CN112985385A - Positioning and orientation system and positioning and orientation method applying high-precision map - Google Patents
Positioning and orientation system and positioning and orientation method applying high-precision map Download PDFInfo
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- CN112985385A CN112985385A CN201911347368.4A CN201911347368A CN112985385A CN 112985385 A CN112985385 A CN 112985385A CN 201911347368 A CN201911347368 A CN 201911347368A CN 112985385 A CN112985385 A CN 112985385A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Abstract
A positioning and orientation system and a positioning and orientation method using a high-precision map are provided. In the positioning method, first, the position, attitude, and speed of the vehicle are estimated by an inertial navigation system. Then, a first vehicle position, a first vehicle speed, a second vehicle position, a vehicle attitude, and a second vehicle speed of the vehicle are provided using the satellite navigation system, the high accuracy map system, and the wheel speed meter. Then, the difference between the estimated position and the first vehicle position/the second vehicle position, the difference between the estimated speed and the first vehicle speed/the second vehicle speed, and the difference between the estimated attitude and the vehicle attitude are calculated using adders. Then, the position compensation module is used to compensate the estimated position/attitude/velocity by using the difference. Therefore, the positioning error of the inertial navigation system can be reduced.
Description
Technical Field
The invention relates to a positioning and orientation system and a positioning and orientation method applying a high-precision map.
Background
With the development of electronic technology, vehicle navigation devices are increasingly indispensable in the life of people. The vehicle-mounted navigation device can detect the current position of the vehicle and provide related services such as path planning, driving assistance and the like according to the requirements of users. The current vehicle-mounted navigation device is most widely used by an integrated positioning and orientation system, and the architecture comprises an inertial navigation system which autonomously and continuously performs relative positioning and an absolute positioning technology which relies on radio waves, such as a global navigation satellite system, however, satellite signal transmission is easily shielded and reflected and interfered by obstacles such as buildings, vehicles and the like in urban areas, and the final positioning and orientation efficiency can be influenced by integration of the satellite positioning results with errors.
Therefore, under the limitation of hardware cost based on mass production and market demand, a high-precision positioning and orientation system and a positioning and orientation method are needed to reduce the positioning error of the inertial navigation system.
Disclosure of Invention
The embodiment of the invention provides a positioning and orientation system applying a high-precision map, which can reduce the positioning error of a vehicle-mounted navigation device. The positioning and orientation system comprises an inertial navigation system, a satellite navigation system, a high-precision map system, a wheel speed meter, a first adder, a second adder, a third adder and a positioning compensation module. The inertial navigation system is used to estimate the position, attitude and speed of the vehicle. The satellite navigation system is used for providing a first vehicle position and a first vehicle speed of a vehicle. The high-precision map system is used for providing a second vehicle position and a vehicle posture of the vehicle on the high-precision map. The wheel speed meter is used to provide a second vehicle speed of the vehicle. The first adder is electrically connected to the inertial navigation system and the satellite navigation system to calculate a first position difference between the estimated position and the first vehicle position and calculate a first speed difference between the estimated speed and the first vehicle speed. The second adder is electrically connected to the inertial navigation system and the high-precision map system to calculate a second position difference between the estimated position and the second vehicle position and calculate an attitude difference between the estimated attitude and the vehicle attitude. The third adder is electrically connected to the inertial navigation system and the wheel speed meter to calculate a second speed difference between the estimated speed and the second vehicle speed. The positioning compensation module is electrically connected to the inertial navigation system, the first adder, the second adder and the third adder, and is used for compensating the estimated position, the estimated attitude and the estimated speed of the vehicle according to the first position difference, the second position difference, the first speed difference, the second speed difference and the attitude difference so as to obtain the compensated position, the compensated attitude and the compensated speed of the vehicle.
In some embodiments, the positioning and orientation system further includes a satellite positioning optimization module electrically connected between the satellite navigation system, the high-precision map system and the first adder, for optimizing the first vehicle position and the first vehicle speed provided by the satellite navigation system according to the high-precision map.
In some embodiments, the high-precision map system is further configured to perform a high-precision map search step to search the high-precision map according to the compensated position, the compensated posture and the compensated speed of the vehicle to obtain the vehicle position and the vehicle posture of the vehicle on the high-precision map, and update the second vehicle position and the vehicle posture accordingly.
In some embodiments, the positioning and orientation system further includes a zero-speed update module electrically connected between the wheel speed meter and the positioning compensation module, for outputting a zero-speed update signal to the positioning compensation module when the second vehicle speed is 0, so as to inform the positioning compensation module that the vehicle is in a stationary state.
In some embodiments, the inertial navigation system includes an accelerometer and a gyroscope.
The embodiment of the invention also provides a positioning and orientation method applying the high-precision map, which can reduce the positioning error of the vehicle-mounted navigation device. In this positioning method, first, the position, attitude, and speed of the vehicle are estimated using an inertial navigation system. The first vehicle position and the first vehicle speed are then provided using the satellite navigation system. Next, a second vehicle position and vehicle attitude of the vehicle on the high accuracy map is provided using the high accuracy map system. A second vehicle speed is then provided using the wheel speed meter. Next, a first position difference between the estimated position and the first vehicle position is calculated, and a first speed difference between the estimated speed and the first vehicle speed is calculated. Then, a second position difference of the estimated position and a second vehicle position is calculated, and an attitude difference of the estimated attitude and the vehicle attitude is calculated. Then, a second speed difference between the estimated speed and a second vehicle speed is calculated. And then, compensating the estimated position, the estimated attitude and the estimated speed of the vehicle by using a positioning compensation module according to the first position difference, the second position difference, the first speed difference, the second speed difference and the attitude difference so as to obtain a compensated position, a compensated attitude and a compensated speed of the vehicle.
In some embodiments, the aforementioned positioning method further comprises: optimizing the first vehicle position and the first vehicle speed provided by the satellite navigation system according to the high-precision map.
In some embodiments, the aforementioned positioning method further comprises: and performing a high-precision map searching step by using a high-precision map system, so as to search on the high-precision map according to the compensated position, the compensated posture and the compensated speed of the vehicle, so as to obtain the vehicle position and the vehicle posture corresponding to the vehicle on the high-precision map, and accordingly updating the second vehicle position and the vehicle posture.
In some embodiments, the aforementioned positioning method further comprises: when the second vehicle speed is 0, the zero-speed updating module is used for outputting a zero-speed updating signal to the positioning compensation module so as to inform the positioning compensation module that the vehicle is in a static state at present.
In some embodiments, the inertial navigation system includes an accelerometer and a gyroscope.
In order to make the aforementioned and other features and advantages of the invention more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
FIG. 1 is a functional block diagram of a positioning and orientation system using high-precision maps according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating a searching method of a high-precision map system according to an embodiment of the invention;
fig. 3 is a schematic flow chart illustrating a positioning method corresponding to a positioning and orientation system using a high-precision map according to an embodiment of the invention.
Detailed Description
Fig. 1 is a functional block diagram of a positioning and orientation system 100 using high-precision maps according to an embodiment of the present invention. The positioning and orientation system 100 includes an inertial navigation system 110, a satellite navigation system 120, a high-precision map system 130, a satellite positioning optimization module 140, a wheel speed meter 150, a first adder 160, a second adder 170, a third adder 180, and a positioning compensation module 190. The high-precision map positioning and orientation system 100 compensates the vehicle information provided by the inertial navigation system 110 using the vehicle information provided by the satellite navigation system 120, the high-precision map system 130 and the wheel speed 140 to reduce the positioning error.
The Inertial Navigation System 110 (INS) is used for providing Inertial Navigation data 110D of the vehicle, which includes an estimated position, an estimated attitude and an estimated speed of the vehicle. In the present embodiment, the Inertial navigation system 110 includes an operator and a plurality of Inertial sensing elements (IMUs) (e.g., gyroscopes and accelerometers) that can continuously calculate acceleration, angular velocity, and other positional orientation information of the vehicle. By adding the movement information (e.g., acceleration and angular velocity) measured by the inertial sensing element to the estimated information, the positioning and orientation information at the next time can be obtained by calculation.
The satellite navigation system 120 is used for providing satellite navigation data 120D of the vehicle through a satellite system, which includes a position (hereinafter referred to as a first vehicle position) and a speed (hereinafter referred to as a first vehicle speed) of the vehicle. In the present embodiment, the Satellite Navigation System 120 is a Global Navigation Satellite System (GNSS), but the embodiments of the present invention are not limited thereto.
The High-Definition map system 130 stores High-Definition Maps (HD Maps) and can provide data 130D of a vehicle on the High-Definition Maps, which include a position (hereinafter, referred to as a second vehicle position) and a posture (hereinafter, referred to as a vehicle posture) of the vehicle, from the High-Definition Maps. For example, the coordinate positions of the center lines of all the lanes on the road are used to provide the position of the vehicle amount, and the attitude of the vehicle is provided according to the gradient of the lane in which the vehicle is located, the traveling direction of the lane, and the like. In the present embodiment, the high-precision map includes high-precision (planar precision better than 20 cm, three-dimensional precision better than 30 cm) spatial information with respect to the lane center line and its topological relation, but the embodiments of the present invention are not limited thereto.
In some embodiments of the present invention, satellite positioning optimization module 140 is employed to optimize satellite navigation data 120D provided by satellite navigation system 120 with a high precision map to provide optimized satellite navigation data 140D. In this embodiment, the satellite positioning optimization module 140 determines whether the information provided by the satellite navigation system 120 is qualified by using the information provided by the high-precision map.
For example, the satellite positioning optimization module 140 calculates a distance difference between the first vehicle position and the second vehicle position on a plane, and determines whether the distance difference is greater than a predetermined plane distance threshold. If the plane distance difference is larger than the preset plane distance threshold value, the satellite positioning information is unqualified, and the unqualified satellite positioning information is deleted. If the plane distance difference is smaller than or equal to the preset plane distance threshold value, qualified satellite positioning information is reserved.
In some examples, the satellite positioning optimization module 140 calculates a difference between the heights of the first vehicle position and the second vehicle position, and determines whether the difference is greater than a predetermined height distance threshold. If the height distance difference is larger than the preset height distance threshold value, the satellite positioning information is unqualified, and the unqualified satellite positioning information is deleted. If the altitude distance difference is smaller than or equal to a preset altitude distance threshold value, qualified satellite positioning information is reserved. The manner of determining whether the satellite positioning information is qualified is not limited to the above embodiments.
In some examples, the satellite positioning optimization module 140 calculates geometric distances to each observation satellite according to the second vehicle position, and individually determines differences between the geometric distances and the observed quantities of the satellite navigation system 120 with the system errors eliminated, and if the differences are greater than a preset threshold, the satellite observed quantities are rejected, and the rejected satellite observed quantities are deleted, and the first vehicle position is recalculated. And if the last remaining satellite observation quantity is not enough to calculate the positioning information, or the position difference value between the first vehicle position and the second vehicle position which is recalculated is larger than another preset threshold value, deleting the satellite positioning information. The manner of determining whether the satellite positioning information is qualified is not limited to the above embodiments.
The wheel speed meter 150 is used for measuring a wheel speed of the vehicle and providing a vehicle speed (hereinafter referred to as a second vehicle speed) accordingly, wherein the vehicle speed data 150D provided by the wheel speed meter 150 includes the wheel speed of the vehicle and the second vehicle speed. In the present embodiment, the wheel speed meter 140 may be a magnetoelectric wheel speed sensor or a hall wheel speed sensor, but the embodiments of the present invention are not limited thereto.
The first adder 160 is electrically connected to the inertial navigation system 110 and the satellite navigation system 120 to calculate a difference between the estimated position of the inertial navigation data 110D and the first vehicle position of the optimized satellite navigation data 140D (hereinafter referred to as a first position difference), and calculate a difference between the estimated velocity of the inertial navigation data 110D and the first vehicle velocity of the optimized satellite navigation data 140D (hereinafter referred to as a first velocity difference), and transmit the first position difference and the first velocity difference to the positioning compensation module 190. In some embodiments, the first summer 160 also transmits the received inertial navigation data 110D and the optimized satellite navigation data 140D to the position compensation module 190.
The second adder 170 is electrically connected to the inertial navigation system 110 and the high-precision map system 130 to calculate a difference between the estimated position of the inertial navigation data 110D and the second vehicle position of the high-precision map data 130D (hereinafter referred to as a second position difference), calculate a difference between the estimated attitude of the inertial navigation data 110D and the attitude of the high-precision map data 130D, and transmit the second position difference and the attitude difference to the positioning compensation module 190. In some embodiments, the second adder 170 also transmits the received inertial navigation data 110D and the high-precision map data 130D to the position compensation module 190.
The third adder 180 is electrically connected to the inertial navigation system 110 and the wheel speed meter 150 to calculate a difference between the estimated speed of the inertial navigation data 110D and a second vehicle speed of the vehicle speed data 150D (hereinafter referred to as a second speed difference), and transmit the second speed difference to the positioning compensation module 190. In some embodiments, the third summer 180 also transmits the received inertial navigation data 110D and vehicle speed data 150D to the position compensation module 190.
The positioning compensation module 190 is electrically connected to the inertial navigation system 110, the first adder 160, the second adder 170, and the third adder 180, so as to compensate the estimated position, the estimated attitude, and the estimated speed of the inertial navigation data 110D according to the first position difference, the second position difference, the first speed difference, the second speed difference, and the attitude difference, so as to obtain the compensated vehicle positioning data 190D. The compensated vehicle positioning data 190D includes a compensated position, a compensated attitude, and a compensated speed. In this embodiment, the position compensation module 190 may be an Extended Kalman Filter (EKF), an Adaptive Kalman Filter (AKF), an Unscented Kalman Filter (Unscented Kalman Filter) (UKF) or a Particle Filter (PF), and may compensate the estimated position, the estimated attitude and the estimated velocity of the inertial navigation data 110D according to the first position difference, the second position difference, the first velocity difference, the second velocity difference and the attitude difference according to a predetermined compensation mechanism. For example, different weights are set for the first position difference, the second position difference, the first velocity difference, the second velocity difference, and the attitude difference, respectively, and the estimated position, the estimated attitude, and the estimated velocity of the inertial navigation data 110D are compensated. However, the compensation mechanism of the inertial navigation data 110D of the present invention is not limited to the above-described embodiment.
In some embodiments of the present invention, the position location system 100 also includes a zero-speed update module 195. The zero-speed update module 195 is electrically connected between the wheel speed meter 150 and the positioning compensation module 190, and outputs a zero-speed update signal 195D to the positioning compensation module 190 when the second vehicle speed of the vehicle speed data 150D is 0, so as to inform the positioning compensation module 190 that the vehicle is currently in a stationary state. In this way, the position compensation module 190 sets the compensated position to be the same as the compensated position at the previous time point (i.e., the vehicle position is unchanged). In this embodiment, the zero-speed update module 195 may be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), or a Field Programmable Gate Array (FPGA). However, embodiments of the invention are not so limited.
In addition, the high-precision map system 130 receives the compensated vehicle positioning data 190D and the inertial navigation data 110D to generate a search result (i.e., the high-precision map data 130D) for the next time point.
Referring to fig. 2, a flow chart of a searching method 200 of the high precision map system 130 according to an embodiment of the invention is shown. In the searching method 200, step 210 is first performed to determine that the vehicle is located at the intersection or the lane according to the searching result at the previous time point. If the vehicle is located on the lane, step 221 is performed to obtain the spatial information of the lane by using the high-precision map. Then, step 222 is performed to determine whether the vehicle is approaching an intersection or has a heading change according to the current inertial navigation data 110D. Next, when the vehicle approaches the intersection, step 223 is performed to acquire the upcoming intersection space information. If the vehicle has a change in heading, step 224 is performed to obtain the lane space information in the same direction as the current lane position. Then, step 240 is performed to obtain the map location with the shortest geometric distance according to the compensated vehicle positioning data 190D, so as to serve as the search result of the current time point. For example, a map position having the shortest geometric distance to the compensated position (vehicle positioning data 190D) is found in the aforementioned lane/intersection. If it is determined in step 222 that the vehicle does not approach the intersection and has no change in heading, the process proceeds directly to step 240.
Referring back to step 210, if the vehicle is located at the intersection, step 231 is performed to obtain the spatial information of the intersection by using the high-precision map. Next, step 232 is performed to obtain information of the upcoming lane space based on the intersection space information. Then, the aforementioned step 240 is performed. However, embodiments of the invention are not so limited.
Fig. 3 is a flow chart illustrating a positioning method 300 corresponding to the positioning and orientation system 100 of a high-precision map according to an embodiment of the invention. In the positioning method 300, step 310 is performed to estimate the position, attitude and speed of the vehicle by using the inertial navigation system 110. Step 320 is then performed to provide a first vehicle position and a first vehicle speed of the vehicle using the satellite navigation system 120. Next, step 330 is performed to provide a second vehicle position and vehicle attitude of the vehicle on the high accuracy map using the high accuracy map system 130. Then, step 340 is performed to provide a second vehicle speed of the vehicle using the wheel speed meter 150. Then, step 350 is performed to calculate a first position difference between the estimated position and the first vehicle position, and to calculate a first speed difference between the estimated speed and the first vehicle speed, wherein step 350 can be performed by using the first adder 160. Then, step 360 is performed to calculate a second position difference between the estimated position and the second vehicle position, and calculate a posture difference between the estimated posture and the vehicle posture, wherein step 360 can be performed by using the second adder 170. Next, step 370 is performed to calculate a second speed difference between the estimated speed and the second vehicle speed, wherein step 370 may be performed by using the third adder 180. Then, step 380 is performed to utilize the positioning compensation module 190 to compensate the estimated position, the estimated attitude and the estimated speed of the vehicle according to the first position difference, the second position difference, the first speed difference, the second speed difference and the attitude difference, so as to obtain a compensated position, a compensated attitude and a compensated speed of the vehicle.
It should be noted that the sequence of the steps of the positioning method 300 is not limited to the above-mentioned embodiment. The sequence of the above steps may be changed, where appropriate, for the purpose of compensating for the vehicle information provided by the inertial navigation system 110.
Although the present invention has been described with reference to the above embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention.
Claims (10)
1. A positioning and orientation system using high-precision maps, comprising:
an inertial navigation system for providing an estimated position, an estimated attitude and an estimated velocity of a vehicle;
a satellite navigation system for providing a first vehicle position and a first vehicle speed of the vehicle;
a high-precision map system for providing a second vehicle position and a vehicle attitude of the vehicle on a high-precision map;
a wheel speed meter for providing a second vehicle speed of the vehicle;
a first adder electrically connected to the inertial navigation system and the satellite navigation system for calculating a first position difference between the estimated position and the first vehicle position and calculating a first speed difference between the estimated speed and the first vehicle speed;
a second adder electrically connected to the inertial navigation system and the high-precision map system for calculating a second position difference between the estimated position and the second vehicle position and calculating an attitude difference between the estimated attitude and the vehicle attitude;
a third adder electrically connected to the inertial navigation system and the wheel speed meter for calculating a second speed difference between the estimated speed and the second vehicle speed; and
a positioning compensation module electrically connected to the inertial navigation system, the first adder, the second adder, and the third adder, for compensating the estimated position, the estimated attitude, and the estimated speed of the vehicle according to the first position difference, the second position difference, the first speed difference, the second speed difference, and the attitude difference, so as to obtain a compensated position, a compensated attitude, and a compensated speed of the vehicle.
2. The system of claim 1, further comprising:
and the satellite positioning optimization module is electrically connected among the satellite navigation system, the high-precision map system and the first adder so as to optimize the first vehicle position and the first vehicle speed provided by the satellite navigation system according to the high-precision map.
3. The system of claim 1, wherein the high-precision map system further performs a high-precision map search step to search the high-precision map according to the compensated position, the compensated attitude, and the compensated speed of the vehicle to obtain the vehicle position and the vehicle attitude of the vehicle on the high-precision map, and update the second vehicle position and the vehicle attitude accordingly.
4. The system of claim 1, further comprising:
and the zero-speed updating module is electrically connected between the wheel speed meter and the positioning compensation module, and outputs a zero-speed updating signal to the positioning compensation module when the second vehicle speed is 0 so as to inform the positioning compensation module that the vehicle is in a static state at present.
5. The system of claim 1, wherein the inertial navigation system comprises an accelerometer and a gyroscope.
6. A positioning and orientation method using a high-precision map is characterized by comprising the following steps:
providing an estimated position, an estimated attitude and an estimated speed of a vehicle by using an inertial navigation system;
providing a first vehicle position and a first vehicle speed of the vehicle by using a satellite navigation system;
providing a second vehicle position and a vehicle attitude of the vehicle on a high-precision map by using a high-precision map system;
providing a second vehicle speed of the vehicle using a wheel speed meter;
calculating a first position difference between the estimated position and the first vehicle position, and calculating a first speed difference between the estimated speed and the first vehicle speed;
calculating a second position difference between the estimated position and the second vehicle position, and calculating an attitude difference between the estimated attitude and the vehicle attitude;
calculating a second speed difference between the estimated speed and the second vehicle speed; and
and utilizing a positioning compensation module to compensate the estimated position, the estimated attitude and the estimated speed of the vehicle according to the first position difference, the second position difference, the first speed difference, the second speed difference and the attitude difference so as to obtain a compensated position, a compensated attitude and a compensated speed of the vehicle.
7. The method according to claim 6, further comprising:
optimizing the first vehicle position and the first vehicle speed provided by the satellite navigation system according to the high-precision map.
8. The method according to claim 6, further comprising:
and performing a high-precision map search step by using the high-precision map system, so as to search on the high-precision map according to the compensated position, the compensated posture and the compensated speed of the vehicle, so as to obtain a vehicle position and a vehicle posture corresponding to the vehicle on the high-precision map, and updating the second vehicle position and the vehicle posture.
9. The method according to claim 6, further comprising:
when the second vehicle speed is 0, a zero-speed updating module is used for outputting a zero-speed updating signal to the positioning compensation module so as to inform the positioning compensation module that the vehicle is in a static state at present.
10. The method as claimed in claim 6, wherein the inertial navigation system comprises an accelerometer and a gyroscope.
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