CN114526732B - Vehicle positioning method and system - Google Patents
Vehicle positioning method and system Download PDFInfo
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- CN114526732B CN114526732B CN202210091052.9A CN202210091052A CN114526732B CN 114526732 B CN114526732 B CN 114526732B CN 202210091052 A CN202210091052 A CN 202210091052A CN 114526732 B CN114526732 B CN 114526732B
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000004590 computer program Methods 0.000 claims description 10
- 230000006870 function Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000005259 measurement Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 239000003550 marker Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000012544 monitoring process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Navigation (AREA)
Abstract
The invention provides a vehicle positioning method and a system, wherein the method comprises the following steps: judging whether the vehicle carries out a viaduct area or not based on real-time positioning of the vehicle, wherein the viaduct area is a pre-defined area on a navigation map; and judging the positions of the upper bridge and the lower bridge of the vehicle according to the matching relation between the pitch angle and the heading information of the vehicle, the gradient and the heading angle of the map ramp, which are calculated by the IMU, and judging the bridge layer where the vehicle is positioned according to whether the GNSS of the vehicle reaches a fixed solution and the GNSS signal intensity. By the aid of the scheme, accurate positioning of vehicles in the viaduct area can be achieved, positioning accuracy is improved, and the problem of repositioning misalignment of vehicles in the viaduct area in a traditional positioning method is solved.
Description
Technical Field
The invention belongs to the field of positioning, and particularly relates to a vehicle positioning method and system.
Background
The road conditions in ramp areas such as overpasses and viaducts are often complex, GNSS signal shielding in the areas is severely difficult to position, and therefore accurate positioning of multiple layers of overhead is difficult.
At present, methods such as barometer, altitude change, inclination angle change, map matching and the like are usually adopted for locating the vehicles in the viaduct area, but whether the matching is successful before entering the viaduct area determines the locating accuracy, and when the matching is failed before entering the viaduct ramp area, the methods can not be used for repositioning or the repositioning accuracy is low.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a vehicle positioning method and a system, which are used for solving the problem that the existing viaduct area vehicle positioning method has low repositioning accuracy.
In a first aspect of an embodiment of the present invention, there is provided a vehicle positioning method, including:
judging whether the vehicle carries out a viaduct area or not based on real-time positioning of the vehicle, wherein the viaduct area is a pre-defined area on a navigation map;
and judging the positions of the upper bridge and the lower bridge of the vehicle according to the matching relation between the pitch angle and the heading information of the vehicle, the gradient and the heading angle of the map ramp, which are calculated by the IMU, and judging the bridge layer where the vehicle is positioned according to whether the GNSS of the vehicle reaches a fixed solution and the GNSS signal intensity.
In a second aspect of the embodiments of the present invention, a vehicle positioning system is provided, at least including a navigation map, an IMU measurement module, a GNSS positioning module, and an overhead positioning module;
the navigation map at least comprises a viaduct area, gradient and course angles at the upper and lower bridge ramp positions and GNSS signal intensity of each bridge layer;
the IMU measuring and calculating module is used for measuring and calculating pitch angle and heading information of the vehicle;
the GNSS positioning module is used for acquiring the GNSS positioning and the GNSS signal intensity of the vehicle;
the overhead positioning module is used for judging the upper and lower bridge positions of the vehicle according to the matching relation between the pitch angle and the heading information of the vehicle, the gradient and the heading angle of the map ramp, which are calculated by the IMU, and judging the bridge layer where the vehicle is located according to whether the GNSS of the vehicle reaches a fixed solution and the GNSS signal intensity.
In a third aspect of the embodiments of the present invention, there is provided an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to the first aspect of the embodiments of the present invention when the computer program is executed by the processor.
In a fourth aspect of the embodiments of the present invention, there is provided a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method provided by the first aspect of the embodiments of the present invention.
In the embodiment of the invention, the vehicle positioning is assisted by adding the attribute values such as GNSS signal intensity, ramp gradient and the like in the map elements, and the vehicle position is judged based on the matching of the vehicle attitude angle, the GNSS signal intensity and the map information, so that the problem that the vehicle cannot be positioned accurately under weak GNSS conditions such as overpasses and viaducts can be avoided, the positioning accuracy can be effectively improved, and the problem that the repositioning cannot be realized or the repositioning precision is low due to the matching failure before the conventional positioning method enters the overpass area can be solved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings described below are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort to a person 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 schematic flow chart of a vehicle positioning method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a vehicle positioning system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more comprehensible, the technical solutions in the embodiments of the present invention are described in detail below with reference to the accompanying drawings, and it is apparent that the embodiments described below are only some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be understood that the term "comprising" and other similar meaning in the description of the invention or the claims and the above-mentioned figures is intended to cover a non-exclusive inclusion, such as a process, method or system, apparatus comprising a series of steps or elements, without limitation to the listed steps or elements. Furthermore, "first" and "second" are used to distinguish between different objects and are not used to describe a particular order.
Referring to fig. 1, a flow chart of a vehicle positioning method provided by an embodiment of the invention includes:
s101, judging whether a vehicle carries out a viaduct area or not based on real-time positioning of the vehicle, wherein the viaduct area is a pre-defined area on a navigation map;
and the position of the vehicle is obtained through GNSS (Global Navigation Satellite System) positioning, and whether the vehicle enters the overhead bridge area is judged according to the accurate positioning at the previous moment. The viaduct area is an area where a positioning signal is easy to block, is defined in a navigation map, and particularly can be an area which is expanded by 500 meters by taking a ramp connection position as a center. When the vehicle enters the viaduct area, the marker bit can be set as true, and when the vehicle leaves, the marker bit can be set as false.
Wherein, the type of the lane in the viaduct area is increased to form an upper bridge connection ramp and a lower bridge connection ramp, and GNSS signal intensity information (including star searching number, signal to noise ratio and the like) is increased in the road attribute of the navigation map.
The navigation map is pre-marked with information such as a viaduct area, a lane type, a road attribute and the like, and the road attribute comprises a ramp slope value, a course angle, GNSS signal intensity and the like.
S102, according to the matching relation of the pitch angle and the heading information of the vehicle, the gradient and the heading angle of the map ramp measured and calculated by the IMU, the upper bridge position and the lower bridge position of the vehicle are judged, and according to whether the GNSS of the vehicle reaches a fixed solution and the GNSS signal intensity, the bridge layer where the vehicle is located is judged.
The IMU (Inertial Measurement Unit, i.e. inertial measurement unit) is generally a device for measuring three-axis attitude angle and acceleration of a vehicle, and in this embodiment, the IMU is a 9-axis-based IMU (gyroscope+accelerometer+magnetometer) and can be used for calculating pitch angle and heading angle in motion of the vehicle. The magnetometer can effectively reduce heading interference.
Optionally, when the matching degree of the pitch angle of the vehicle and the gradient value at the map ramp does not reach the preset threshold value, the vehicle is judged to be positioned on the viaduct. If the pitch angle of the vehicle is not matched with the ramp gradient, namely the matching degree does not reach the threshold value, the vehicle can be judged to be positioned on the viaduct.
Optionally, when the matching degree of the pitch angle of the vehicle and the gradient value at the ramp of the map and the course angle of the vehicle and the course angle at the ramp meet the preset threshold values, the vehicle is judged to be positioned at the ramp of the upper bridge and the ramp of the lower bridge.
Further, if the matching degree of the pitch angle of the vehicle and the gradient value at the map ramp does not reach the preset threshold value and the GNSS is a non-fixed solution, the GNSS signal intensity of the vehicle is matched with the GNSS signal intensity of each bridge layer, and the successfully matched bridge layer is judged to be the bridge layer where the vehicle is located.
Preferably, the above scenes are subjected to experimental tests, the matching results are disconnected after the entering viaduct area is positioned, and the repositioning tests are performed by respectively running on the ground, the entering ramp, the upper bridge and the viaduct layers.
And judging whether the vehicle is in running or not according to the measured speed information, starting statistics when the pitch angle and the course angle of the vehicle obviously change in the vehicle movement process, and stopping operation when the pitch angle and the course angle of the vehicle exceed the threshold matching range. And recording a pitch angle and a course angle which are calculated by multi-frame IMU, extracting effective values according to prediction and modes through a sliding window filtering algorithm, comparing the effective values with attribute values at the ramp positions of the upper bridge and the lower bridge of the map region, sequentially extracting the attribute values at the corresponding positions of the ramp according to the driving distance of the vehicle, and counting the absolute value of the difference value to obtain the matching degree.
In the embodiment, the map elements are added in the viaduct area to provide priori knowledge, the pitch angle and the course angle in the movement of the vehicle are calculated based on the 9-axis IMU, the pitch angle and the course angle are matched with the gradient value and the course value at the map ramp, and the vehicle is judged to be on the bridge, under the bridge or on the ramp by matching with the GNSS signal strength, so that the accurate positioning of the vehicle can be realized, the problem that the viaduct area cannot be repositioned can be solved, and the positioning precision is effectively improved.
In one embodiment, as shown in fig. 2, after a vehicle enters a viaduct area, calculating a pitch angle and a course angle of the vehicle based on an on-vehicle IMU, calculating matching degrees of the pitch angle and the course angle of the vehicle and gradients and course angles at ramps in a navigation map, when the matching meets a specific threshold, determining that the vehicle is located at the upper and lower bridge ramps, when the matching degrees do not meet requirements, determining that the GNSS signals are stationary solutions, if yes, determining that the vehicle is located at the bridge, otherwise, matching the GNSS signals with the ground and GNSS signal intensities of all bridge layers, and determining that the vehicle is located at the ground or a corresponding bridge layer.
It should be understood that the sequence number of each step in the above embodiment does not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not be construed as limiting the implementation process of the embodiment of the present invention.
FIG. 3 is a schematic diagram of a vehicle positioning system according to an embodiment of the present invention, wherein the system 30 at least includes a navigation map 310, an IMU measurement module 320, a GNSS positioning module 330 and an overhead positioning module 340;
wherein, the navigation map 310 at least includes a viaduct area, gradient and course angle at the ramp of the upper and lower bridges, and GNSS signal intensity of each bridge layer;
specifically, the type of the lane in the viaduct area is increased, an upper bridge connection ramp and a lower bridge connection ramp are increased, and GNSS signal intensity information is increased in the road attribute of the navigation map.
The IMU calculating module 320 is configured to calculate pitch angle and heading information of the vehicle;
the GNSS positioning module 330 is used for acquiring the GNSS positioning and the GNSS signal strength of the vehicle;
the overhead positioning module 340 is configured to determine, when the vehicle is in the viaduct area, the position of the upper bridge and the lower bridge of the vehicle according to the matching relationship between the pitch angle and the heading information of the vehicle, the gradient and the heading angle at the ramp of the map, and determine the bridge layer where the vehicle is located according to whether the GNSS of the vehicle reaches the fixed solution and the GNSS signal intensity.
Specifically, when the matching degree of the pitch angle of the vehicle and the gradient value at the map ramp does not reach a preset threshold value, the vehicle is judged to be positioned on the viaduct.
And when the pitch angle of the vehicle and the gradient value matching degree at the map ramp and the course angle at the ramp meet the preset threshold values, determining that the vehicle is positioned at the upper and lower bridge ramp.
And if the matching degree of the pitch angle of the vehicle and the gradient value at the map ramp does not reach the preset threshold value and the GNSS is a non-fixed solution, matching the GNSS signal intensity of the vehicle with the GNSS signal intensity of each bridge layer, and judging the successfully matched bridge layer as the bridge layer where the vehicle is located.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the apparatus and modules described above may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. The electronic device is used for vehicle positioning in a viaduct area. As shown in fig. 4, the electronic apparatus 4 of this embodiment includes: memory 410, processor 420, and system bus 430, wherein memory 410 includes an executable program 4101 stored thereon, and those skilled in the art will appreciate that the electronic device structure shown in fig. 4 is not limiting of electronic devices and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
The following describes the respective constituent elements of the electronic device in detail with reference to fig. 4:
the memory 410 may be used to store software programs and modules, and the processor 420 may execute various functional applications and data processing of the electronic device by executing the software programs and modules stored in the memory 410. The memory 410 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data created according to the use of the electronic device (such as cache data), and the like. In addition, memory 410 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
An executable program 4101 containing network request methods on the memory 410, the executable program 4101 may be partitioned into one or more modules/units that are stored in the memory 410 and executed by the processor 420 to achieve vehicle positioning, etc., the one or more modules/units may be a series of computer program instruction segments capable of accomplishing specific functions for describing the execution of the computer program 4101 in the electronic device 4. For example, the computer program 4101 may be partitioned into an IMU measurement module, a GNSS positioning module, an overhead positioning module, and the like.
The processor 420 is a control center of the electronic device, connects various parts of the entire electronic device using various interfaces and lines, and performs various functions of the electronic device and processes data by running or executing software programs and/or modules stored in the memory 410, and invoking data stored in the memory 410, thereby performing overall state monitoring of the electronic device. Optionally, the processor 420 may include one or more processing units; preferably, the processor 420 may integrate an application processor that primarily handles operating systems, applications, etc., with a modem processor that primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 420.
The system bus 430 is used to connect various functional units inside the computer, and CAN transfer data information, address information, and control information, and its kind may be, for example, a PCI bus, an ISA bus, a CAN bus, and the like. Instructions from the processor 420 are transferred to the memory 410 via the bus, the memory 410 feeds back data to the processor 420, and the system bus 430 is responsible for data and instruction interaction between the processor 420 and the memory 410. Of course, the system bus 430 may also access other devices, such as a network interface, a display device, etc.
In an embodiment of the present invention, the executable program executed by the process 420 included in the electronic device includes:
judging whether the vehicle carries out a viaduct area or not based on real-time positioning of the vehicle, wherein the viaduct area is a pre-defined area on a navigation map;
and judging the positions of the upper bridge and the lower bridge of the vehicle according to the matching relation between the pitch angle and the heading information of the vehicle, the gradient and the heading angle of the map ramp, which are calculated by the IMU, and judging the bridge layer where the vehicle is positioned according to whether the GNSS of the vehicle reaches a fixed solution and the GNSS signal intensity.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. A vehicle positioning method, characterized by comprising:
judging whether the vehicle carries out a viaduct area or not based on real-time positioning of the vehicle, wherein the viaduct area is a pre-defined area on a navigation map;
according to the matching relation between the pitch angle and the heading information of the vehicle, the gradient and the heading angle at the ramp of the map and calculated by the IMU, the upper bridge position and the lower bridge position of the vehicle are judged, and the bridge layer where the vehicle is positioned is judged according to whether the GNSS of the vehicle reaches a fixed solution and the GNSS signal strength;
when the matching degree of the pitch angle of the vehicle and the gradient value at the map ramp does not reach a preset threshold value, judging that the vehicle is positioned on a viaduct or on the ground;
and if the matching degree of the pitch angle of the vehicle and the gradient value at the map ramp does not reach the preset threshold value and the GNSS is a non-fixed solution, matching the GNSS signal intensity of the vehicle with the GNSS signal intensity of each bridge layer, and judging the successfully matched bridge layer as the bridge layer where the vehicle is located.
2. The method of claim 1, wherein the determining whether the vehicle is traveling in the overpass area based on the vehicle real-time positioning comprises:
and increasing the types of lanes in the viaduct area, namely an upper bridge connecting ramp and a lower bridge connecting ramp, and increasing GNSS signal intensity information in the road attribute of the navigation map.
3. The method according to claim 1, wherein the determining the position of the upper bridge and the lower bridge of the vehicle according to the matching relationship between the pitch angle and the heading information of the vehicle measured by the IMU and the gradient and the heading angle at the map ramp comprises:
and when the pitch angle of the vehicle and the gradient value matching degree at the map ramp and the course angle at the ramp meet the preset threshold values, judging that the vehicle is positioned at the upper and lower bridge ramp.
4. The vehicle positioning system is characterized by at least comprising a navigation map, an IMU measuring and calculating module, a GNSS positioning module and an overhead positioning module;
the navigation map at least comprises a viaduct area, gradient and course angles at the upper and lower bridge ramp positions and GNSS signal intensity of each bridge layer;
the IMU measuring and calculating module is used for measuring and calculating pitch angle and heading information of the vehicle;
the GNSS positioning module is used for acquiring the GNSS positioning and the GNSS signal intensity of the vehicle;
the overhead positioning module is used for judging the upper and lower bridge positions of the vehicle according to the matching relation between the pitch angle and the heading information of the vehicle, the gradient and the heading angle of the map ramp measured by the IMU and the viaduct area of the vehicle, and judging the bridge layer where the vehicle is positioned according to whether the GNSS of the vehicle reaches a fixed solution and the GNSS signal intensity;
when the matching degree of the pitch angle of the vehicle and the gradient value at the map ramp does not reach a preset threshold value, judging that the vehicle is positioned on a viaduct or on the ground;
and if the matching degree of the pitch angle of the vehicle and the gradient value at the map ramp does not reach the preset threshold value and the GNSS is a non-fixed solution, matching the GNSS signal intensity of the vehicle with the GNSS signal intensity of each bridge layer, and judging the successfully matched bridge layer as the bridge layer where the vehicle is located.
5. The system of claim 4, wherein determining the position of the upper and lower axles of the vehicle based on the matching relationship between the pitch angle and the heading information of the vehicle and the gradient and the heading angle of the map ramp measured by the IMU comprises:
and when the pitch angle of the vehicle and the gradient value matching degree at the map ramp and the course angle at the ramp meet the preset threshold values, judging that the vehicle is positioned at the upper and lower bridge ramp.
6. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of a vehicle positioning method according to any of claims 1-3 when the computer program is executed.
7. A computer readable storage medium storing a computer program, characterized in that the computer program when executed implements the steps of a vehicle positioning method according to any one of claims 1 to 3.
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