a fixed second time interval, where the second time interval is 1 second to 5 seconds, as a preferred embodiment of the present invention, the second time interval is 1 second, that is, the distance between two adjacent second path points is a distance that the vehicle travels for 1 second, where the second path points from the current position to the point a are respectively denoted as a1, a2, and a3., and the second path points from the point a to the point B are respectively denoted as B1, B2, and b3., and so on.
205. And returning to the second path point.
Specifically, the density of the second path point meets the use requirement, and the second path point can be used as a path point for dead reckoning, and the principle is as follows: when the vehicle runs in the weak network environment, if the current speed and the initial travel route are kept unchanged, the position of the vehicle after running for 1 second is coincident with the waypoint after running for 1 second, so that the vehicle position at each moment can be predicted by using the waypoint; as a preferred embodiment of the present invention, when the running speed changes during running, the track estimation operation is restarted, so as to reduce the influence of vehicle speed change and enhance the track estimation accuracy of the waypoints.
103. Starting inertial navigation work, and generating a next expected point according to the current position;
the inertial navigation work comprises:
301. and acquiring the current position.
Specifically, the current position is continuously updated during the driving process, and in an initial condition, the current position is the vehicle position when the satellite signal is lost.
302. Acquiring a current driving direction;
specifically, the current driving direction is obtained by a gyroscope.
303. Acquiring the current running speed;
specifically, the current running speed is obtained through an accelerometer.
304. And calculating an expected point after the second time interval by using the current position, the current driving direction and the current driving speed.
Specifically, when the current position of the vehicle is determined, the position after the second time interval can be calculated through the driving angle and the driving speed, and the specific principle of calculating the expected point in this embodiment refers to the prior art, for example, the blind area-free vehicle positioning system and method based on satellite navigation and inertial navigation, which have the application number of CN201911253744.3, can meet the requirement of calculating the expected point in the present invention.
305. The expected point is returned.
Specifically, only one expected point is generated at a time for estimating the actual position of the vehicle after the second time interval, that is, when the vehicle travels in the weak network environment, no matter what traveling direction and traveling speed the vehicle travels, the vehicle should reach the expected point after 1 second after traveling for 1 second, so the expected point can be used for estimating the vehicle position in a short period, and considering that the error of the expected point is easy to be accumulated and amplified rapidly, that is, if the expected point with the error at each time is directly used as the current position next time, the error of the position prediction is accumulated, so the method is not suitable for being used alone, and is suitable for correcting the path point as short-term data.
104. Starting position fusion work, and obtaining a fusion point by using the path point and the expected point;
the position fusion work comprises the following steps:
401. incoming waypoints and prospective points are obtained.
Specifically, when the current position of the vehicle is a1, the point a2 is transmitted as a route point after the second time interval, and an expected point after the second time interval is calculated by using the position a1, the current driving direction and the current driving speed.
402. And establishing a three-dimensional coordinate system by taking the geocenter as an origin.
Specifically, the route point and the expected point are geographical coordinates represented by longitude and latitude, which are not suitable for direct operation, and therefore need to be converted into a coordinate point in a three-dimensional space.
403. And respectively projecting the path point and the expected point on a three-dimensional coordinate system to respectively obtain components of the path point and the expected point on three coordinate axes.
Specifically, the path point and the expected point are converted into a radian system, and then components of the path point and the expected point on three coordinate axes can be respectively calculated, wherein the calculation method comprises the following steps: let the path point be (m, n), the expected point be (l, k),
then the components of the path point on the x-axis, y-axis, and z-axis are:
x＝cos(n)*sin(m)；
y＝cos(n)*cos(m)；
z＝sin(n)；
the components of the expected point in the x, y, and z axes are:
x＝cos(k)*sin(l)；
y＝cos(k)*cos(l)；
z＝sin(k)；
404. respectively calculating the average values of the components of the path point and the expected point on three coordinate axes to obtain three average components;
specifically, the average component on three coordinate axes can be further calculated through the result of the previous step, wherein:
the average component on the x-axis is: x = (cos (n) × sin (m) + cos (k) × sin (l)) × 0.5;
the average component of the y-axis is: y = (cos (n) × cos (m) + cos (k) × cos (l)) × 0.5;
the average component of the z-axis is: z = (sin (n) + sin (k)) × 0.5.
That is, the coordinate point (X, Y, Z) is an intermediate point between the waypoint and the expected point, or the point is a waypoint that has undergone the expected point correction.
405. Converting the three average components into longitude and latitude to obtain the position of a fusion point;
specifically, coordinate points (X, Y, Z) defined by three average components are fusion points generated by route points and expected points, and the points are coordinates of a three-dimensional space and cannot be directly used for driving navigation, so that the coordinates need to be converted into longitude and latitude to be represented, and according to the above results, the longitude and latitude of the fusion points can be deduced, wherein:
longitude: arctan (Y/X), the value is in the radian system and needs to be converted into an angle again;
latitude: arctan (√ X + Y)/Z), a value in radians, needs to be reconverted to an angle.
406. And returning the fusion point.
105. Updating the fusion point as the current position at a fixed updating frequency;
specifically, the update frequency is 1 second to 5 seconds, as a preferred embodiment of the present invention, the update frequency is equal to the second time interval, that is, the update frequency is 1 second, and the setting is to keep the update of the waypoint and the expected point consistent, so as to generate the fusion point at a fixed update frequency.
106. When a normal satellite signal is received, normal navigation is resumed.
The invention relates to a system for weak network environment navigation based on intelligent dead reckoning, which is characterized by comprising the following steps:
a positioning module 1 for receiving satellite signals;
the dead reckoning module 2 is used for generating a string of path points on the initial route;
the inertial navigation module 3 is used for generating a next expected point according to the current position;
the position fusion module 4 is used for obtaining fusion points by utilizing the path points and the expected points;
a navigation module 5 for updating the current position with the fusion point at a fixed update frequency;
and a termination module 6 for recovering normal navigation when normal satellite signals are received.
The method and the system for the weak network environment navigation based on the intelligent dead reckoning have the advantages of small error in long-time use and high updating frequency, dense path points are generated by dead reckoning work so as to track the position of a vehicle on an initial travel route according to the travel time, real-time expected points are generated by inertial navigation work so as to correct the actual travel of the vehicle, and finally the corrected fusion points are used as the current position to be updated, so that the good precision can be still kept under the condition of high updating frequency, the defects of large error in long-time use and low updating frequency existing in the conventional navigation technology are overcome, and the navigation requirement under the weak network environment is met.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, so that any modification, equivalent change and modification made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (9)
1. A method for intelligent dead reckoning-based weak network environment navigation is characterized by comprising the following steps:
when the satellite signals are lost, generating an initial travel route according to the starting point and the end point of the travel;
starting a dead reckoning work, and generating a series of path points on an initial travel route;
starting inertial navigation work, and generating a next expected point according to the current position;
starting position fusion work, and obtaining fusion points by using the path points and the expected points;
updating the fusion point as the current position at a fixed updating frequency;
when a normal satellite signal is received, normal navigation is recovered;
the inertial navigation work comprises:
acquiring a current position;
acquiring a current driving direction;
acquiring the current running speed;
calculating an expected point after a second time interval by using the current position, the current driving direction and the current driving speed;
returning to the desired point.
2. The method for intelligent dead reckoning-based Weak Net environmental navigation according to claim 1, wherein said dead reckoning task comprises:
acquiring a current position;
acquiring the current running speed;
generating a first path point at a fixed first time interval on the remaining travel route;
generating second path points at a fixed second time interval between adjacent first path points;
and returning to the second path point.
3. The method for intelligent dead reckoning-based Weak network environment navigation according to claim 2, wherein: the residual travel route is the part from the current position in the initial travel route to the travel end point.
4. The method for intelligent dead reckoning-based Weak network environment navigation according to claim 2, wherein: and when the running speed is changed in the running process, restarting the dead reckoning work.
5. The method for intelligent dead reckoning-based Weak network environment navigation according to claim 1, wherein: the current driving direction is obtained through a gyroscope.
6. The method for intelligent dead reckoning-based Weak network environment navigation according to claim 1, wherein: the current running speed is obtained through an accelerometer.
7. The method for the Weak network environmental navigation based on the Smart dead reckoning as claimed in claim 1, wherein said location fusion task comprises:
obtaining incoming waypoints and prospective points;
establishing a three-dimensional coordinate system by taking the geocenter as an origin;
respectively projecting the path points and the expected points on a three-dimensional coordinate system to respectively obtain components of the path points and the expected points on three coordinate axes;
respectively calculating the average values of the components of the path point and the expected point on three coordinate axes to obtain three average components;
converting the three average components into longitude and latitude to obtain the position of a fusion point;
and returning the fusion point.
8. The method for the Weak network environmental navigation based on the intelligent dead reckoning as claimed in claim 1, wherein: the update frequency is 1 second to 5 seconds.
9. A system for intelligent dead reckoning-based Weak Web environmental navigation, comprising:
the positioning module is used for receiving satellite signals;
the dead reckoning module is used for generating a series of path points on the initial travel route;
the inertial navigation module is used for generating a next expected point according to the current position;
the position fusion module is used for obtaining fusion points by utilizing the path points and the expected points;
the navigation module is used for updating the current position by using the fusion point at a fixed updating frequency;
a termination module for resuming normal navigation when normal satellite signals are received
The inertial navigation work comprises:
acquiring a current position;
acquiring a current driving direction;
acquiring the current running speed;
calculating an expected point after a second time interval by using the current position, the current driving direction and the current driving speed;
the expected point is returned.
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