CN113720336B - Course information determining method, vehicle and computer readable storage medium - Google Patents
Course information determining method, vehicle and computer readable storage medium Download PDFInfo
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- CN113720336B CN113720336B CN202110917277.0A CN202110917277A CN113720336B CN 113720336 B CN113720336 B CN 113720336B CN 202110917277 A CN202110917277 A CN 202110917277A CN 113720336 B CN113720336 B CN 113720336B
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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
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
Abstract
The embodiment of the invention discloses a course information determining method, a vehicle and a computer readable storage medium, which are used for obtaining a course angle of the vehicle by using auxiliary electronic equipment under the condition that the signal intensity of an obtained positioning signal of the vehicle is poor, so that the vehicle can normally work. The method provided by the embodiment of the invention comprises the following steps: acquiring a positioning signal of the vehicle; under the condition that the signal intensity of the positioning signal is smaller than a preset intensity value, acquiring first course information of the vehicle through a navigation system, wherein the first course information comprises a course angle; after the preset time, if the course angle is not converged, determining second course information of the vehicle by using auxiliary electronic equipment; wherein the auxiliary electronic device comprises a terminal device associated with the vehicle and/or an electronic compass associated with the vehicle.
Description
Technical Field
The present invention relates to the field of navigation technologies, and in particular, to a method for determining heading information, a vehicle, and a computer-readable storage medium.
Background
Typically, the course angle of the vehicle is determined by an inertial Navigation device, a dual antenna Global Navigation Satellite System (GNSS), or a magnetometer. However, in the case of poor signal strength of GNSS signals, the magnetometer is easily affected by an external magnetic field, resulting in poor accuracy of the heading angle acquired by the vehicle. In addition, in the case of poor signal strength of GNSS signals, both the inertial navigation device and the dual-antenna GNSS cannot be used, so that the vehicle cannot acquire the heading angle of the vehicle.
No matter which way the vehicle determines the course angle of the vehicle, a certain degree of limitation exists, so that the accuracy of the course angle acquired by the vehicle is poor, even the course angle cannot be acquired, and the vehicle cannot work normally.
Disclosure of Invention
The embodiment of the invention provides a course information determining method, a vehicle and a computer readable storage medium, which are used for obtaining a course angle of the vehicle by using auxiliary electronic equipment under the condition that the signal intensity of an obtained positioning signal of the vehicle is poor, so that the vehicle can normally work.
A first aspect of an embodiment of the present invention provides a method for determining heading information, where the method may include:
acquiring a positioning signal of the vehicle;
under the condition that the signal intensity of the positioning signal is smaller than a preset intensity value, first course information of the vehicle is obtained through a navigation system, and the first course information comprises a course angle;
after the preset time, if the course angle is not converged, determining second course information of the vehicle by using auxiliary electronic equipment;
wherein the auxiliary electronic device comprises a terminal device associated with the vehicle, and/or an electronic compass associated with the vehicle.
Optionally, when the auxiliary electronic device includes a terminal device associated with the vehicle, the determining, by the auxiliary electronic device, the second heading information of the vehicle includes: and determining second course information of the vehicle by using a compass in the terminal equipment.
Optionally, the determining, by using the compass in the terminal device, the second heading information of the vehicle includes: adjusting the head of the vehicle to obtain an included angle between the direction of the head and the direction pointed by the compass; and when the included angle is within the range of the preset included angle, acquiring second course information of the vehicle.
Optionally, the adjusting the head of the vehicle includes: and adjusting the head of the vehicle by referring to the direction pointed by the guide pin in the terminal equipment.
Optionally, before determining the second heading information of the vehicle by using the compass in the terminal device, the method further includes: detecting a current speed of the vehicle; and when the current speed is zero, if the terminal equipment is determined to be horizontally parallel to the vehicle and the direction of the top of the terminal equipment is consistent with the direction of the head of the vehicle, starting a compass in the terminal equipment.
Optionally, when the auxiliary electronic device includes an electronic compass associated with the vehicle, the determining, with the auxiliary electronic device, second heading information of the vehicle includes: detecting a current speed of the vehicle; and when the current speed is zero, determining second heading information of the vehicle by using the heading information on the electronic compass.
Optionally, the obtaining the first heading information of the vehicle by the navigation system includes: acquiring a first speed of the vehicle through a navigation system; and obtaining first course information of the vehicle according to the first speed.
Optionally, the obtaining the first speed of the vehicle through the navigation system includes: when the driving route of the vehicle is a straight line, determining an incomplete constraint equation of the vehicle through a navigation system, wherein the incomplete constraint equation is
And
acquiring the longitudinal shaft speed of the vehicle through a speed sensor
According to the incomplete constraint equation of
And
and the speed of the longitudinal axis
Obtaining a first speed
Optionally, the obtaining the first heading information of the vehicle according to the first speed includes: converting the first speed under a navigation coordinate system to obtain a conversion speed; resolving the first speed through an Inertial Measurement Unit (IMU) to obtain a resolving speed, wherein the resolving speed is a speed under a carrier coordinate system; and obtaining first course information of the vehicle according to the conversion speed and the resolving speed.
Optionally, the first speed is a speed in a carrier coordinate system, and the converting the first speed in the navigation coordinate system to obtain a conversion speed includes: obtaining a conversion speed according to a first formula; wherein the first formula is
V 0 The speed of the transition is indicated by the speed of the transition,
a state transition matrix is represented that represents the state transition,
representing the first speed.
Optionally, when the driving route of the vehicle is a straight line, the first formula is
Optionally, the obtaining the first heading information of the vehicle according to the conversion speed and the resolving speed includes: obtaining an observed quantity according to the difference value of the conversion speed and the resolving speed; and obtaining first course information of the vehicle according to the observed quantity.
A second aspect of an embodiment of the present invention provides a vehicle, which may include:
the acquisition module is used for acquiring a positioning signal of the vehicle; under the condition that the signal intensity of the positioning signal is smaller than a preset intensity value, first course information of the vehicle is obtained, wherein the first course information comprises a course angle;
the processing module is used for determining second course information of the vehicle by using the auxiliary electronic equipment after the preset time length if the course angle is not converged; wherein the auxiliary electronic device comprises a terminal device associated with the vehicle and/or an electronic compass associated with the vehicle.
Optionally, when the auxiliary electronic device includes a terminal device associated with the vehicle, the processing module is specifically configured to determine the second heading information of the vehicle by using a compass in the terminal device.
Optionally, the processing module is specifically configured to adjust a vehicle head of the vehicle, and obtain an included angle between a direction in which the vehicle head is located and a direction pointed by the compass;
the obtaining module is specifically configured to obtain second heading information of the vehicle when the included angle is within a preset included angle range.
Optionally, the processing module is specifically configured to adjust the vehicle head of the vehicle with reference to a direction indicated by a pointer in the terminal device.
Optionally, the processing module is further configured to detect a current speed of the vehicle; and when the current speed is zero, if the terminal equipment is determined to be horizontally parallel to the vehicle and the top of the terminal equipment is consistent with the direction of the head of the vehicle, starting a compass in the terminal equipment.
Optionally, when the auxiliary electronic device includes an electronic compass associated with the vehicle, the processing module is specifically configured to detect a current speed of the vehicle; and when the current speed is zero, determining second heading information of the vehicle by using the heading information on the electronic compass.
Optionally, the obtaining module is specifically configured to obtain a first speed of the vehicle;
the processing module is specifically configured to obtain first heading information of the vehicle according to the first speed.
Optionally, the processing module is specifically configured to determine an incomplete constraint equation of the vehicle when the driving route of the vehicle is a straight line, where the incomplete constraint equation is
And
the acquisition module is particularly used for acquiring the longitudinal axis speed of the vehicle through a speed sensor
According to the incomplete constraint equation of
And
and the speed of the longitudinal shaft
Obtaining a first speed
Optionally, the processing module is specifically configured to convert the first speed in a navigation coordinate system to obtain a conversion speed; resolving the first speed through an Inertial Measurement Unit (IMU) to obtain a resolving speed, wherein the resolving speed is a speed under a carrier coordinate system; and obtaining first course information of the vehicle according to the conversion speed and the resolving speed.
Optionally, the first speed is a speed in a carrier coordinate system, and the processing module is specifically configured to obtain a conversion speed according to a first formula; wherein the first formula is
V 0 The speed of the transition is indicated by the speed of the transition,
a state transition matrix is represented that represents the state transition,
representing the first speed.
Optionally, when the driving route of the vehicle is a straight line, the first formula is
Optionally, the processing module is specifically configured to obtain an observed quantity according to a difference between the conversion speed and the resolving speed; and obtaining first course information of the vehicle according to the observed quantity.
A third aspect of an embodiment of the present invention provides a vehicle, which may include:
a memory storing executable program code;
and a processor coupled to the memory;
the processor calls the executable program code stored in the memory, and when the executable program code is executed by the processor, the processor is enabled to implement the method according to the first aspect of the embodiment of the invention.
A fourth aspect of embodiments of the present invention provides a computer-readable storage medium having stored thereon executable program code, which when executed by a processor, implements a method according to the first aspect of embodiments of the present invention.
A fifth aspect of the embodiments of the present invention discloses a computer program product, which, when running on a computer, causes the computer to execute any one of the methods disclosed in the first aspect of the embodiments of the present invention.
A sixth aspect of the present embodiment discloses an application publishing platform, where the application publishing platform is configured to publish a computer program product, where when the computer program product runs on a computer, the computer is caused to execute any one of the methods disclosed in the first aspect of the present embodiment.
According to the technical scheme, the embodiment of the invention has the following advantages:
in the embodiment of the invention, a positioning signal of the vehicle is acquired; under the condition that the signal intensity of the positioning signal is smaller than a preset intensity value, acquiring first course information of the vehicle through a navigation system, wherein the first course information comprises a course angle; after the preset time, if the course angle is not converged, determining second course information of the vehicle by using auxiliary electronic equipment; wherein the auxiliary electronic device comprises a terminal device associated with the vehicle and/or an electronic compass associated with the vehicle. That is, the vehicle acquires the heading angle of the vehicle in the case that the signal strength of the acquired positioning signal is poor, and if the heading angle does not converge within the preset time period, the vehicle may determine the second heading information of the vehicle by means of the terminal device associated with the vehicle and/or the electronic compass associated with the vehicle. The method can ensure that the vehicle obtains the course angle of the vehicle by utilizing the auxiliary electronic equipment under the condition that the signal intensity of the acquired positioning signal is poor, thereby ensuring that the vehicle can normally work.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings used in the description of the embodiments and the prior art will be briefly introduced below, and it is obvious that the drawings in the description are only some embodiments of the present invention, and other drawings can be obtained according to the drawings.
FIG. 1 is a schematic diagram of an embodiment of a method for determining heading information according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of another embodiment of a method for determining heading information according to an embodiment of the invention;
FIG. 3 is a schematic view of an embodiment of a vehicle according to an embodiment of the present invention;
fig. 4 is a schematic diagram of another embodiment of the vehicle in the embodiment of the invention.
Detailed Description
The embodiment of the invention provides a course information determining method, a vehicle and a computer readable storage medium, which are used for obtaining a course angle of the vehicle by using auxiliary electronic equipment under the condition that the signal intensity of an obtained positioning signal of the vehicle is poor, so that the vehicle can normally work.
In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The embodiments based on the invention should fall into the protection scope of the present invention.
It is to be understood that the vehicle in the embodiments of the present invention may include, but is not limited to, a flying automobile.
The technical solution of the present invention is further described below by way of an embodiment, as shown in fig. 1, which is a schematic diagram of an embodiment of a method for determining heading information in an embodiment of the present invention, and the method may include:
101. and acquiring a positioning signal of the vehicle.
Optionally, the positioning signal may comprise a GNSS signal.
Wherein the GNSS may include, but is not limited to, at least one of: global Positioning System (GPS), global Satellite Navigation System (GLONASS), galileo Satellite Navigation System (Galileo), and BeiDou Satellite Navigation System (BDS).
Optionally, the obtaining, by the vehicle, a positioning signal of the vehicle may include: the vehicle periodically acquires a locating signal of the vehicle. Illustratively, assume an acquisition period of 2 seconds(s). The vehicle may acquire a locating signal of the vehicle every 2 s.
It is understood that the acquisition period of the positioning signal can be customized by a user according to an empirical value, and is not limited in particular.
It should be noted that, in general, when the acquisition period of the positioning signal is too long, the accuracy of the positioning signal is not high enough; when the acquisition period of the positioning signal is too short, the power consumption of the vehicle is consumed too much, thereby shortening the service life of the vehicle. Therefore, when the acquisition period of the positioning signal is set by the user according to the empirical value, the vehicle can not only acquire the positioning signal with higher accuracy, but also save the use power consumption of the vehicle to a certain extent, thereby prolonging the service life of the vehicle.
102. And under the condition that the signal intensity of the positioning signal is smaller than a preset intensity value, acquiring first course information of the vehicle through a navigation system.
Wherein the first heading information may include, but is not limited to, a heading angle, the first heading information being a current heading information of the vehicle.
It should be noted that the preset intensity value may be set before the vehicle leaves a factory, or may be set by a user through a user, and the preset intensity values in vehicles of different models may be the same or different, and are not specifically limited herein.
Illustratively, assume the preset intensity value is-90 decibel-milliwatts (dBm). The signal intensity of the positioning signal of the vehicle is-95 dBm, the-95 dBm is smaller than the-90 dBm, and at the moment, the vehicle acquires the heading angle of the vehicle.
It will be appreciated that the navigation system may comprise a GNSS as described above. The navigation system is a course information acquisition device inside the vehicle.
Optionally, the obtaining, by the vehicle through the navigation system, the first heading information of the vehicle may include: the method comprises the steps that a vehicle acquires a first speed of the vehicle through a navigation system; and the vehicle obtains first course information of the vehicle according to the first speed.
Wherein, the first speed is the speed under the carrier coordinate system.
Note that the vector coordinate system can be OX b Y b Z b And (4) showing. The carrier coordinate system is generally fixedly connected with a carrier (i.e. a vehicle), and the origin of coordinates O is the center of the carrier.
Specifically, the carrier coordinate system selects the "upper right-front coordinate system", at which time OX is selected b Axis is to the right along the transverse axis of the carrier; OY b The axis is forward along the longitudinal axis of the carrier; OZ b The axis is upward along the vertical axis of the carrier.
Optionally, the obtaining, by the vehicle through the navigation system, the first speed of the vehicle may include: when the driving route of the vehicle is a straight line, determining an incomplete constraint equation of the vehicle through a navigation system, wherein the incomplete constraint equation is
And
the vehicle passing speed sensor acquires the longitudinal axis speed of the vehicle
The vehicle is based on the incomplete constraint equation as
And
and the speed of the longitudinal shaft
Obtaining a first speed
It is understood that when the vehicle is traveling in a straight line, the vehicle will not experience side-slip motion and/or bouncing motion in most cases, and the vehicle may determine the vehicle's non-complete constraint equations.
The speed sensor is also called a vehicle speed sensor. The speed sensor may be provided on the vehicle for acquiringLongitudinal axis speed of the vehicle
The speed sensor can be used as an information source of a vehicle control system and is a key component of the vehicle control system.
Optionally, the obtaining, by the vehicle according to the first speed, the first heading information of the vehicle may include: converting the first speed by the vehicle under a navigation coordinate system to obtain a converted speed; the vehicle resolves the first speed through an Inertial Measurement Unit (IMU) to obtain a resolving speed, wherein the resolving speed is a speed under a carrier coordinate system; and the vehicle obtains first course information of the vehicle according to the conversion speed and the resolving speed.
It should be noted that the navigation coordinate system can be OX n Y n Z n And (4) showing. The navigation coordinate system may be used as a reference coordinate system of the navigation parameters of the carrier, and the origin of coordinates O is a station center (e.g., a center of an antenna receiving GNSS signals).
Specifically, the navigation coordinate system selects a geographic coordinate system, such as a "northeast coordinate system". At this time, OX n The axis is coincided with the long half axis of the earth ellipsoid, namely the east direction; OY n The axis is coincided with a short semi-axis of an ellipsoid of the earth, namely, the north direction; OZ n Positive in the axial direction, i.e. the OZ n The axis points in the sky direction.
Optionally, the converting the first speed by the vehicle in the navigation coordinate system to obtain a converted speed may include: the vehicle obtains the conversion speed according to a first formula.
Wherein the first formula is
V 0 The speed of the transition is indicated by the speed of the transition,
a state transition matrix is represented that represents the state transition,
representing the first speed.
Optionally, when the driving route of the vehicle is a straight line, the first formula is
Optionally, the obtaining, by the vehicle, the first heading information of the vehicle according to the conversion speed and the resolving speed may include: the vehicle obtains observed quantity according to the difference value of the conversion speed and the resolving speed; and the vehicle obtains first course information of the vehicle according to the observed quantity.
It will be appreciated that the observed quantity is the switching speed V 0 And calculating the velocity V n I.e. Z = V 0 -V n And Z represents an observed quantity.
Optionally, the obtaining, by the vehicle according to the observed quantity, the first heading information of the vehicle may include: the vehicle obtains first course information of the vehicle by using an Extended Kalman Filter (EKF) technology according to the observed quantity.
The EKF technique is an extended form of the standard kalman filter in a non-linear case, and is a highly efficient recursive filter (e.g., an autoregressive filter). The basic idea of the EKF technology is that a vehicle linearizes a nonlinear system by Taylor series expansion, and then a Kalman filtering frame is adopted to filter an acquired positioning signal to obtain a filtering signal, wherein the filtering signal is suboptimal filtering. Briefly, the EKF technology is used for correcting the observed quantity by the vehicle to obtain first course information with high accuracy.
103. And after the preset time, if the course angle is not converged, determining second course information of the vehicle by using auxiliary electronic equipment.
Wherein the auxiliary electronic device comprises a terminal device associated with the vehicle, and/or an electronic compass associated with the vehicle. The second heading information may include, but is not limited to, heading angle, the second heading information being a current heading information of the vehicle.
It is understood that the terminal device related to the embodiment of the present invention, which is associated with the vehicle, is provided with a compass, and the terminal device may include a general handheld electronic terminal device, such as a mobile phone, a smart phone, a portable terminal, a Personal Digital Assistant (PDA), a Portable Multimedia Player (PMP) device, a notebook Computer, a notebook (Note Pad), a Wireless Broadband (Wibro) terminal, a tablet Computer (PC), a smart PC, a Point of sale terminal (POS), a vehicle-mounted Computer, and the like.
The terminal device may also comprise a wearable device. The wearable device may be worn directly on the user or may be a portable electronic device integrated into the user's clothing or accessory. Wearable equipment is not only a hardware equipment, can realize powerful intelligent function through software support and data interaction, high in the clouds interaction more, for example: the system has the functions of calculation, positioning and alarming, and can be connected with a mobile phone and various terminals. Wearable devices may include, but are not limited to, wrist-supported watch types (e.g., wrist watches, wrist-supported products), foot-supported shoes types (e.g., shoes, socks, or other leg-worn products), head-supported Glass types (e.g., glasses, helmets, headbands, etc.), and various types of non-mainstream products such as smart clothing, bags, crutches, accessories, and the like.
It is understood that the embodiment of the present invention relates to an electronic compass, also called a digital compass, associated with the vehicle. In modern technology, the electronic compass has been widely used as a navigation instrument or an attitude sensor. Compared with the traditional pointer type and balance frame structure compass, the electronic compass has the advantages of low energy consumption, small volume, light weight, high precision and capability of being miniaturized.
It should be noted that, both the terminal device and the electronic compass are auxiliary electronic devices associated with the vehicle, that is, a heading information acquiring device outside the vehicle, and are used to assist the vehicle in determining the heading information when the vehicle cannot acquire the heading information using the sensor, and the limitation that only the sensor acquires the heading information can be overcome to a certain extent.
Optionally, the vehicle determines the second heading information of the vehicle by using the auxiliary electronic device, which may include but is not limited to the following implementation manners:
implementation mode 1: when the secondary electronic device includes a terminal device associated with the vehicle, the vehicle determines second heading information for the vehicle using a compass in the terminal device.
It should be noted that a sensor capable of reacting to a magnetic field is disposed in a compass in the terminal device, and the working principle of the sensor is "hall effect".
Briefly, the "hall effect" refers to the effect of a current if there is a magnetic field around the current, i.e., the magnetic field affects the electrons. Therefore, the wire arranged in the terminal equipment does not move, and the flow direction of electrons in the wire is fixed, namely, a large number of negative electrons can be generated at one end of the wire, and a large number of positive electrons exist at the other end due to the lack of a large number of negative electrons, so that a simple electric field is formed. The strength of the current in the "hall effect" indicates the direction, and therefore the compass in the terminal device can also indicate the north-south direction correctly.
Optionally, the determining, by the vehicle, the second heading information of the vehicle by using the compass in the terminal device may include: the vehicle adjusts the head of the vehicle, and an included angle between the direction of the head and the direction pointed by the compass is obtained; and when the included angle of the vehicle is within the preset included angle range, acquiring second course information of the vehicle.
Wherein the direction pointed on the compass may be at least one of: north, south, west, and east.
The preset included angle range may be an interval formed by a first preset included angle value and a second preset included angle value, and the first preset included angle value is smaller than the second preset included angle value. The preset included angle range can be set before the vehicle leaves a factory, or can be set by a user according to the requirement in a self-defining way, and is not specifically limited here.
For example, assume that the compass points to the north; the first preset included angle value is 5 Degrees (DEG) in the northeast direction, the second preset included angle value is 5 Degrees (DEG) in the northwest direction, and the preset included angle range is (-5 DEG, 5 DEG). The vehicle adjusts the head of the vehicle, and the included angle between the direction of the head and the north direction pointed by the compass is 3 degrees in the northwest direction. The included angle of 3 degrees is within a preset included angle range (-5 degrees and 5 degrees), and at the moment, the vehicle acquires second course information of the vehicle.
Optionally, the adjusting the head of the vehicle by the vehicle may include: and the vehicle refers to the direction pointed by the guide pin in the terminal equipment, and the head of the vehicle is adjusted.
For example, the vehicle may adjust the head of the vehicle with reference to the north or east direction indicated by the pointer in the terminal device.
It can be understood that the vehicle adjusts the vehicle head of the vehicle by referring to the direction pointed by the middle pointer in the terminal device, so that the adjustment range of the vehicle head can be reduced, the adjustment time of the vehicle head is saved, the operation efficiency is improved, the use power consumption of the vehicle is saved, and the service life of the vehicle is prolonged.
Optionally, before the vehicle determines the second heading information of the vehicle by using the compass in the terminal device, the method may further include: the vehicle detects the current speed of the vehicle; when the current speed of the vehicle is zero, if the terminal device is determined to be horizontally parallel to the vehicle and the direction of the top of the terminal device is consistent with the direction of the head of the vehicle, a compass in the terminal device is started.
It should be noted that, the terminal device may be placed on a platform of the vehicle, or the terminal device may be placed on a storage box beside a bumper of the vehicle, which is not specifically limited herein. When the terminal equipment is horizontally parallel to the vehicle and the direction of the top of the terminal equipment is consistent with the direction of the head of the vehicle, the compass in the terminal equipment is started, so that the vehicle can conveniently determine the second course information of the vehicle by using the compass.
Implementation mode 2: when the auxiliary electronic device includes an electronic compass associated with the vehicle, the vehicle detects a current speed of the vehicle; when the current speed of the vehicle is zero, the second heading information of the vehicle is determined by utilizing the heading information on the electronic compass.
Optionally, the electronic compass associated with the vehicle means that the electronic compass is disposed on the vehicle.
Optionally, the electronic compass disposed on the vehicle may include: the electronic compass may be horizontally disposed on the vehicle. If the electronic compass is tilted, the heading information on the electronic compass changes. Then, the heading information of the vehicle is not changed actually, if the vehicle determines the second heading information on the vehicle according to the heading information on the electronic compass, the accuracy of the second heading information is low, so the electronic compass needs to be horizontally arranged on the vehicle to ensure the accuracy of the second heading information.
It can be understood that, since the electronic compass is provided on the vehicle, the accuracy of the heading information on the electronic compass is high when the vehicle is in a stationary state. Therefore, when the current speed of the vehicle is zero, the vehicle can obtain second heading information with higher accuracy by using the heading information on the electronic compass.
Optionally, after step 103, the method may further include, but is not limited to, the following implementation:
implementation mode 1: the vehicle stores the second heading information to complete the orientation of the vehicle.
Implementation mode 2: if the vehicle is converged by the course angle, the second course information is stored to complete the orientation of the vehicle.
It should be noted that, no matter whether the heading angle of the vehicle is converged or not, as long as the second heading information of the vehicle is acquired by the auxiliary electronic device, the second heading information can be stored, that is, automatically imported into the display and control interactive terminal of the vehicle, so as to be attached to the navigation system of the vehicle, thereby completing the orientation of the vehicle.
Implementation mode 3: the vehicle outputs the second heading information.
Optionally, the vehicle outputs the second heading information, which may include but is not limited to the following implementation manners:
implementation mode 1: the vehicle displays the second heading information on a display screen of the vehicle.
Implementation mode 2: the vehicle outputs the second heading information in the form of voice and/or text.
Implementation mode 3: the vehicle sends the second heading information to a terminal device associated with the vehicle.
It is understood that after the terminal device associated with the vehicle receives the second heading information transmitted by the vehicle, the second heading information can be output in the form of voice and/or text.
In the embodiment of the invention, a positioning signal of the vehicle is obtained; under the condition that the signal intensity of the positioning signal is smaller than a preset intensity value, acquiring first course information of the vehicle through a navigation system, wherein the first course information comprises a course angle; after the preset time, if the course angle is not converged, determining second course information of the vehicle by using auxiliary electronic equipment; wherein the auxiliary electronic device comprises a terminal device associated with the vehicle and/or an electronic compass associated with the vehicle. That is, the vehicle acquires the heading angle of the vehicle in the case that the signal strength of the acquired positioning signal is poor, and if the heading angle does not converge within the preset time period, the vehicle may determine the second heading information of the vehicle by means of a terminal device associated with the vehicle and/or an electronic compass associated with the vehicle. The method can ensure that the vehicle obtains the course angle of the vehicle by using the auxiliary electronic equipment under the condition that the signal intensity of the acquired positioning signal is poor, thereby ensuring that the vehicle can normally work.
As shown in fig. 2, which is a schematic view of another embodiment of the method for determining heading information in an embodiment of the present invention, the method may include:
201. and acquiring a positioning signal of the vehicle.
It should be noted that step 201 is similar to step 101 shown in fig. 1 in this embodiment, and is not described again here.
202. And acquiring first course information of the vehicle through a navigation system under the condition that the signal intensity of the positioning signal is greater than or equal to a preset intensity value.
Wherein the first heading information may include, but is not limited to, a heading angle.
Optionally, the vehicle obtains the first heading information of the vehicle through a navigation system, where the navigation system may include a GNSS and Micro-Electro-Mechanical Systems (MEMS) sensor, and may include: the vehicle acquires first data through a GNSS (global navigation satellite system), and acquires second data through an MEMS (micro-electromechanical system) sensor; the vehicle establishes a navigation system error equation and an observation equation according to the first data and the second data; the vehicle determines an observed quantity according to the navigation system error equation and the observation equation; and the vehicle obtains first course information of the vehicle according to the observed quantity.
Optionally, the first data may include, but is not limited to, at least one of: the attitude, position, speed, and heading angle of the vehicle; the second data may include, but is not limited to, at least one of: pressure, acceleration, and attitude angle of the vehicle; the observed quantity may include: the vehicle obtains the position difference, the speed difference and the course difference through the calculation of the GNSS and the MEMS; the first heading information may also include location information of the vehicle.
The navigation system error equation is X = FX + GW, and the observation equation is Z = HX + V.
X＝[δ p δ v ψ ε g ε a ] T ，δ p Indicating the position error, δ v Representing the velocity error,. Psi. g Representing the measurement error of the gyroscope, ∈ a Representing a measurement error of the accelerometer; f represents a state transition matrix; g represents a system state noise matrix; h represents an observation matrix; w represents a measurement system noise matrix; v denotes an observation noise matrix.
Optionally, the obtaining, by the vehicle according to the observed quantity, the first heading information of the vehicle may include: and the vehicle obtains the first course information of the vehicle by utilizing an EKF technology according to the observed quantity.
203. And acquiring first course information of the vehicle through a navigation system under the condition that the signal intensity of the positioning signal is smaller than the preset intensity value.
It should be noted that, step 202 and step 203 in fig. 2 have no specific implementation order, and are not limited herein.
204. And after the preset time, if the course angle is not converged, determining second course information of the vehicle by using auxiliary electronic equipment.
Wherein the auxiliary electronic device comprises a terminal device associated with the vehicle and/or an electronic compass associated with the vehicle.
It should be noted that steps 203-204 are similar to steps 102-103 shown in fig. 1 in this embodiment, and are not described here again.
In the embodiment of the invention, a positioning signal of the vehicle is acquired; under the condition that the signal intensity of the positioning signal is greater than or equal to a preset intensity value, acquiring first course information of the vehicle through a navigation system, wherein the first course information comprises a course angle; under the condition that the signal intensity of the positioning signal is smaller than a preset intensity value, acquiring first course information of the vehicle through a navigation system; after the preset time, if the course angle is not converged, determining second course information of the vehicle by using auxiliary electronic equipment; wherein the auxiliary electronic device comprises a terminal device associated with the vehicle and/or an electronic compass associated with the vehicle. That is, whether the signal strength of the positioning signal acquired by the vehicle is less than the preset strength value or greater than or equal to the preset strength value, the heading angle of the vehicle may be obtained, and if the heading angle does not converge within the preset time period, the vehicle may determine the second heading information of the vehicle by means of the terminal device associated with the vehicle and/or the electronic compass associated with the vehicle. The method can ensure that the vehicle can obtain the course angle of the vehicle by using the auxiliary electronic equipment without considering the signal intensity of the positioning signal, thereby ensuring that the vehicle can normally work.
As shown in fig. 3, which is a schematic diagram of an embodiment of a vehicle in an embodiment of the present invention, the vehicle may include:
an obtaining module 301, configured to obtain a positioning signal of the vehicle; under the condition that the signal intensity of the positioning signal is smaller than a preset intensity value, first course information of the vehicle is obtained, and the first course information comprises a course angle;
the processing module 302 is configured to determine, after a preset duration, second heading information of the vehicle by using the auxiliary electronic device if the heading angle is not converged; wherein the auxiliary electronic device comprises a terminal device associated with the vehicle, and/or an electronic compass associated with the vehicle.
It should be noted that the obtaining module 301 may be referred to as a vehicle body posture information measuring module; the processing module 302 may be divided into a navigation system computing module and an external assisted navigation electronics module.
Alternatively, in some embodiments of the invention,
when the auxiliary electronic device includes a terminal device associated with the vehicle, the processing module 302 is specifically configured to determine the second heading information of the vehicle using a compass in the terminal device.
Alternatively, in some embodiments of the present invention,
the processing module 302 is specifically configured to adjust a head of the vehicle, and obtain an included angle between a direction in which the head is located and a direction indicated by the compass;
the obtaining module 301 is specifically configured to obtain second heading information of the vehicle when the included angle is within a preset included angle range.
Alternatively, in some embodiments of the present invention,
the processing module 302 is specifically configured to adjust a head of the vehicle by referring to a direction indicated by a pointer in the terminal device.
Alternatively, in some embodiments of the present invention,
a processing module 302, further configured to detect a current speed of the vehicle; and when the current speed is zero, if the terminal equipment is determined to be horizontally parallel to the vehicle and the top of the terminal equipment is consistent with the direction of the head of the vehicle, starting a compass in the terminal equipment.
Alternatively, in some embodiments of the present invention,
when the auxiliary electronic device comprises an electronic compass associated with the vehicle, the processing module 302 is specifically configured to detect a current speed of the vehicle; when the current speed is zero, second heading information of the vehicle is determined by utilizing the heading information on the electronic compass.
Alternatively, in some embodiments of the present invention,
an obtaining module 301, specifically configured to obtain a first speed of the vehicle;
the processing module 302 is specifically configured to obtain first heading information of the vehicle according to the first speed.
Alternatively, in some embodiments of the invention,
a processing module 302, specifically configured to determine an incomplete constraint equation of the vehicle when the driving route of the vehicle is a straight line, where the incomplete constraint equation is
And
an acquisition module 301, in particular for acquiring a longitudinal axis speed of the vehicle by means of a speed sensor
According to the incomplete constraint equation of
And
and the speed of the longitudinal shaft
Obtaining a first speed
Alternatively, in some embodiments of the present invention,
a processing module 302, configured to convert the first speed in a navigation coordinate system to obtain a conversion speed; resolving the first speed through an Inertial Measurement Unit (IMU) to obtain a resolving speed, wherein the resolving speed is a speed under a carrier coordinate system; and obtaining first course information of the vehicle according to the conversion speed and the resolving speed.
Alternatively, in some embodiments of the present invention,
the first speed is a speed in the carrier coordinate system, and the processing module 302 is specifically configured to obtain a conversion speed according to a first formula; wherein the first formula is
V 0 The speed of the transition is indicated by the speed of the transition,
a state transition matrix is represented that represents the state transition,
representing the first speed.
Alternatively, in some embodiments of the present invention,
when the driving route of the vehicle is a straight line, the first formula is
Alternatively, in some embodiments of the present invention,
the processing module 302 is specifically configured to obtain an observed quantity according to a difference between the conversion speed and the resolving speed; and obtaining first course information of the vehicle according to the observed quantity.
As shown in fig. 4, which is a schematic diagram of another embodiment of the vehicle in the embodiment of the present invention, the method may include: a memory 401 and a processor 402; the memory 401 is coupled to the processor 402, and the processor 402 may call the executable program code stored in the memory 401;
in an embodiment of the invention, the vehicle comprises a processor 402 that also has the following functions:
acquiring a positioning signal of the vehicle;
under the condition that the signal intensity of the positioning signal is smaller than a preset intensity value, first course information of the vehicle is obtained, and the first course information comprises a course angle;
after the preset time, if the course angle is not converged, determining second course information of the vehicle by using auxiliary electronic equipment;
wherein the auxiliary electronic device comprises a terminal device associated with the vehicle and/or an electronic compass associated with the vehicle.
Optionally, the processor 402 further has the following functions:
when the secondary electronic device includes a terminal device associated with the vehicle, second heading information of the vehicle is determined using a compass in the terminal device.
Optionally, the processor 402 further has the following functions:
adjusting the head of the vehicle, and acquiring an included angle between the direction of the head and the direction pointed by the compass; and when the included angle is within the range of the preset included angle, acquiring second course information of the vehicle.
Optionally, the processor 402 further has the following functions:
and adjusting the head of the vehicle by referring to the direction pointed by the guide pin in the terminal equipment.
Optionally, the processor 402 further has the following functions:
detecting a current speed of the vehicle; and when the current speed is zero, if the terminal equipment is determined to be horizontally parallel to the vehicle and the top of the terminal equipment is consistent with the direction of the head of the vehicle, starting a compass in the terminal equipment.
Optionally, the processor 402 further has the following functions:
detecting a current speed of the vehicle when the auxiliary electronic device includes an electronic compass associated with the vehicle; when the current speed is zero, second heading information of the vehicle is determined by utilizing the heading information on the electronic compass.
Optionally, the processor 402 further has the following functions:
acquiring a first speed of the vehicle; and obtaining first course information of the vehicle according to the first speed.
Optionally, the processor 402 further has the following functions:
when the driving route of the vehicle is a straight line, determining an incomplete constraint equation of the vehicle, wherein the incomplete constraint equation is
And
acquiring the longitudinal shaft speed of the vehicle through a speed sensor
According to the incomplete constraint equation of
And
and the speed of the longitudinal shaft
Obtaining a first speed
Optionally, the processor 402 further has the following functions:
converting the first speed under a navigation coordinate system to obtain a conversion speed; resolving the first speed through an Inertial Measurement Unit (IMU) to obtain a resolving speed, wherein the resolving speed is a speed under a carrier coordinate system; and obtaining first course information of the vehicle according to the conversion speed and the resolving speed.
Optionally, the processor 402 further has the following functions:
the first speed is the speed under the carrier coordinate system, and the conversion speed is obtained according to a first formula; wherein the first formula is
V 0 The speed of the transition is indicated by the indication,
a state transition matrix is represented that represents the state transition,
representing the first speed.
Optionally, when the driving route of the vehicle is a straight line, the first formula is
Optionally, the processor 402 further has the following functions:
obtaining an observed quantity according to the difference value of the conversion speed and the resolving speed; and obtaining first course information of the vehicle according to the observed quantity.
In the above embodiments, all or part of the implementation may be realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product.
The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to be performed in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can store or a data storage device, such as a server, a data center, etc., that includes one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), among others.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is substantially or partly contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (14)
1. A course information determining method is applied to a vehicle and comprises the following steps:
acquiring a positioning signal of the vehicle;
under the condition that the signal intensity of the positioning signal is smaller than a preset intensity value, acquiring a first speed of the vehicle through a navigation system; obtaining first course information of the vehicle according to the first speed, wherein the first course information comprises a course angle;
after the preset time, if the course angle is not converged, determining second course information of the vehicle by using auxiliary electronic equipment;
wherein the auxiliary electronic device comprises a terminal device associated with the vehicle and/or an electronic compass associated with the vehicle.
2. The method of claim 1, wherein when the secondary electronic device comprises a terminal device associated with the vehicle, the determining, with the secondary electronic device, second heading information for the vehicle comprises:
and determining second course information of the vehicle by using a compass in the terminal equipment.
3. The method of claim 2, wherein determining the second heading information of the vehicle using a compass in the terminal device comprises:
adjusting the head of the vehicle, and acquiring an included angle between the direction of the head and the direction pointed by the compass;
and when the included angle is within a preset included angle range, acquiring second course information of the vehicle.
4. The method of claim 3, wherein the adjusting the nose of the vehicle comprises:
and adjusting the head of the vehicle by referring to the direction pointed by the guide pin in the terminal equipment.
5. The method of claim 2, wherein prior to said determining second heading information for said vehicle using a compass in said terminal device, said method further comprises:
detecting a current speed of the vehicle;
and when the current speed is zero, if the terminal equipment is determined to be horizontally parallel to the vehicle and the direction of the top of the terminal equipment is consistent with the direction of the head of the vehicle, starting a compass in the terminal equipment.
6. The method of claim 1, wherein when the secondary electronic device comprises an electronic compass associated with the vehicle, the determining, with the secondary electronic device, second heading information for the vehicle comprises:
detecting a current speed of the vehicle;
and when the current speed is zero, determining second heading information of the vehicle by using the heading information on the electronic compass.
7. The method of claim 1, wherein the obtaining, by the navigation system, the first speed of the vehicle comprises:
determining an incomplete constraint equation of the vehicle through a navigation system when the driving route of the vehicle is a straight line, wherein the incomplete constraint equation is a horizontal axis speed
And vertical shaft velocity
Acquiring the longitudinal axis speed of the vehicle through a speed sensor
According to the incomplete constraint equation of
And
and the speed of the longitudinal shaft
Obtaining a first speed
8. The method of claim 1, wherein obtaining the first heading information of the vehicle based on the first speed comprises:
converting the first speed under a navigation coordinate system to obtain a conversion speed;
resolving the first speed through an Inertial Measurement Unit (IMU) to obtain a resolving speed, wherein the resolving speed is a speed under a carrier coordinate system;
and obtaining first course information of the vehicle according to the conversion speed and the resolving speed.
9. The method of claim 8, wherein the first velocity is a velocity in a carrier coordinate system, and the converting the first velocity in the navigation coordinate system to obtain a converted velocity comprises:
obtaining a conversion speed according to a first formula;
wherein the first formula is
V 0 The speed of the switch-over is indicated,
a state transition matrix is represented that represents the state transition,
representing the first speed.
10. The method of claim 9, wherein the first formula is when the travel path of the vehicle is a straight line
11. The method of claim 8, wherein obtaining the first heading information of the vehicle based on the converted speed and the resolved speed comprises:
obtaining an observed quantity according to the difference value of the conversion speed and the resolving speed;
and obtaining first course information of the vehicle according to the observed quantity.
12. A vehicle, characterized by comprising:
the acquisition module is used for acquiring a positioning signal of the vehicle; under the condition that the signal intensity of the positioning signal is smaller than a preset intensity value, acquiring a first speed of the vehicle through a navigation system;
the processing module is used for obtaining first course information of the vehicle according to the first speed, and the first course information comprises a course angle; after the preset time, if the course angle is not converged, determining second course information of the vehicle by using auxiliary electronic equipment; wherein the auxiliary electronic device comprises a terminal device associated with the vehicle and/or an electronic compass associated with the vehicle.
13. A vehicle, characterized by comprising:
a memory storing executable program code;
and a processor coupled to the memory;
the processor calls the executable program code stored in the memory, which when executed by the processor causes the processor to implement the method of any of claims 1-11.
14. A computer-readable storage medium having executable program code stored thereon, wherein the executable program code, when executed by a processor, implements the method of any of claims 1-11.
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| CN103543458A (en) * | 2012-07-10 | 2014-01-29 | 美国博通公司 | Power mode control for sensors |
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