CN113341443A - Processing method of positioning track information and vehicle-mounted navigation device - Google Patents
Processing method of positioning track information and vehicle-mounted navigation device Download PDFInfo
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- 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
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- 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
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Abstract
The embodiment of the application discloses a processing method of positioning track information and a vehicle-mounted navigation device. The method comprises the following steps: acquiring a positioning result of an ith epoch and a positioning result of an (i-1) th epoch, wherein i is an integer greater than or equal to 2; obtaining a displacement vector of the vehicle of the ith epoch according to the positioning result of the ith epoch and the positioning result of the (i-1) th epoch; and determining whether the positioning result of the ith epoch is abnormal or not according to the displacement vector of the vehicle of the ith epoch.
Description
Technical Field
The embodiment of the application relates to the field of vehicle-mounted integrated navigation, in particular to a method for processing positioning track information and a vehicle-mounted navigation device.
Background
The Global Navigation Satellite System (GNSS) can provide position, speed and time information of a carrier in a Global range, positioning errors are not dispersed along with time, and long-time and high-precision positioning requirements can be met. However, GNSS signals are often interrupted due to interference from complex urban environments, and the interference resistance of the system is poor. In recent years, with the rapid development of micro-electromechanical systems, low-cost Inertial Measurement Units (IMUs) composed of a three-axis accelerometer and a three-axis gyroscope are widely used in the civil field. The GNSS/IMU low-cost integrated navigation system becomes an important component of the current vehicle navigation system. However, the precision INS diverges more rapidly due to the positioning error of the low-cost IMU, such as large measurement noise and high device zero bias, and how to improve the performance of the low-cost GNSS/IMU integrated navigation system becomes the key for the development of the vehicle navigation system.
When satellite signals are available, the GNSS/IMU vehicle navigation system trains relevant error states of the IMU and the ODO (odometer); and when the satellite signal is unlocked, the vehicle motion constraint model is utilized to maintain the navigation positioning precision. The vehicle motion model Constraint is also called Non-integrity Constraint (NHC), which means that the right-direction and upward-direction speeds of a vehicle carrier coordinate system v system are 0 when a vehicle runs on the land, and the inertial navigation can be updated by using the speed characteristic of vehicle motion as the Constraint.
For application scenes of monitoring and other afterloading users, satellite signals are easily interfered, the signal quality is low, odometer information cannot be effectively provided, training on inertial navigation related error states is insufficient when the satellite signals are available, updating and correcting are carried out on inertial navigation only by means of NHC under the condition that the satellite signals are unavailable, although course accuracy and pitching accuracy of a vehicle carrier can be effectively maintained, transverse and upward positioning deviation is restrained, and no constraint is provided for forward positioning errors. When the vehicle carrier is in a long-time GNSS rejection environment, such as a long tunnel or a long-time garage, the problem of jumping or folding of the positioning track is inevitable, and the requirements of applications such as monitoring cannot be met.
Disclosure of Invention
In order to solve any technical problem, an embodiment of the present application provides a method for processing location track information and a vehicle-mounted navigation device.
In order to achieve the object of the embodiment of the present application, an embodiment of the present application provides a method for processing positioning track information, which is applied to a vehicle-mounted integrated navigation device integrating a GNSS and an IMU, and the method includes:
acquiring a positioning result of an ith epoch and a positioning result of an (i-1) th epoch, wherein i is an integer greater than or equal to 2;
obtaining a displacement vector of the vehicle of the ith epoch according to the positioning result of the ith epoch and the positioning result of the (i-1) th epoch;
and determining whether the positioning result of the ith epoch is abnormal or not according to the displacement vector of the vehicle of the ith epoch.
A storage medium having a computer program stored therein, wherein the computer program is arranged to perform the method as described above when executed.
An electronic device comprising a memory having a computer program stored therein and a processor arranged to execute the computer program to perform the method as described above.
An in-vehicle navigation device comprising:
a GNSS module;
IMU；
and the processing module for positioning the track information is connected with the GNSS module and the IMU and is used for implementing the method.
One of the above technical solutions has the following advantages or beneficial effects:
obtaining a positioning result of an ith epoch and a positioning result of an (i-1) th epoch, obtaining a displacement vector of a vehicle of the ith epoch according to the positioning result of the ith epoch and the positioning result of the (i-1) th epoch, and determining whether the positioning result of the ith epoch is abnormal or not according to the displacement vector of the vehicle of the ith epoch, thereby realizing the detection of the abnormal positioning result in the positioning track information.
Additional features and advantages of the embodiments of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the application. The objectives and other advantages of the embodiments of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the embodiments of the present application and are incorporated in and constitute a part of this specification, illustrate embodiments of the present application and together with the examples of the embodiments of the present application do not constitute a limitation of the embodiments of the present application.
Fig. 1 is a flowchart of a processing method for positioning track information according to an embodiment of the present application;
FIG. 2 is a flowchart of a processing method in positioning track information of a vehicle-mounted integrated navigation system according to an embodiment of the present application;
fig. 3(a) is a schematic processing diagram of positioning track jumping provided in an embodiment of the present application;
fig. 3(b) is a schematic diagram of a processing method for positioning track jump according to an embodiment of the present application;
fig. 4(a) is a schematic processing diagram of a location track reverse fold provided in the embodiment of the present application;
fig. 4(b) is a schematic diagram of a processing method for folding back a positioning track according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application more apparent, the embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be noted that, in the embodiments of the present application, features in the embodiments and the examples may be arbitrarily combined with each other without conflict.
Fig. 1 is a flowchart of a processing method for positioning track information according to an embodiment of the present application. As shown in fig. 1, the method shown in fig. 1 is applied to an integrated GNSS and IMU vehicle-mounted navigation device, and the method includes:
102, obtaining a displacement vector of the vehicle of the ith epoch according to the positioning result of the ith epoch and the positioning result of the (i-1) th epoch;
and 103, determining whether the positioning result of the ith epoch is abnormal according to the displacement vector of the vehicle of the ith epoch.
According to the method provided by the embodiment of the application, the displacement vector of the vehicle of the ith epoch is obtained by obtaining the positioning result of the ith epoch and the positioning result of the (i-1) th epoch, and the detection of the abnormal positioning result in the positioning track information is realized by determining whether the positioning result of the ith epoch is abnormal or not according to the displacement vector of the vehicle of the ith epoch.
The method provided by the embodiments of the present application is explained as follows:
in an exemplary embodiment, the determining whether the positioning result of the ith epoch is abnormal according to the displacement vector of the vehicle of the ith epoch includes:
determining the driving distance of the vehicle from the ith epoch to the ith epoch according to the displacement vector of the vehicle of the ith epoch, and determining whether the positioning track information of the vehicle jumps or not according to the judgment condition of the driving distance of the vehicle and the preset normal driving distance; alternatively, the first and second electrodes may be,
and determining the direction of the displacement vector of the vehicle of the ith epoch, and determining whether the positioning track information of the vehicle is folded according to the direction of the displacement vector and the driving course indicated by the vehicle-mounted integrated navigation device.
The combined navigation positioning track abnormity can be divided into two conditions:
(1) the positioning track is jumped, and the positioning track is jumped,
in an exemplary embodiment, determining whether the positioning track information of the vehicle jumps according to the judgment condition of the driving distance of the vehicle and the preset normal driving distance includes:
if the running distance of the vehicle meets the judgment condition of the normal running distance, determining that the positioning track information of the vehicle does not jump; and if the running distance of the vehicle does not meet the judgment condition of the normal running distance, determining that the positioning track information of the vehicle jumps.
In one exemplary embodiment, the judgment condition of the normal travel distance is determined according to a maximum travel distance of the vehicle, wherein:
the maximum driving distance is determined according to the maximum driving speed of the current driving heading of the vehicle and the time length from the ith-1 epoch to the ith epoch.
In the above exemplary embodiment, if the travel distance of two adjacent positioning points exceeds the preset normal travel distance, which indicates that the travel speed of the vehicle does not conform to the normal vehicle travel speed, it may be determined that the positioning track has a jump;
the normal driving distance can be determined according to the maximum driving distance which can be driven by the current driving heading of the vehicle within the time length of 1 epoch, and the maximum driving distance can be calculated through the maximum driving speed of the vehicle.
The positioning frequency can be set to 1Hz, and the 1 epoch duration is 1 s.
(2) Return of positioning track
And if the displacement vector directions of two adjacent positioning points are opposite to the vehicle running direction, determining that the positioning track is folded back.
Based on the above, the positioning result of the current epoch and the positioning result of the previous epoch are used to construct the displacement vector of the vehicle in the ith epoch, and the jump or the inflection of the combined navigation positioning track is judged according to the displacement vector to obtain the result of whether the positioning result of the current epoch is abnormal or not.
In an exemplary embodiment, the determining whether the localization track information of the vehicle is folded back according to the direction of the displacement vector and the driving heading indicated by the vehicle-mounted integrated navigation device includes:
judging whether the length of the displacement vector of the vehicle of the ith epoch is greater than a preset length threshold value;
if the length of the displacement vector is larger than the length threshold, judging whether the angle of the included angle between the direction of the displacement vector and the driving course indicated by the vehicle-mounted integrated navigation device meets a preset angle judgment condition or not;
and if the angle of the included angle accords with the angle judgment condition, determining that the positioning track information of the vehicle is folded.
And when judging whether the direction of the displacement vector is the same as the driving course, determining the length of the displacement vector by using a length threshold value to determine whether the length of the displacement vector is long enough to ensure the calculation accuracy of the angle of the included angle, and judging the size of the angle of the included angle by using an angle judgment condition to determine whether the direction of the displacement vector is the same as the driving course to obtain the result of whether the positioning track information of the vehicle is folded back.
Wherein the length threshold may be determined based on the distance traveled by the vehicle over a duration of 1 epoch. For example, the length threshold is set to 5 meters.
The angle determination condition may be represented by a specific numerical value of an angle, for example, the set angle determination condition is greater than 80 degrees; alternatively, the judgment condition is expressed by a parameter indicating the magnitude of the angle, and the parameter may be a sine value sin and a cosine value cos, for example, the angle judgment condition is set such that the cosine value is less than 0.18.
In an exemplary embodiment, after determining whether the positioning result of the ith epoch is abnormal according to the displacement vector of the vehicle of the ith epoch, the method further includes:
after determining that the positioning result of the ith epoch is abnormal, smoothing the obtained positioning track information to obtain processed positioning track information;
and outputting the processed positioning track information.
By processing the abnormal positioning result, the positioning track of the system can be ensured to be continuous and smooth, and the real track of the vehicle running can be matched better.
In an exemplary embodiment, after determining that the positioning result of the ith epoch is abnormal, before performing smoothing processing on the obtained positioning track information, the method further includes:
if the positioning track information of the vehicle is folded back, detecting whether the vehicle performs a reversing operation or not to obtain a detection result;
and if the detection result indicates that the vehicle does not execute the backing operation, smoothing the obtained positioning track information.
Considering that the track is folded back due to normal backing running, the accuracy of judgment is ensured by taking the backing operation of the vehicle as a judgment condition for positioning track abnormity.
The forward speed can be used as a judgment basis for the reverse operation, and if the forward speed is less than a preset speed threshold, it indicates that the vehicle is performing a reverse behavior, for example, the speed threshold is-1 m/s.
In an exemplary embodiment, the smoothing the obtained positioning track information includes:
correcting the positioning result of the ith epoch, and determining whether the positioning result of the (i + 1) th epoch is abnormal or not according to the corrected positioning result of the ith epoch and the positioning result of the (i + 1) th epoch;
if the positioning result of the (i + 1) th epoch is normal, determining that the smoothing operation is finished;
and if the positioning result of the (i + 1) th epoch is abnormal, correcting the positioning result of the (i + 1) th epoch, and so on until the positioning result of the next epoch is normal or the total duration of the processed epoch reaches a preset time threshold.
And for the situation of jump of the positioning track or inflection of the positioning track, starting from the positioning result of the last epoch, correcting the positioning result of the current epoch to obtain a normal positioning result, storing the normal positioning result and continuing to perform abnormal detection on the positioning result until the positioning result of the detected epoch is normal.
For the situation of jump of the positioning track or inflection of the positioning track, the positioning result of the current epoch can be locked, the displacement vector directions of the previous epoch and the next epoch are continuously judged until the displacement vector direction is consistent with the vehicle running direction, the locking is released, and the inflection of the output track is avoided. And if the duration reaches a preset time threshold, the trajectory is judged to be the trajectory retrace, and normal position output is recovered.
In an exemplary embodiment, the correcting the positioning result of the ith epoch includes:
if the positioning track information of the vehicle jumps, determining a corrected positioning result corresponding to the ith epoch according to a preset maximum driving distance along the direction of the displacement vector of the vehicle of the ith epoch by taking the positioning result of the ith-1 epoch as a starting point;
in an exemplary embodiment, the correcting the positioning result of the ith epoch includes:
and if the positioning track information of the vehicle is folded back, taking the positioning result of the (i-1) th epoch as the positioning result of the vehicle of the (i) th epoch.
If the jump of the positioning result of the current epoch is judged, according to the set fastest running speed, starting from the positioning result of the last epoch, obtaining the normal positioning result of the current epoch through dead reckoning calculation and outputting the normal positioning result, then storing the dead reckoning positioning result and continuing to judge the track jump, rapidly approaching the real position at the fastest running speed within a certain time, and ensuring that the output positioning track is smooth and has no jump exceeding the fastest running speed.
And if the positioning result of the current epoch is judged to be folded, locking the positioning result of the current epoch, continuously judging the displacement vector direction of the previous epoch and the displacement vector direction of the next epoch until the displacement vector direction is consistent with the vehicle running direction, unlocking and avoiding the folding of the output track.
Based on the scheme, the positioning track abnormity of the GNSS/IMU vehicle-mounted navigation system can be accurately judged, and then the problems of jumping and folding of the output of the positioning track can be avoided through a smoothing strategy.
The method provided in the examples of the present application is illustrated below by way of examples:
the method provided by the embodiment of the application is used for solving the problems that a positioning track is too long, too short or too twisted when a vehicle-mounted combined navigation system based on the low-cost GNSS/IMU runs in a long-time GNSS rejection environment, such as a long tunnel or a long ground garage. In order to solve the problem of positioning track jumping or retracing of a low-cost GNSS/IMU vehicle-mounted integrated navigation system in a satellite rejection environment for a long time, a scheme for detecting the positioning track jumping and the retracing and outputting a smooth track is provided.
Example one
Fig. 2 is a flowchart of a processing method in positioning track information of a vehicle-mounted integrated navigation system according to an embodiment of the present application. As shown in fig. 2, the method includes:
and if the positioning frequency is 1Hz, the time length of the current epoch and the last epoch is 1s, and constructing a displacement vector within 1 s.
if the positioning track is abnormal and the positioning track is jumping, executing step 204;
if the positioning track is abnormal and the positioning track is folded back, execute step 205;
if the positioning track information is the normal positioning track of the integrated navigation device, executing step 206;
and step 207, outputting a positioning result.
According to the method provided by the embodiment of the application, the abnormal positioning result is corrected through the abnormal detection of the positioning track information, and the normal positioning track information is ensured to be output.
Example two
Fig. 3(a) is a schematic processing diagram of positioning track jumping according to an embodiment of the present application. As shown in FIG. 3(a), the combined positioning track is AiK, i 1,2.. k; when i is 2, the positioning track jumps and exceeds the maximum driving speed VmaxCorresponding displacement SmaxAt this time, the positioning track jump determination and smoothing can be performed according to the following strategies:
fig. 3(b) is a schematic diagram of a processing method for positioning track jump according to an embodiment of the present application. As shown in fig. 3(b), the method includes:
if the positioning track of the ith epoch has a jump, step 302;
if the positioning track of the ith epoch does not jump, step 303;
taking the combined positioning track as A1～A5For example, if
Determining that the positioning track jumps when i is 2;
from A1Along the edge
According to the maximum driving distance SmaxPerforming dead reckoning to position A2′；
if i +1 is larger than the maximum value of the positioning point, the processing of the combined track information is finished, otherwise, whether the positioning point jumps or not is continuously detected.
Through updating the value of i, the jump of the positioning track of the (i + 1) th epoch can be continuously judged according to the magnitude of the displacement vector between the ith epoch and the (i + 1) th epoch;
the scenario shown in fig. 3 is taken as an example for explanation:
when i is 2, position A is completed2After the output of's, the value of the updated i becomes 3, and it is determined whether the value of the updated i is greater than the maximum value of the anchor point of the combined trajectory (in fig. 3(a), the maximum value of the anchor point of the combined trajectory is 5), and when it is determined that the value of the updated i is not greater than 5, the position a is continuously checked3Judging;
if it is
Correcting the positioning result of the 3 rd epoch and obtaining the dead reckoning position A3' and output position A3', update the value of i to become4, judging whether the value of the updated i is larger than 5, and continuing to perform positioning on the position A when judging that the value of the updated i is not larger than 54Judging;
if it is not
Correcting the positioning result of the 4 th epoch to obtain the dead reckoning position A4' and output position A4' updating the value of i to 5, judging whether the value of the updated i is more than 5, and continuing to carry out the position A when judging that the value of the updated i is not more than 55Judging;
due to the fact that
Directly mix A with5The position of the updating point is stored and output, the value of the updating point i is changed into 6, and the updated value of the updating point i is judged to be more than 5, so the process is ended.
On the contrary, if i is 3, if
Then directly combine A3The location of (2) is saved and output.
According to the method provided by the embodiment of the application, the abnormal positioning result is corrected by detecting the jump of the positioning track, so that the normal positioning track information is ensured to be output.
Example three:
fig. 4(a) is a schematic processing diagram of a location track reverse fold provided in the embodiment of the present application. As shown in fig. 4(a), the determination index is whether the direction of the displacement vector at the adjacent time coincides with the driving course of the combined navigation instruction. The combined positioning track in FIG. 4(a) is AiK, i 1,2.. k; when i is 2, the positioning track is folded back, and the displacement vector is generated
The included angle alpha between the positioning track and the course vector is obviously obtuse angle (or the included angle is more than 80 degrees as the judgment basis), the position positioning track can be judged to be folded back, and the positioning is carried out according to the following strategyAnd judging and smoothing the back of the track.
Fig. 4(b) is a schematic diagram of a processing method for folding back a positioning track according to an embodiment of the present application. As shown in fig. 4(b), the method includes:
the judgment conditions for the return of the positioning track are as follows: the length of a displacement vector between the ith epoch and the (i-1) th epoch is greater than a length threshold, and an included angle between the direction of the displacement vector between the ith epoch and the (i-1) th epoch and the attitude heading vector meets an angle judgment condition;
if the positioning track of the ith epoch is folded back, step 402;
if the positioning track of the ith epoch is not folded back, step 403;
taking the combined positioning track as A1～A5For example, if
And cos α < 0.18 (about 80 degrees), where α is
And the angle between the attitude heading vector and the angle.
the corrected positioning result of the 2 nd epoch is the positioning result of the 1 st epoch, namely A2′＝A1And keeping the position locked.
And step 403, storing and outputting the positioning result of the ith epoch.
step 405, judging whether i +1 is larger than the maximum value of the positioning points of the combined track or whether the number of the continuously corrected positioning points reaches a preset number threshold;
if i +1 is larger than the maximum value of the positioning point, the processing of the combined track information is finished; otherwise, whether the positioning point is folded back or not is continuously detected.
If the number of the continuously corrected positioning points is larger than the number threshold, indicating that the time length preset by the total time corresponding to the corrected positioning points needs to be stopped for correction; otherwise, whether the positioning point is folded back or not is continuously detected.
Through updating the value of i, the jump of the positioning track of the (i + 1) th epoch can be continuously judged according to the magnitude of the displacement vector between the ith epoch and the (i + 1) th epoch;
the following description will be made by taking the scenario shown in fig. 4(a) as an example:
when i is 2, position A is completed2After the output of's, the value of the updated i becomes 3, and it is determined whether the value of the updated i is greater than the maximum value of the anchor point of the combined trajectory (in fig. 4(a), the maximum value of the anchor point of the combined trajectory is 6), and when it is determined that the value of the updated i is not greater than 6, the position a is continuously checked3Judging;
if it is
And cos alpha is less than 0.18, correcting the positioning result of the 3 rd epoch, and obtaining the dead reckoning position A3' and output position A3' updating the value of i to 4, judging whether the value of the updated i is more than 5, and continuing to perform the operation on the position A when judging that the value of the updated i is not more than 64Judging;
determining the positioning result A4Whether the inflection occurs or not, if the inflection occurs, correcting the positioning result of the 4 th epoch, and obtaining the dead reckoning position A4' and output position A4' updating the value of i to 5, judging whether the value of the updated i is larger than 6, and continuing to perform positioning on the position A when judging that the value of the updated i is not larger than 55Judging;
continuously judging the positioning result A5Whether the inflection occurs or not, if the inflection occurs, correcting the positioning result of the 5 th epoch, and obtaining the dead reckoning position A5' and output position A5′，The value of the updated i is changed into 4, whether the value of the updated i is larger than 5 or not is judged, and when the value of the updated i is judged not to be larger than 6, the position A is continuously checked6Judging;
continuously judging the positioning result A6If the back folding occurs, if the positioning result A is6Without the occurrence of reverse turn, directly adding A6The position of the updating point is stored and output, the value of the updating point i is changed into 7, and the updated value of the updating point i is judged to be more than 6, so the process is ended.
Conversely, when i is equal to 3, if
Or cos α > -0.18, then directly adding A3Is output.
Because the smooth processing operation can lock the output positioning result, time limitation is needed to be carried out on the positioning result, if the positioning track is judged to be folded back after 20s, normal position output is recovered, and the locking point caused by the reversing scene cannot be distinguished by adopting the judging condition, so that the forward speed of the vehicle can be added into a judging basis, if the forward speed is less than-1 m/s, the reverse locking point is not carried out, and the operation of judging the reversing behavior can detect the positioning result A in the example2When a reverse turn occurs.
According to the method provided by the embodiment of the application, the abnormal positioning result is corrected by detecting the retrace of the positioning track, so that the normal positioning track information is ensured to be output.
Compared with the vehicle-mounted integrated navigation system in the related art, the method provided by the embodiment of the application can effectively solve the problems of jumping and folding of the positioning track of the low-cost GNSS/IMU vehicle-mounted integrated navigation system in a long-time satellite rejection environment through the positioning track abnormity judgment, and ensures that the positioning track of the system can be continuous and smooth and is more matched with the real track of the vehicle in running.
An embodiment of the present application provides a storage medium, in which a computer program is stored, wherein the computer program is configured to perform the method described in any one of the above when the computer program runs.
An embodiment of the application provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the computer program to perform the method described in any one of the above.
The embodiment of the application provides a vehicle navigation device, includes:
a GNSS module;
IMU；
a processing module for locating trajectory information, connected to the GNSS module and the IMU, for implementing the method as described in any of the above.
According to the device provided by the embodiment of the application, the displacement vector of the vehicle of the ith epoch is obtained by obtaining the positioning result of the ith epoch and the positioning result of the (i-1) th epoch, and whether the positioning result of the ith epoch is abnormal or not is determined according to the displacement vector of the vehicle of the ith epoch, so that the detection of the abnormal positioning result in the positioning track information is realized, and the positioning track can be ensured to be continuous and smooth by smoothly processing the positioning track information, so that the real track of the vehicle can be matched.
It will be understood by those of ordinary skill in the art that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed by several physical components in cooperation. Some or all of the components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
Claims (13)
1. A processing method of positioning track information is applied to a vehicle-mounted integrated navigation device integrating a Global Navigation Satellite System (GNSS) and an Inertial Measurement Unit (IMU), and comprises the following steps:
acquiring a positioning result of an ith epoch and a positioning result of an (i-1) th epoch, wherein i is an integer greater than or equal to 2;
obtaining a displacement vector of the vehicle of the ith epoch according to the positioning result of the ith epoch and the positioning result of the (i-1) th epoch;
and determining whether the positioning result of the ith epoch is abnormal or not according to the displacement vector of the vehicle of the ith epoch.
2. The method of claim 1, wherein after determining whether the location result of the ith epoch is abnormal from the displacement vector of the vehicle of the ith epoch, the method further comprises:
after determining that the positioning result of the ith epoch is abnormal, smoothing the obtained positioning track information to obtain processed positioning track information;
and outputting the processed positioning track information.
3. The method of claim 1 or 2, wherein determining whether the location result of the ith epoch is abnormal from the displacement vector of the vehicle of the ith epoch comprises:
determining the driving distance of the vehicle from the ith epoch to the ith epoch according to the displacement vector of the vehicle of the ith epoch, and determining whether the positioning track information of the vehicle jumps or not according to the judgment condition of the driving distance of the vehicle and the preset normal driving distance; alternatively, the first and second electrodes may be,
and determining the direction of the displacement vector of the vehicle of the ith epoch, and determining whether the positioning track information of the vehicle is folded according to the direction of the displacement vector and the driving course indicated by the vehicle-mounted integrated navigation device.
4. The method of claim 3, wherein determining whether the positioning track information of the vehicle jumps according to the judgment condition of the driving distance of the vehicle and the preset normal driving distance comprises:
and if the running distance of the vehicle does not meet the judgment condition of the normal running distance, determining that the positioning track information of the vehicle jumps.
5. The method according to claim 3 or 4, characterized in that the judgment condition of the normal travel distance is determined according to a maximum travel distance of the vehicle, wherein:
the maximum driving distance is determined according to the maximum driving speed of the current driving heading of the vehicle and the time length from the ith-1 epoch to the ith epoch.
6. The method according to claim 3, wherein the determining whether the localization track information of the vehicle is folded back according to the direction of the displacement vector and the driving heading indicated by the on-board integrated navigation device comprises:
judging whether the length of the displacement vector of the vehicle of the ith epoch is greater than a preset length threshold value;
if the length of the displacement vector is larger than the length threshold, judging whether the angle of the included angle between the direction of the displacement vector and the driving course indicated by the vehicle-mounted integrated navigation device meets a preset angle judgment condition or not;
and if the angle of the included angle accords with the angle judgment condition, determining that the positioning track information of the vehicle is folded.
7. The method according to claim 2, wherein after determining that the positioning result of the ith epoch is abnormal, before performing smoothing processing on the obtained positioning track information, the method further comprises:
if the positioning track information of the vehicle is folded back, detecting whether the vehicle performs a reversing operation or not to obtain a detection result;
and if the detection result indicates that the vehicle does not execute the backing operation, smoothing the obtained positioning track information.
8. The method according to claim 2 or 7, wherein the smoothing of the obtained positioning track information comprises:
correcting the positioning result of the ith epoch, and determining whether the positioning result of the (i + 1) th epoch is abnormal or not according to the corrected positioning result of the ith epoch and the positioning result of the (i + 1) th epoch;
if the positioning result of the (i + 1) th epoch is normal, determining that the smoothing operation is finished;
and if the positioning result of the (i + 1) th epoch is abnormal, correcting the positioning result of the (i + 1) th epoch, and so on until the positioning result of the next epoch is normal or the total duration of the processed epoch reaches a preset time threshold.
9. The method of claim 8, wherein the modifying the positioning result of the i epoch comprises:
and if the positioning track information of the vehicle jumps, determining a corrected positioning result corresponding to the ith epoch according to a preset maximum driving distance along the direction of the displacement vector of the vehicle of the ith epoch by taking the positioning result of the ith-1 epoch as a starting point.
10. The method of claim 8, wherein the modifying the positioning result of the i epoch comprises:
and if the positioning track information of the vehicle is folded back, taking the positioning result of the (i-1) th epoch as the positioning result of the vehicle of the (i) th epoch.
11. A storage medium, in which a computer program is stored, wherein the computer program is arranged to perform the method of any of claims 1 to 10 when executed.
12. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the method of any of claims 1 to 10.
13. An in-vehicle navigation apparatus, characterized by comprising:
a GNSS module;
IMU；
-a processing module for locating trajectory information, connected to said GNSS module and to said IMU, for implementing the method as claimed in any one of claims 1 to 10.
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