CN113847914B - Vehicle positioning method and device, electronic equipment and storage medium - Google Patents
Vehicle positioning method and device, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN113847914B CN113847914B CN202111105360.4A CN202111105360A CN113847914B CN 113847914 B CN113847914 B CN 113847914B CN 202111105360 A CN202111105360 A CN 202111105360A CN 113847914 B CN113847914 B CN 113847914B
- Authority
- CN
- China
- Prior art keywords
- target vehicle
- positioning mode
- scene
- current
- satellite
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 56
- 238000010295 mobile communication Methods 0.000 claims abstract description 65
- 238000004364 calculation method Methods 0.000 claims abstract description 61
- 238000004590 computer program Methods 0.000 claims description 4
- 230000004807 localization Effects 0.000 claims 2
- 230000003287 optical effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000001186 cumulative effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007499 fusion processing Methods 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000011056 performance test Methods 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- 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
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
Abstract
The embodiment of the invention discloses a vehicle positioning method, a vehicle positioning device, electronic equipment and a storage medium. The method comprises the following steps: determining whether a current scene of the target vehicle is a satellite-free signal scene; if the scene is a satellite-free signal scene, carrying out position calculation on the current running position of the target vehicle based on a fifth-generation mobile communication positioning mode and an inertial navigation positioning mode; the current position information of the target vehicle is generated based on the result of the calculation of the current traveling position of the target vehicle. According to the technical scheme provided by the embodiment of the invention, the current running position of the target vehicle can be calculated by combining the inertial navigation positioning mode and the fifth generation mobile communication positioning mode, so that the problem of large positioning accumulated error in long-distance running when only the inertial navigation positioning mode is adopted is avoided, the calculation precision is improved, and the accuracy and the effectiveness of the current position information are improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of automobile positioning, in particular to a vehicle positioning method, a vehicle positioning device, electronic equipment and a storage medium.
Background
Along with the continuous development of positioning navigation technology, the requirements of vehicles on positioning precision are also continuously increased. Meanwhile, due to rapid development of urban construction, scenes such as ultra-long-distance tunnels, expressways and underground parking lots are gradually increased, and great challenges are brought to the accuracy of vehicle positioning.
At present, a GNSS (Global Navigation Satellite System ) is adopted to position a vehicle in a region with stronger satellite signals; in a specific scene of weak satellite signals such as a tunnel, an underground parking garage and the like, an inertial navigation system is generally used for positioning a vehicle; that is, the result of the GNSS positioning of the vehicle before entering the specific scene is used to calculate the position in the specific scene by using the inertial navigation system.
The prior art can provide continuous position output for the vehicle, but the inertial navigation system has low positioning accuracy, and can generate larger positioning accumulated errors for the scenes such as ultra-long tunnels or large-scale underground parking lots, thereby reducing the accuracy of vehicle positioning and even exceeding the allowable error range of vehicle navigation.
Disclosure of Invention
The embodiment of the invention provides a vehicle positioning method, a device, electronic equipment and a storage medium, solves the problem of large positioning accumulated error in long-distance operation when only adopting an inertial navigation positioning mode, improves the calculation precision, and is beneficial to improving the accuracy and the effectiveness of current position information.
In a first aspect, an embodiment of the present invention provides a vehicle positioning method, which may include:
determining whether a current scene of the target vehicle is a satellite-free signal scene;
if the scene is a satellite-free signal scene, carrying out position calculation on the current running position of the target vehicle based on a fifth-generation mobile communication positioning mode and an inertial navigation positioning mode;
and generating current position information of the target vehicle based on a result of the calculation of the current running position of the target vehicle.
In a second aspect, an embodiment of the present invention further provides a vehicle positioning device, which may include:
the scene determining module is used for determining whether the current scene of the target vehicle is a satellite-free signal scene or not; if the scene is a satellite-free signal scene, entering a position resolving module;
the position resolving module is used for resolving the current running position of the target vehicle based on a fifth-generation mobile communication positioning mode and an inertial navigation positioning mode;
and the generation position information module is used for generating the current position information of the target vehicle based on the calculation result of the current running position of the target vehicle.
In a third aspect, an embodiment of the present invention further provides an electronic device, which may include:
one or more processors;
a memory for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the vehicle locating method provided by any of the embodiments of the present invention.
In a fourth aspect, embodiments of the present invention further provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the vehicle positioning method provided by any of the embodiments of the present invention.
According to the vehicle positioning method provided by the embodiment of the invention, when the current scene of the target vehicle is determined to be a satellite-free signal scene, the current running position of the target vehicle can be calculated based on the fifth-generation mobile communication positioning mode and the inertial navigation positioning mode, so that the problem that the accumulated positioning error is large when the inertial navigation positioning mode runs for a long distance is solved, and the current position information of the target vehicle is generated based on the calculation result of the current running position of the target vehicle. Therefore, the current running position of the target vehicle is calculated by combining the inertial navigation positioning mode and the fifth generation mobile communication positioning mode, so that the problem of large positioning accumulated error during long-distance running when only the inertial navigation positioning mode is adopted is avoided, the calculation precision is improved, and the accuracy and the effectiveness of the current position information are improved.
In addition, the vehicle positioning device, the electronic equipment and the storage medium provided by the invention correspond to the method and have the same beneficial effects.
Drawings
For a clearer description of embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described, it being apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.
FIG. 1 is a flow chart of a vehicle positioning method according to an embodiment of the present invention;
FIG. 2 is a flow chart of another method for locating a vehicle according to an embodiment of the present invention;
FIG. 3 is a flowchart of another vehicle positioning method according to an embodiment of the present invention;
FIG. 4 is a block diagram of a vehicle positioning device according to an embodiment of the present invention;
fig. 5 is a block diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
The invention provides a vehicle positioning method, a device, electronic equipment and a storage medium, which solve the problem of large positioning accumulated error in long-distance operation when only adopting an inertial navigation positioning mode, improve the calculation precision and are beneficial to improving the accuracy and the effectiveness of current position information.
In order to better understand the aspects of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and detailed description.
Example 1
Fig. 1 is a flowchart of a vehicle positioning method according to an embodiment of the present invention. The method may be performed by a vehicle positioning device provided by an embodiment of the present invention, where the device may be implemented in software and/or hardware, and the device may be integrated on various user terminals or servers.
As shown in fig. 1, the method in the embodiment of the invention specifically includes the following steps:
s101, determining whether a current scene of a target vehicle is a satellite-free signal scene; if a satellite-free signal scenario is present, S102 is entered.
In a specific implementation, in order to ensure accuracy of a vehicle positioning result, a GNSS mode is adopted to position a target vehicle when a satellite signal scene exists. Therefore, before determining the positioning mode of the target vehicle, it is necessary to determine whether the target vehicle is in a satellite signal free scene. Specifically, the satellite-free signal scene includes the scenes of under-bridge, tunnel, parking building and the like.
Optionally, determining whether the current scene of the target vehicle is a satellite-free signal scene includes: receiving satellite signals sent by a global navigation satellite system antenna, and determining whether the signal strength of the satellite signals is smaller than a preset threshold value; if the current scene is smaller than the preset threshold value, determining that the current scene of the target vehicle is a satellite-free signal scene.
Specifically, when the signal strength of the detected satellite signal is smaller than a preset threshold value, it is determined that the target vehicle is currently in a satellite signal free scene. The preset threshold is a value greater than 0, and a person skilled in the art can determine the value of the preset threshold according to practical application conditions, which is not limited in the embodiment of the present invention. When the satellite signal is not detected, the signal intensity of the satellite signal can be determined to be 0, the signal intensity is smaller than a preset threshold value, and the current scene of the target vehicle is a satellite signal-free scene, so that the target vehicle cannot be positioned by adopting a GNSS mode.
S102, performing position calculation on the current running position of the target vehicle based on the fifth-generation mobile communication positioning mode and the inertial navigation positioning mode.
Specifically, when the current scene of the target vehicle is a satellite-signal-free scene, the position of the current running position of the target vehicle can be calculated by adopting a mode combining a fifth-generation mobile communication positioning mode and an inertial navigation positioning mode.
For example, in order to compensate for a positioning error caused by the inertial navigation positioning mode when the vehicle travels a long distance, the position of the target vehicle may be calculated by adopting the inertial navigation positioning mode within a preset travel distance when the target vehicle is in a satellite signal-free scene, and when the travel distance exceeds the preset travel distance, the position of the target vehicle may be calculated by adopting a fifth generation mobile communication positioning mode. Or simultaneously adopting a fifth-generation mobile communication positioning mode and an inertial navigation positioning mode to carry out position calculation on the current running position of the target vehicle, carrying out data fusion processing based on the fifth-generation mobile communication calculation result and the inertial navigation calculation result, and determining the current running position of the target vehicle to carry out position calculation.
S103, generating current position information of the target vehicle based on a solution result of the current running position of the target vehicle.
In a specific implementation, the resolving result is obtained by resolving the current running position of the target vehicle based on the fifth-generation mobile communication positioning mode and the inertial navigation positioning mode, so the resolving result obtained at present is a resolving result under the fifth-generation mobile communication coordinate system, and the resolving result of the target vehicle can be converted into a satellite system coordinate system corresponding to the global navigation satellite system in order to ensure that the coordinate system of the target vehicle under the satellite signal-free scene and the satellite signal scene is unified.
Optionally, the conversion from the fifth generation mobile communication coordinate system to the global navigation satellite system coordinate system can be completed based on the position relationship between the fifth generation mobile communication antenna and the global navigation satellite system antenna. The method of the embodiment of the invention further comprises the following steps: and (3) calculating the position relation between the fifth-generation mobile communication antenna and the global navigation satellite system antenna.
Optionally, generating the current location information of the target vehicle based on the result of the calculation of the current driving location of the target vehicle includes: converting a calculation result of the target vehicle into a satellite system coordinate system corresponding to the global navigation satellite system based on the position relation; and generating the current position information of the target vehicle based on the resolving result in the satellite system coordinate system.
According to the vehicle positioning method provided by the embodiment of the invention, when the current scene of the target vehicle is determined to be a satellite-free signal scene, the current running position of the target vehicle can be calculated based on the fifth-generation mobile communication positioning mode and the inertial navigation positioning mode, so that the problem that the accumulated positioning error is large when the inertial navigation positioning mode runs for a long distance is solved, and the current position information of the target vehicle is generated based on the calculation result of the current running position of the target vehicle. Therefore, the current running position of the target vehicle is calculated by combining the inertial navigation positioning mode and the fifth generation mobile communication positioning mode, so that the problem of large positioning accumulated error during long-distance running when only the inertial navigation positioning mode is adopted is avoided, the calculation precision is improved, and the accuracy and the effectiveness of the current position information are improved.
Example two
Fig. 2 is a flowchart of another vehicle positioning method according to an embodiment of the present invention, where the present embodiment is optimized based on the above technical solutions. Optionally, the calculating the current running position of the target vehicle based on the fifth generation mobile communication positioning mode and the inertial navigation positioning mode includes: starting an inertial navigation positioning mode to carry out position calculation on the current running position of the target vehicle; calculating a positioning total error value generated in the running process of the target vehicle, and determining whether the positioning total error value of the target vehicle reaches a preset error requirement; and if the preset error requirement is met, starting a fifth generation mobile communication positioning mode to carry out position calculation on the current running position of the target vehicle. Wherein, the explanation of the same or corresponding terms as the above embodiments is not repeated herein.
As shown in fig. 2, the method in the embodiment of the present invention specifically includes the following steps:
s201, determining whether a current scene of a target vehicle is a satellite-free signal scene; if a satellite-free signal scenario is present, S202 is entered.
S202, starting an inertial navigation positioning mode to carry out position calculation on the current running position of the target vehicle; calculating a positioning total error value generated in the running process of the target vehicle, and determining whether the positioning total error value of the target vehicle reaches a preset error requirement; if the preset error requirement is reached, the process proceeds to S203.
Specifically, the inertial navigation positioning mode can be started to perform position calculation on the target vehicle, and whether the fifth generation mobile communication positioning mode needs to be started to perform position calculation on the current running position of the target vehicle is determined based on the total positioning error value generated in the running process of the target vehicle.
Specifically, when the total positioning error value does not reach the preset error requirement, the error generated by the current position calculation by adopting the inertial navigation positioning mode is within the allowable error range, and the positioning effect by adopting the inertial navigation positioning mode is better than that by adopting the fifth generation mobile communication positioning mode, so that the position calculation can be performed by adopting the inertial navigation positioning mode.
Optionally, calculating a positioning total error value generated during the driving process of the target vehicle includes: determining an initial error value generated by a target vehicle before entering a satellite-free signal scene based on satellite states of a global navigation satellite; determining an accumulated error value generated by the running of the target vehicle in a satellite-free signal scene based on a preset corresponding relation between the running mileage of the vehicle and the error value when an inertial navigation positioning mode is adopted; and determining the total positioning error value generated during the running process of the target vehicle based on the accumulated error value and the initial error value.
Specifically, the initial error value is an error generated when the global navigation satellite system is adopted for positioning before entering the non-satellite signal scene. An initial error value generated by the target vehicle location may be determined based on satellite states such as a current satellite precision factor of the global navigation satellite.
Specifically, since the initial error direction and the cumulative error direction of the positioning result may not be the same with respect to the true position, the arithmetic square root may be used as the positioning total error value. Exemplary, the Total error value is locatedWherein delta is Initial initiation Delta as initial error value Accumulation of To accumulate error values.
Further, a correspondence between a driving distance of the vehicle and an error value when the inertial navigation positioning mode is adopted can be determined based on a performance test of the inertial navigation system, and an accumulated error value is determined based on the correspondence and the driving distance of the target vehicle when the inertial navigation positioning mode is adopted. Illustratively, the inertial navigation cumulative error is 1.5% to 2% of the range. And determining the driving mileage after the inertial navigation is started by acquiring the speed information of the vehicle, and further determining the accumulated error value of the inertial navigation system.
Optionally, determining whether the total error value of the positioning of the target vehicle meets the preset error requirement includes: determining whether the current driving scene of the target vehicle is an outdoor scene or not, and if the current driving scene is the outdoor scene, determining whether the positioning total error value of the target vehicle is larger than a preset outdoor error value or not; if the target vehicle is not in the outdoor scene, determining whether the positioning total error value of the target vehicle is larger than a preset indoor error value.
Specifically, whether the scene in which the target vehicle is currently located is an outdoor scene may be determined based on communication between the fifth-generation mobile communication terminal and the fifth-generation mobile communication base station. For example, outdoor scenes requiring the fifth generation mobile communication positioning mode include urban open roads, urban canyons, under-bridge and tunnels, and indoor scenes may include parking buildings and the like. The preset outdoor error value may be set to 10 meters for an outdoor scene and 3 meters for an indoor scene. When the target vehicle is determined to be switched from an indoor scene to an outdoor scene, if the calculated positioning total error value belongs to a preset interval (3, 10), an inertial navigation positioning mode can be continuously adopted.
S203, starting a fifth-generation mobile communication positioning mode to carry out position calculation on the current running position of the target vehicle.
Further, when the total positioning error value reaches the preset error requirement, it is indicated that the total positioning error value generated by performing position calculation in the inertial navigation positioning mode currently exceeds the error range allowed to be received, and the fifth generation mobile communication positioning mode needs to be started to perform position calculation on the current running position of the target vehicle so as to ensure the positioning accuracy of the target vehicle.
S204, generating current position information of the target vehicle based on a solution result of the current running position of the target vehicle.
According to the vehicle positioning method provided by the embodiment of the invention, when the total positioning error generated by the inertial navigation positioning mode reaches the preset error requirement, the current running position of the target vehicle is subjected to position calculation by adopting the fifth generation mobile communication positioning mode, so that the larger accumulated error generated by positioning by the inertial navigation positioning mode is avoided.
Example III
Fig. 3 is a flowchart of another vehicle positioning method according to an embodiment of the present invention, where the method is optimized based on the above technical solutions. Optionally, the calculating the current running position of the target vehicle based on the fifth generation mobile communication positioning mode and the inertial navigation positioning mode includes: determining the current driving mileage of a target vehicle in a non-satellite signal scene; determining the positioning mode weights corresponding to the fifth-generation mobile communication positioning mode and the inertial navigation positioning mode respectively based on the corresponding relation between the current driving mileage and the preset driving mileage and the positioning mode weights; determining a first driving position obtained when the target vehicle is positioned according to a fifth generation mobile communication positioning mode and a second driving position obtained when the target vehicle is positioned according to an inertial navigation positioning mode; and carrying out weighted summation calculation on the first running position and the second running position based on the positioning mode weights corresponding to the fifth-generation mobile communication positioning mode and the inertial navigation positioning mode. Wherein, the explanation of the same or corresponding terms as the above embodiments is not repeated herein.
As shown in fig. 3, the method in the embodiment of the present invention specifically includes the following steps:
s301, determining whether a current scene of a target vehicle is a satellite-free signal scene; if a satellite-free signal scenario is assumed, the process proceeds to S302.
S302, determining the current driving mileage of a target vehicle in a non-satellite signal scene; and respectively determining the positioning mode weights corresponding to the fifth-generation mobile communication positioning mode and the inertial navigation positioning mode based on the corresponding relation between the current driving distance and the preset driving distance and the positioning mode weights.
Exemplary, the correspondence between the driving distance and the positioning mode weight is shown in table 1.
TABLE 1
Specifically, when the target vehicle enters a satellite signal-free scene, the position of the target vehicle can be resolved by adopting a fifth-generation mobile communication positioning mode and an inertial navigation positioning mode at the same time.
Specifically, the corresponding relation between the driving distance and the weight of the positioning mode can be preset, and as the driving distance increases, the weight of the positioning mode of the corresponding fifth-generation mobile communication positioning mode increases. Based on the corresponding relation between the current driving mileage and the preset driving mileage and the positioning mode weight, the positioning mode weights corresponding to the fifth generation mobile communication positioning mode and the inertial navigation positioning mode can be respectively determined.
S303, determining a first running position obtained when the target vehicle is positioned according to a fifth-generation mobile communication positioning mode and a second running position obtained when the target vehicle is positioned according to an inertial navigation positioning mode; and carrying out weighted summation calculation on the first running position and the second running position based on the positioning mode weights corresponding to the fifth-generation mobile communication positioning mode and the inertial navigation positioning mode.
For example, the first travel position and the second travel position may be embodied in the form of longitude and latitude. And carrying out weighted summation calculation on the first driving position and the second driving position based on the positioning mode weights corresponding to the fifth-generation mobile communication positioning mode and the inertial navigation positioning mode, taking the calculation result as a calculation result of the target vehicle, and generating the current position information of the target vehicle based on the calculation result.
And S304, generating current position information of the target vehicle based on the calculation result.
According to the embodiment of the invention, the current position information of the target vehicle is determined based on setting the positioning mode weights corresponding to the fifth-generation mobile communication positioning mode and the inertial navigation positioning mode, so that the jump problem generated when the inertial navigation positioning mode is switched to the fifth-generation mobile communication positioning mode can be solved, and the running track of the target vehicle is continuously and smoothly ensured in the process of switching the fifth-generation mobile communication positioning mode weight from 0% to 100%.
Example IV
Fig. 4 is a block diagram of a vehicle positioning device according to an embodiment of the present invention, where the device is configured to execute the vehicle positioning method provided in any of the foregoing embodiments. The device and the vehicle positioning method of the above embodiments belong to the same inventive concept, and reference may be made to the above embodiments of the vehicle positioning method for details not described in detail in the embodiments of the vehicle positioning device. As shown in fig. 4, the apparatus may specifically include:
a determining scene module 10, configured to determine whether a current scene of the target vehicle is a satellite signal-free scene; if the scene is a satellite-free signal scene, entering a position resolving module;
the position resolving module 11 is used for resolving the current running position of the target vehicle based on a fifth-generation mobile communication positioning mode and an inertial navigation positioning mode;
a generated position information module 12 for generating current position information of the target vehicle based on a result of the calculation of the current traveling position of the target vehicle.
Optionally, the location calculation module 11 includes:
the starting unit is used for starting an inertial navigation positioning mode to carry out position calculation on the current running position of the target vehicle; calculating a positioning total error value generated in the running process of the target vehicle, and determining whether the positioning total error value of the target vehicle reaches a preset error requirement; and if the preset error requirement is met, starting a fifth generation mobile communication positioning mode to carry out position calculation on the current running position of the target vehicle.
Optionally, the starting unit includes:
a unit for determining a positioning total error value, which is used for determining an initial error value generated by a target vehicle before entering a satellite-free signal scene based on the satellite state of the global navigation satellite; determining an accumulated error value generated by the running of the target vehicle in a satellite-free signal scene based on a preset corresponding relation between the running mileage of the vehicle and the error value when an inertial navigation positioning mode is adopted; and determining a positioning total error value generated during the running process of the target vehicle based on the accumulated error value and the initial error value.
Optionally, the starting unit includes:
the driving scene determining unit is used for determining whether the current driving scene of the target vehicle is an outdoor scene or not, and if the current driving scene is the outdoor scene, determining whether the positioning total error value of the target vehicle is larger than a preset outdoor error value or not; if the target vehicle is not in the outdoor scene, determining whether the positioning total error value of the target vehicle is larger than a preset indoor error value.
Optionally, the location calculation module 11 includes:
the driving mileage unit is used for determining the current driving mileage of the target vehicle in the non-satellite signal scene; determining the positioning mode weights corresponding to the fifth-generation mobile communication positioning mode and the inertial navigation positioning mode respectively based on the corresponding relation between the current driving mileage and the preset driving mileage and the positioning mode weights; determining a first driving position obtained when the target vehicle is positioned according to a fifth generation mobile communication positioning mode and a second driving position obtained when the target vehicle is positioned according to an inertial navigation positioning mode; and carrying out weighted summation calculation on the first running position and the second running position based on the positioning mode weights corresponding to the fifth-generation mobile communication positioning mode and the inertial navigation positioning mode.
Optionally, the device further includes:
the resolving position relation module is used for resolving the position relation between the fifth generation mobile communication antenna and the global navigation satellite system antenna;
the generation position information module 12 includes:
the transformation coordinate system unit is used for transforming the resolving result of the target vehicle into a satellite system coordinate system corresponding to the global navigation satellite system based on the position relation; and generating the current position information of the target vehicle based on the resolving result in the satellite system coordinate system.
Optionally, determining the scene module 10 includes:
the satellite signal receiving unit is used for receiving satellite signals sent by the global navigation satellite system antenna and determining whether the signal strength of the satellite signals is smaller than a preset threshold value; if the current scene is smaller than the preset threshold value, determining that the current scene of the target vehicle is a satellite-free signal scene.
The vehicle positioning device provided by the embodiment of the invention can execute the vehicle positioning method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
It should be noted that, in the embodiment of the vehicle positioning device, each unit and module included are only divided according to the functional logic, but are not limited to the above-mentioned division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.
Example five
Fig. 5 is a block diagram of an electronic device according to an embodiment of the present invention. Fig. 5 shows a block diagram of an exemplary electronic device 20 suitable for use in implementing the embodiments of the present invention. The electronic device 20 shown is merely an example and should not be construed to limit the functionality and scope of use of embodiments of the present invention in any way.
As shown in fig. 5, the electronic device 20 is in the form of a general purpose computing device. Components of electronic device 20 may include, but are not limited to: one or more processors or processing units 201, a system memory 202, and a bus 203 that connects the various system components (including the system memory 202 and the processing units 201).
Bus 203 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Electronic device 20 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by electronic device 20 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 202 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 204 and/or cache memory 205. The electronic device 20 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 206 may be used to read from or write to non-removable, nonvolatile magnetic media. A magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk such as a CD-ROM, DVD-ROM, or other optical media may be provided. In these cases, each drive may be coupled to bus 203 through one or more data medium interfaces. Memory 202 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of embodiments of the invention.
A program/utility 208 having a set (at least one) of program modules 207 may be stored in, for example, memory 202, such program modules 207 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 207 generally perform the functions and/or methods of the embodiments described herein.
The electronic device 20 may also communicate with one or more external devices 209 (e.g., keyboard, pointing device, display 210, etc.), one or more devices that enable a user to interact with the electronic device 20, and/or any devices (e.g., network card, modem, etc.) that enable the electronic device 20 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 211. Also, electronic device 20 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through network adapter 212. As shown, network adapter 212 communicates with other modules of electronic device 20 over bus 203. It should be appreciated that other hardware and/or software modules may be used in connection with electronic device 20, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The processing unit 201 executes various functional applications and data processing by running programs stored in the system memory 202.
The electronic equipment provided by the invention can realize the following method: determining whether a current scene of the target vehicle is a satellite-free signal scene; if the scene is a satellite-free signal scene, carrying out position calculation on the current running position of the target vehicle based on a fifth-generation mobile communication positioning mode and an inertial navigation positioning mode; the current position information of the target vehicle is generated based on the result of the calculation of the current traveling position of the target vehicle. Therefore, the current running position of the target vehicle is calculated by combining the inertial navigation positioning mode and the fifth generation mobile communication positioning mode, so that the problem of large positioning accumulated error during long-distance running when only the inertial navigation positioning mode is adopted is avoided, the calculation precision is improved, and the accuracy and the effectiveness of the current position information are improved.
Example six
Embodiments of the present invention provide a storage medium containing computer executable instructions which, when executed by a computer processor, are used to perform a vehicle positioning method comprising: determining whether a current scene of the target vehicle is a satellite-free signal scene; if the scene is a satellite-free signal scene, carrying out position calculation on the current running position of the target vehicle based on a fifth-generation mobile communication positioning mode and an inertial navigation positioning mode; the current position information of the target vehicle is generated based on the result of the calculation of the current traveling position of the target vehicle. Therefore, the current running position of the target vehicle is calculated by combining the inertial navigation positioning mode and the fifth generation mobile communication positioning mode, so that the problem of large positioning accumulated error during long-distance running when only the inertial navigation positioning mode is adopted is avoided, the calculation precision is improved, and the accuracy and the effectiveness of the current position information are improved.
Of course, the storage medium containing the computer executable instructions provided in the embodiments of the present invention is not limited to the method operations described above, and may also perform the related operations in the vehicle positioning method provided in any embodiment of the present invention.
The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (8)
1. A vehicle positioning method, characterized by comprising:
determining whether a current scene of the target vehicle is a satellite-free signal scene;
if the scene is a satellite-free signal scene, carrying out position calculation on the current running position of the target vehicle based on a fifth-generation mobile communication positioning mode and an inertial navigation positioning mode;
generating current position information of the target vehicle based on a result of the calculation of the current traveling position of the target vehicle;
the calculating the current running position of the target vehicle based on the fifth generation mobile communication positioning mode and the inertial navigation positioning mode comprises the following steps:
starting the inertial navigation positioning mode to perform position calculation on the current running position of the target vehicle;
calculating a positioning total error value generated in the running process of the target vehicle, and determining whether the positioning total error value of the target vehicle reaches a preset error requirement;
if the preset error requirement is met, starting the fifth generation mobile communication positioning mode to carry out position calculation on the current running position of the target vehicle;
the calculating the current running position of the target vehicle based on the fifth generation mobile communication positioning mode and the inertial navigation positioning mode comprises the following steps:
determining a current driving distance of the target vehicle in the non-satellite signal scene;
determining the positioning mode weights corresponding to the fifth-generation mobile communication positioning mode and the inertial navigation positioning mode respectively based on the corresponding relation between the current driving mileage and the preset driving mileage and the positioning mode weights;
determining a first driving position obtained when the target vehicle is positioned according to the fifth generation mobile communication positioning mode and a second driving position obtained when the target vehicle is positioned according to the inertial navigation positioning mode;
and carrying out weighted summation calculation on the first running position and the second running position based on the positioning mode weights corresponding to the fifth-generation mobile communication positioning mode and the inertial navigation positioning mode.
2. The method of claim 1, wherein said calculating a total position fix error value generated during travel of said target vehicle comprises:
determining an initial error value generated by the target vehicle before entering the satellite-free signal scene based on satellite states of global navigation satellites;
determining an accumulated error value generated by the target vehicle driving in the satellite-free signal scene based on a preset corresponding relation between the driving mileage of the vehicle and the error value when the inertial navigation positioning mode is adopted;
and determining the positioning total error value generated in the driving process of the target vehicle based on the accumulated error value and the initial error value.
3. The method of claim 1, wherein the determining whether the total error value for the target vehicle reaches a preset error requirement comprises:
determining whether a current driving scene of the target vehicle is an outdoor scene or not, and if the current driving scene is the outdoor scene, determining whether the positioning total error value of the target vehicle is larger than a preset outdoor error value or not;
if not, determining whether the positioning total error value of the target vehicle is greater than a preset indoor error value.
4. The method as recited in claim 1, further comprising:
the position relation between the fifth generation mobile communication antenna and the global navigation satellite system antenna is calculated;
the generating current position information of the target vehicle based on the result of the calculation of the current running position of the target vehicle includes:
converting the calculation result of the target vehicle to a satellite system coordinate system corresponding to a global navigation satellite system based on the position relation;
and generating the current position information of the target vehicle based on a resolving result in the satellite system coordinate system.
5. The method of claim 1, wherein determining whether the current scene of the target vehicle is a satellite-free scene comprises:
receiving satellite signals sent by a global navigation satellite system antenna, and determining whether the signal strength of the satellite signals is smaller than a preset threshold value;
and if the current scene of the target vehicle is smaller than the preset threshold value, determining that the current scene of the target vehicle is the satellite-free signal scene.
6. A vehicle positioning device, characterized by comprising:
the scene determining module is used for determining whether the current scene of the target vehicle is a satellite-free signal scene or not; if the scene is a satellite-free signal scene, entering a position resolving module;
the position resolving module is used for resolving the current running position of the target vehicle based on a fifth-generation mobile communication positioning mode and an inertial navigation positioning mode;
a generation position information module that generates current position information of the target vehicle based on a result of the calculation of the current travel position of the target vehicle;
wherein the position calculation module includes:
the starting unit is used for starting the inertial navigation positioning mode to carry out position calculation on the current running position of the target vehicle; calculating a positioning total error value generated in the running process of the target vehicle, and determining whether the positioning total error value of the target vehicle reaches a preset error requirement; if the preset error requirement is met, starting the fifth generation mobile communication positioning mode to carry out position calculation on the current running position of the target vehicle;
a driving mileage unit is used for determining the current driving mileage of the target vehicle in the non-satellite signal scene; determining the positioning mode weights corresponding to the fifth-generation mobile communication positioning mode and the inertial navigation positioning mode respectively based on the corresponding relation between the current driving mileage and the preset driving mileage and the positioning mode weights; determining a first driving position obtained when the target vehicle is positioned according to the fifth generation mobile communication positioning mode and a second driving position obtained when the target vehicle is positioned according to the inertial navigation positioning mode; and carrying out weighted summation calculation on the first running position and the second running position based on the positioning mode weights corresponding to the fifth-generation mobile communication positioning mode and the inertial navigation positioning mode.
7. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, causes the one or more processors to implement the vehicle localization method of any one of claims 1-5.
8. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the vehicle localization method as claimed in any one of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111105360.4A CN113847914B (en) | 2021-09-22 | 2021-09-22 | Vehicle positioning method and device, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111105360.4A CN113847914B (en) | 2021-09-22 | 2021-09-22 | Vehicle positioning method and device, electronic equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113847914A CN113847914A (en) | 2021-12-28 |
| CN113847914B true CN113847914B (en) | 2024-03-26 |
Family
ID=78974831
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111105360.4A Active CN113847914B (en) | 2021-09-22 | 2021-09-22 | Vehicle positioning method and device, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113847914B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115792989B (en) * | 2023-02-03 | 2023-05-09 | 深圳市视美泰技术股份有限公司 | Positioning method and system for electric bicycle |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107339986A (en) * | 2017-07-04 | 2017-11-10 | 郑州大学 | A kind of localization method, apparatus and system |
| CN107478221A (en) * | 2017-08-11 | 2017-12-15 | 黄润芳 | A kind of high-precision locating method for mobile terminal |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102395294B1 (en) * | 2017-07-21 | 2022-05-09 | 현대자동차주식회사 | Navigation apparatus and method for vehicle, and navigation system |
-
2021
- 2021-09-22 CN CN202111105360.4A patent/CN113847914B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107339986A (en) * | 2017-07-04 | 2017-11-10 | 郑州大学 | A kind of localization method, apparatus and system |
| CN107478221A (en) * | 2017-08-11 | 2017-12-15 | 黄润芳 | A kind of high-precision locating method for mobile terminal |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113847914A (en) | 2021-12-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110909460B (en) | V2X simulation test method, device, equipment and storage medium for Internet of vehicles | |
| CN110415545B (en) | Lane positioning method and device, electronic equipment and storage medium | |
| CN112798004B (en) | Positioning method, device and equipment for vehicle and storage medium | |
| CN110427444B (en) | Navigation guide point mining method, device, equipment and storage medium | |
| US11073396B2 (en) | Integrated positioning method and system | |
| CN107883974B (en) | Navigation path planning method, navigation server and computer readable medium | |
| CN113335276A (en) | Obstacle trajectory prediction method, obstacle trajectory prediction device, electronic device, and storage medium | |
| US11307038B2 (en) | Method and device for acquiring road track, and storage medium | |
| CN110346825B (en) | Vehicle positioning method and device, vehicle and storage medium | |
| CN111711921A (en) | Method, device and equipment for searching vehicle and storage medium | |
| CN113847914B (en) | Vehicle positioning method and device, electronic equipment and storage medium | |
| CN111352142A (en) | Indoor parking positioning method and device, electronic equipment and medium | |
| CN113537362A (en) | Perception fusion method, device, equipment and medium based on vehicle-road cooperation | |
| CN111354217A (en) | Parking route determining method, device, equipment and medium | |
| CN110008921B (en) | Road boundary generation method and device, electronic equipment and storage medium | |
| CN110647600B (en) | Three-dimensional map construction method, device, server and storage medium | |
| CN109348408B (en) | Parking space determining method and device, electronic equipment, vehicle and storage medium | |
| CN111121755B (en) | Multi-sensor fusion positioning method, device, equipment and storage medium | |
| US11104329B2 (en) | Parking control method and apparatus, and storage medium | |
| CN109270566B (en) | Navigation method, navigation effect testing method, device, equipment and medium | |
| CN115808929B (en) | Vehicle simulation obstacle avoidance method and device, electronic equipment and computer readable medium | |
| CN109446433B (en) | Method, device, server and storage medium for verifying failure of interest point | |
| CN112396125A (en) | Classification method, device, equipment and storage medium for positioning test scenes | |
| CN112013864A (en) | Method, device and equipment for remotely starting vehicle navigation and storage medium | |
| CN114194201A (en) | Vehicle control method and device, electronic equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |