CN114637036B - Non-integrity-constrained adaptive noise measurement method - Google Patents
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Abstract
The embodiment of the invention discloses a non-integrity-constrained self-adaptive noise measurement method, which comprises the following steps: step 1: acquiring the mounting angle precision and a GNSS positioning mode; step 2: determining an initial value of NHC (positive temperature coefficient) measurement noise according to the mounting angle precision and the GNSS positioning mode; and 3, step 3: judging the motion state of the vehicle at the current moment; and 4, step 4: NHC measurement noise is determined adaptively. The NHC measurement noise initial value is determined according to the installation angle precision and the GNSS positioning mode, the NHC lateral measurement noise is adaptively corrected by utilizing the vehicle motion state information, and a time sliding window is introduced when the vehicle continuously turns, so that the precision of a combined positioning solution is effectively improved; the invention has particularly remarkable improvement on the combined navigation performance based on the low-cost sensor; in a tunnel scene, compared with a conventional determination method of NHC measurement noise, the method disclosed by the invention can improve the MEMS recursive positioning accuracy by more than 40%.
Description
Technical Field
The invention relates to the technical field of navigation positioning, in particular to a non-integrity-constrained self-adaptive noise measurement method.
Background
In the vehicle-mounted field integrated navigation algorithm, it is usually assumed that a vehicle body does not sideslip and is tightly attached to the ground (namely Non-integrity Constraint) in the driving process of a vehicle, and Non-integrity Constraint (NHC) observed quantity is introduced to inhibit the divergence of errors of an integrated positioning solution and ensure the precision and reliability of the positioning solution. For the sheltered environment, especially for viaducts, urban canyons and tunnels along roads, NHC plays an important role in ensuring and improving the performance of the combined navigation positioning solution.
Introducing NHC observations requires a corresponding measurement noise to be given. The determination of the value for NHC in the R-matrix of the location filtering algorithm depends on the measurement noise.
In the conventional NHC algorithm, a fixed value of the measurement noise is often given empirically. Some methods for correcting NHC measurement noise have also appeared in the field of vehicle navigation, which mainly include: giving an initial value of the measurement noise according to experience; determining the motion state of the vehicle body according to the speed and angle change information of the vehicle body, and correcting the NHC measurement noise according to the motion state; and respectively analyzing the correlation between the speed and angle change of the vehicle body and the NHC observed quantity error, and correcting the NHC measurement noise according to the correlation analysis result.
However, the above method for correcting the measurement noise has some problems: firstly, the initial value of the measured noise is a fixed empirical value, the applicability to the scene is limited, and the accuracy of the initial value selection directly influences the improvement effect of the combined positioning performance. Furthermore, the correlation between the velocity and angle change of the analyzed vehicle body and the NHC observed quantity error depends on the observation accuracy of the inertial navigation device itself. For a consumer-grade inertial navigation sensor MEMS (Micro-Electro-Mechanical System), which is influenced by the manufacturing process level, the observation noise is large, and the correlation analysis between the speed and angle change of a vehicle body and the NHC observation error is not suitable. In addition, when the vehicle turns, the value of the NHC measurement noise is usually larger than that of the vehicle in a straight running state, and the negative effect caused by the fact that the NHC measurement noise is large for a long time is not considered. Especially for low cost sensors, when NHC measurement noise is large for a long time, the integrated navigation positioning error will quickly diverge.
The existing NHC correction noise measurement method plays a limited role in improving the combined positioning performance.
Disclosure of Invention
The technical problem to be solved by the embodiments of the present invention is to provide a non-integrity-constrained adaptive noise measurement method to improve the accuracy of a combined positioning solution.
In order to solve the above technical problem, an embodiment of the present invention provides a non-integrity-constrained adaptive noise measurement method, including:
step 1: acquiring the mounting angle precision and a GNSS positioning mode;
step 2: determining an initial value of NHC (positive temperature coefficient) measurement noise according to the mounting angle precision and the GNSS positioning mode;
and step 3: judging the motion state of the vehicle at the current moment, and judging whether the vehicle is in a straight line or a turning line at the current moment according to the change of the advancing speed and the course angle of the vehicle, wherein the turning line is divided into a small-angle turning line, a large-angle turning line and a lane changing line;
and 4, step 4: the NHC measurement noise is determined in a self-adaptive mode, the NHC lateral measurement noise is corrected in real time by combining the motion state of the vehicle, and the NHC measurement noise of the vehicle in different motion states is determined in a self-adaptive mode; if the vehicle is in a turning state, introducing a time sliding window, setting the length of the time sliding window, correcting the NHC lateral measurement noise in real time according to the turning state of the vehicle in a preset time period when the vehicle body turns continuously, and then gradually reducing the NHC lateral measurement noise in the next time period.
Further, in step 1, respectively determining the mounting angle precision according to whether the mounting angle is estimated on line in real time, wherein:
(1) when the installation angle is estimated online in real time, the corresponding post-test variance is taken;
(2) and when the mounting angle is estimated online in a non-real-time manner, taking the standard deviation of the mounting angle.
Further, in step 2, the initial value of NHC measurement noise is determined according to the following formula:
wherein,
the initial value of the noise of the NHC measurement determined by the method is determined;
the measured noise value is NHC;
is a coefficient term of
And
composition is carried out;
for coefficients determined according to the accuracy of the setting angle, by piecewise functions
Determining a numerical value;
mounting angle accuracy;
coefficients determined from the GNSS positioning mode; a different GNSS positioning mode may be used,
and taking values respectively.
Further, in step 4, the NHC lateral measurement noise of the vehicle in different motion states is adaptively determined according to the following formula:
wherein,
the NHC lateral measurement noise is the NHC lateral measurement noise when the vehicle is in a straight-ahead driving;
the corresponding coefficient when the vehicle runs straight is represented by a piecewise function
Determining a numerical value;
the real-time forward speed of the vehicle;
measuring the noise of NHC side direction when the vehicle turns;
is the threshold value of NHC lateral measurement noise;
is a corresponding coefficient when the vehicle turns, different turning states of the vehicle (small-angle turning, large-angle turning and lane changing),
respectively taking values;
the real-time course angular speed of the vehicle;
the threshold value of the course angular speed is used for judging whether the vehicle turns.
Further, in step 4, when the vehicle body is continuously turned, the turning is performed for a preset time period
Correcting NHC lateral measurement noise in real time according to the turning state of the vehicle within seconds to obtain
(ii) a Then, in the next time periodt b Within seconds, gradually decrease according to time intervals
To
(ii) a Wherein,
，
are coefficients.
Further, the air conditioner is characterized in that,
has a value range of
0 and
1。
the invention has the beneficial effects that: the NHC measurement noise initial value is determined according to the installation angle precision and the GNSS positioning mode, the NHC lateral measurement noise is adaptively corrected by utilizing the vehicle motion state information, and a time sliding window is introduced when the vehicle continuously turns, so that the precision of a combined positioning solution is effectively improved; the invention has particularly remarkable improvement on the integrated navigation performance based on the consumption-level MEMS inertial navigation sensor; in a tunnel scene, compared with the conventional determination method of NHC measurement noise, the method provided by the invention has the advantage that the pure inertial navigation recursion positioning precision of the MEMS can be improved by more than 40%.
Drawings
Fig. 1 is a flow chart illustrating a non-integrity-constrained adaptive noise measurement method according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict, and the present invention is further described in detail with reference to the drawings and specific embodiments.
The nature of NHC is: the assumption is that the moving carrier does not sideslip and cling to the ground during driving.
Taking the front right bottom (FRD) coordinate system as an example, NHC observations were introduced:
in the formulas (1) and (2),
representing a carrier lateral velocity observation;
represents the observed vertical velocity of the carrier.
NHC can effectively restrain the divergence of error of the combined positioning solution, and ensure the precision and reliability of the positioning solution. According to the NHC principle, the degree of dependence of the combined positioning on NHC is different in straight driving and turning states of the vehicle. In the straight-ahead state, the vehicle body will not usually slip, and the measured noise value of NHC can be relatively small to increase the effect of NHC. In a cornering situation, the vehicle may be accompanied by a certain degree of body side slip, which conflicts with the principle of NHC. However, considering that the observation noise level of the low-cost sensor is larger, the NHC can still effectively suppress the divergence of the positioning error of the vehicle, and the improvement effect on the positioning accuracy is not as good as that when the vehicle moves straight. The corresponding solution is to increase NHC measurement noise during vehicle turning to reduce NHC effect compared to when the vehicle is traveling straight. It should be noted that, in order to ensure that the NHC can still effectively suppress the divergence of the combined positioning error when the vehicle is in a turning state, the value of the NHC measurement noise is not too large.
Referring to fig. 1, the non-integrity-constrained adaptive noise measurement method according to the embodiment of the present invention includes steps 1 to 4.
Step 1: acquiring mounting angle precision and a GNSS positioning mode;
according to the invention, the accuracy of the mounting angle is respectively determined according to whether the mounting angle is estimated on line in real time:
(1) and when the mounting angle is estimated online in real time, taking the corresponding post-test variance.
(2) And taking the standard deviation of the mounting angle when the mounting angle is estimated online in a non-real time manner.
And 2, step: determining an initial value of NHC (positive temperature coefficient) measurement noise according to the mounting angle precision and the GNSS positioning mode;
before introducing NHC observations, the mounting angle between the inertial and moving carrier coordinate systems needs to be determined. The accuracy of the mount angle estimation directly affects the NHC effect. In the integrated Navigation algorithm, the estimation of the installation angle depends on positioning information of a Global Navigation positioning System (GNSS). The GNSS positioning mode includes: a pseudorange Point Positioning (SPP) mode, a Real Time Differential (RTD) mode, a Real Time Kinematic (RTK) mode, and a Precision Point Positioning (PPP) mode. The RTK and PPP are further divided into a floating solution mode and a fixed solution mode according to the fixed condition of the integer ambiguity. Different GNSS positioning modes represent different GNSS positioning accuracy. There are differences in the mounting angle accuracy that are obtained depending on different GNSS positioning accuracies. The initial value of the NHC measurement noise is determined according to the mounting angle precision and the positioning mode of the GNSS. The worse the mounting angle accuracy is, the worse the GNSS positioning accuracy is, and the larger the value of the NHC measurement noise initial value is.
Here, it is defined that:
in the formulae (3), (4), (5),
the initial value of the noise of the NHC measurement determined by the method is determined;
the measured noise value is NHC;
is a coefficient term of
And
forming;
for coefficients determined according to the accuracy of the setting angle, by piecewise functions
Determining a numerical value;
mounting angle accuracy;
coefficients determined according to the GNSS positioning mode; different GNSS positioning modes (SPP, RTD, RTK, PPP),
respectively taking values;
and step 3: and judging the motion state of the vehicle at the current moment. Judging whether the vehicle is going straight or turning at the current moment according to the changes of the advancing speed and the course angle of the vehicle, wherein the turning is divided into small-angle turning, large-angle turning and lane changing;
and 4, step 4: NHC measurement noise is determined adaptively.
(1) And (3) correcting the NHC lateral measurement noise in real time by combining the motion state of the vehicle, and adaptively determining the NHC measurement noise of the vehicle in different motion states.
Here, it is defined that:
in the formulae (6), (7) and (8),
the NHC lateral measurement noise is the NHC lateral measurement noise when the vehicle is in a straight-ahead driving;
the corresponding coefficient when the vehicle runs straight is represented by a piecewise function
Determining a numerical value;
the real-time forward speed of the vehicle;
measuring the noise of NHC side direction when the vehicle turns;
is the threshold value of NHC lateral measurement noise;
the corresponding coefficients when the vehicle turns, different turning states of the vehicle (small-angle turning, large-angle turning and lane changing),
respectively taking values;
the real-time course angular speed of the vehicle;
the threshold value of the course angular speed is used for judging whether the vehicle turns;
(2) a time sliding window is introduced.
According to the NHC principle, the NHC measurement noise adapted when the vehicle turns is generally larger than when the vehicle travels straight. NHC measurementThe more noise, the less NHC plays a role. When NHC lateral measurement noise is large for a long time in a turning state, the combined navigation positioning error based on the low-cost sensor can be rapidly dispersed. Therefore, the invention introduces a time sliding window, and the basic principle is as follows: while the vehicle body is turning continuously for a certain period of time
Second), correcting NHC lateral measurement noise in real time according to the turning state of the vehicle to obtain
(ii) a Then, for the next period of time (
Seconds), gradually decrease at intervals
To
。
Defining:
in the formula (9), the reaction mixture is,
is a coefficient with a value range of
0 and
1。
the invention firstly determines the initial value of NHC measurement noise according to the mounting angle precision and the GNSS positioning mode. And then judging the motion state of the vehicle according to the change of the advancing speed and the heading angle of the vehicle. And finally, carrying out self-adaptive correction on the NHC lateral measurement noise according to the motion state of the vehicle, and determining the NHC measurement noise in a self-adaptive manner. When the vehicle continuously turns, if the NHC measurement noise is large for a long time, the combined navigation positioning error based on the low-cost sensor will quickly diverge. Therefore, the invention introduces a time sliding window, and effectively inhibits the divergence of the combined navigation positioning error. Series additions and modifications to the present invention are within the scope of the present invention.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. A non-integrity-constrained adaptive noise measurement method is characterized by comprising the following steps:
step 1: acquiring the mounting angle precision and a GNSS positioning mode;
and 2, step: determining an initial value of NHC (positive temperature coefficient) measurement noise according to the mounting angle precision and the GNSS positioning mode;
and 3, step 3: judging the motion state of the vehicle at the current moment, and judging whether the vehicle is going straight or turning at the current moment according to the change of the advancing speed and the course angle of the vehicle, wherein the turning is divided into small-angle turning, large-angle turning and lane changing;
and 4, step 4: the NHC measurement noise is determined in a self-adaptive mode, the NHC lateral measurement noise is corrected in real time by combining the motion state of the vehicle, and the NHC measurement noise of the vehicle in different motion states is determined in a self-adaptive mode; if the vehicle is in a turning state, introducing a time sliding window, setting the length of the time sliding window, correcting the NHC lateral measurement noise in real time according to the turning state of the vehicle in a preset time period when the vehicle body turns continuously, and then gradually reducing the NHC lateral measurement noise in the next time period;
in step 2, the initial value of NHC measurement noise is determined according to the following formula:
wherein,
measuring the initial value of noise for NHC;
the measured noise value is NHC;
is a coefficient term of
And
composition is carried out;
for coefficients determined according to the accuracy of the setting angle, by piecewise functions
Determining a numerical value;
mounting angle accuracy;
coefficients determined from the GNSS positioning mode; the different GNSS positioning modes may be different from each other,
and taking values respectively.
2. The non-integrity-constrained adaptive noise measurement method as claimed in claim 1, wherein in step 1, the mounting angle accuracy is determined according to whether the mounting angle is estimated on-line in real time, respectively, wherein:
(1) when the installation angle is estimated online in real time, the corresponding post-test variance is taken;
(2) and when the mounting angle is estimated online in a non-real-time manner, taking the standard deviation of the mounting angle.
3. The non-integrity-restricted adaptive noise measurement method of claim 1, wherein in step 4, NHC lateral measurement noise of the vehicle under different motion states is adaptively determined according to the following formula:
wherein,
the NHC lateral measurement noise is measured when the vehicle runs straight;
the corresponding coefficient when the vehicle runs straight is represented by a piecewise function
Determining a numerical value;
the real-time forward speed of the vehicle;
measuring noise laterally for NHC when the vehicle turns;
is the threshold value of NHC lateral measurement noise;
the corresponding coefficients when the vehicle turns and different turning states of the vehicle,
respectively taking values;
the real-time course angular speed of the vehicle;
the threshold value of the course angular speed is used for judging whether the vehicle turns.
4. The non-integrity-restricted adaptive noise measurement method according to claim 3, wherein in step 4, when the vehicle body continuously turns, the vehicle body continuously turns for a preset time periodt a Correcting NHC lateral measurement noise in real time according to the turning state of the vehicle within seconds to obtain
(ii) a Then, in the next time periodt b Within seconds, gradually decrease according to time intervals
To is that
(ii) a Wherein,
，
are coefficients.
5. The non-integrity-constrained adaptive noise measurement method of claim 4,
has a value range of
0 and
1。
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