CN114964271A - Positioning method and system based on gyroscope - Google Patents
Positioning method and system based on gyroscope Download PDFInfo
- Publication number
- CN114964271A CN114964271A CN202210579832.8A CN202210579832A CN114964271A CN 114964271 A CN114964271 A CN 114964271A CN 202210579832 A CN202210579832 A CN 202210579832A CN 114964271 A CN114964271 A CN 114964271A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- scene
- longitude
- latitude
- gyroscope
- 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.)
- Pending
Links
Images
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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The invention provides a positioning method and system based on a gyroscope. The method comprises the following steps: receiving a last group of longitude and latitude data and a local direction angle signal of a vehicle before entering a scene, and taking the data and the local direction angle signal as a relative origin and an initial advancing direction of the vehicle after entering the scene; in each signal acquisition period, receiving the angular speed of the Z axis of the gyroscope and the unit time difference, and calculating the deflection angle of the vehicle; the sum of the deflection angle and the opposite direction angle of the vehicle before entering the scene is the vehicle advancing direction in the scene, and the distance change of the vehicle in different directions is calculated according to the trigonometric function relation between the vehicle advancing direction in the scene and the vehicle advancing distance; the distance changes in the east-west direction and the south-north direction are converted into change values of longitude and latitude, the change values of the longitude and latitude are added with the longitude and latitude values relative to the origin, and the longitude and latitude data of the vehicle are calculated. The positioning method and the positioning system based on the gyroscope can solve the problem that the navigation of a vehicle is influenced because no GPS positioning signal exists in a scene.
Description
Technical Field
The invention relates to the technical field of navigation positioning, in particular to a positioning method and a positioning system based on a gyroscope.
Background
With the high-speed popularization of automobiles and the wide application of GPS positioning systems, people rely heavily on GPS positioning and navigation in the driving process of driving vehicles, but in some specific scenes, such as tree sheltered areas under highway tunnels, overhead bridges, underground garages, mountain areas and the like, GPS signals are often weak or even disappear completely, inconvenience is brought to drivers, and the types of available navigation schemes at the present stage are limited. Taking aviation navigation as an example, the equipped airborne navigation system comprises an inertial navigation system and a Doppler navigation system, and the inertial navigation system and the Doppler navigation system have characteristics and have the coexistence of advantages and disadvantages. For example, the inertial navigation (hereinafter referred to as inertial navigation) system has the advantages that the navigation can be realized under any medium and any environmental condition without any external information or any information radiated outwards, and various navigation parameters such as the position, the speed, the direction, the attitude and the like of the airplane can be output; the bandwidth of the system, which can track any motorized movement of the vehicle; navigation output data is stable, and short-term stability is good. However, the inertial navigation system has the inherent defects that the navigation precision diverges along with time, namely the long-term stability is poor; and the technology is complex and the price is expensive.
Disclosure of Invention
The invention aims to provide a positioning method and a positioning system based on a gyroscope, which can solve the problem that the navigation of a vehicle is influenced because no GPS positioning signal exists in a scene.
In order to solve the technical problem, the invention provides a positioning method based on a gyroscope, which comprises the following steps: receiving a starting signal and entering a guidance mode; receiving the number of pulses of the wheel speed sensor, and calculating the advancing distance of the vehicle; receiving a last group of longitude and latitude data and a local direction angle signal of a vehicle before the vehicle enters a scene as a relative origin and an initial advancing direction of the vehicle after the vehicle enters the scene; after a vehicle enters a scene, receiving the angular speed of the Z axis of the gyroscope and the unit time difference in each signal acquisition period, and calculating the deflection angle of the vehicle; taking the north direction as 0 degrees, taking the sum of the deflection angle and the opposite direction angle of the vehicle before entering the scene as the vehicle advancing direction in the scene, and calculating the distance change of the vehicle in the east-west direction and the south-north direction according to the trigonometric function relation between the vehicle advancing direction and the vehicle advancing distance in the scene; converting the distance changes in the east-west direction and the south-north direction into change values of longitude and latitude, adding the change values of the longitude and latitude and longitude and latitude values relative to an original point, and calculating longitude and latitude data of the vehicle in a scene; and reporting the longitude and latitude data.
In some embodiments, a wheel speed sensor is used to generate pulse data.
In some embodiments, the vehicle interior center position fixes the gyroscope.
In some embodiments, the gyroscope is used for sending angular velocity data generated when the vehicle turns, and the angular velocity data is sent to the upper computer for processing through the data acquisition card.
In some embodiments, each signal acquisition cycle, receiving a gyroscope Z-axis angular velocity and a unit time difference, and calculating a vehicle yaw angle, comprises: calculating the vehicle yaw angle according to the following formula:
∠b＝ω*Δt
wherein, the angle b is the deflection angle of the vehicle in the unit time required by 0.5 meter of advance, omega is the angular velocity returned by the gyroscope, and delta t is the unit time required by 0.5 meter of advance of the vehicle.
In some embodiments, with the due north direction being 0 ° and the sum of the yaw angle and the forward-to-backward direction angle of the vehicle before entering the scene being the vehicle traveling direction in the scene, the distance changes of the vehicle in the east-west direction and the south-north direction can be calculated according to the trigonometric function relationship between the vehicle traveling direction in the scene and the vehicle traveling distance, including: the distance change in the east-west and north-south directions is calculated according to the following formula:
S1＝sin((∠a+∠b)*π/180)*0.5
S2＝cos((∠a+∠b)*π/180)*0.5
wherein S1 is the displacement distance of the vehicle in the east-west direction after 0.5 meter of advance, S2 is the displacement distance of the vehicle in the south-north direction after 0.5 meter of advance, angle a is the initial advance direction angle of the vehicle after entering the scene, and angle b is the deflection angle of the vehicle in the unit time required by 0.5 meter of advance.
In some embodiments, converting the change in distance in the east-west and north-south directions to change values of longitude and latitude, adding the change values of longitude and latitude to the values of longitude and latitude relative to the origin, and calculating longitude and latitude data of the vehicle within the scene comprises: calculating latitude and longitude data according to the following formula:
D＝D0+S2/1000/111.11111
L＝L0+S1/1000/(cos(D*π/180)*111.11111)
where D is a latitude value of the vehicle within the scene, L is a longitude value of the vehicle within the scene, D0 is a latitude value from the origin, L0 is a longitude value from the origin, S1 is a displacement distance of the vehicle in the east-west direction after 0.5 meter of advance, and S2 is a displacement distance of the vehicle in the north-south direction after 0.5 meter of advance.
In addition, the present invention also provides a gyroscope-based positioning system, the system comprising: one or more processors; a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the gyroscope-based positioning method according to the preceding.
After adopting such design, the invention has at least the following advantages:
the vehicle can still be quickly and accurately positioned and navigated under the condition that no GPS signal exists in the scene;
manual intervention is not needed, and the whole process is safer and more accurate;
the tunnel group road section can be continuously guided, and after the vehicle receives the GPS signal again, the relative origin and the ground direction angle can be corrected, so that the accuracy and reliability of positioning data are ensured.
Drawings
The foregoing is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description.
FIG. 1 shows a schematic flow diagram of a gyroscope-based positioning method;
FIG. 2 shows a schematic diagram of a positioning method;
fig. 3 shows a comparison graph of longitude and latitude data of a 1 km section of road including one S-bend and one C-bend.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
In view of this, the present invention provides a method for continuous guidance in a scene without GPS signals (hereinafter referred to as "scene"), so as to solve the problem that the navigation of a vehicle is affected by the absence of GPS positioning signals in the scene. A brief summary is given below. This summary is not an extensive overview nor is it intended to identify key/critical elements. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.
The invention provides a positioning method based on a gyroscope, which comprises the following steps:
receiving a starting signal and entering a guidance mode;
receiving the number of pulses of the wheel speed sensor and calculating the advancing distance of the vehicle;
receiving a last group of GPS signals (longitude and latitude data) and a 'opposite direction angle' (an included angle of 0 degree between the vehicle advancing direction and the due north direction) signals of a vehicle before entering a scene as a 'relative origin' and an 'initial advancing direction' after the vehicle enters the scene;
after a vehicle enters a scene, receiving the Z-axis angular velocity and the unit time difference of a gyroscope in each signal acquisition period, and calculating the deflection angle of the vehicle;
taking the sum of the north direction as 0 degree and the relative azimuth angle before the vehicle enters the scene as the vehicle advancing direction in the scene, and calculating the distance change of the vehicle in the east-west direction and the south-north direction according to the trigonometric function relation between the vehicle advancing direction and the vehicle advancing distance in the scene;
converting the distance changes in the east-west direction and the south-north direction into change values of longitude and latitude, adding the change values of the longitude and latitude and longitude and latitude values relative to an original point, and calculating longitude and latitude data of the vehicle in a scene;
and reporting the longitude and latitude data.
Specifically, referring to fig. 1, the present invention provides a positioning method based on a gyroscope, including the following steps:
and S101, receiving a starting signal, entering a guidance mode, circularly processing data generated in the distance according to an equidistant mode by the system, wherein the length of the equidistant mode can be freely set, and the default data processing is performed every 0.5 m of the vehicle.
Step S102, a wheel speed sensor is arranged at the center of a rear wheel of the vehicle and used for generating pulse data, 366538 pulse signals are generated when the vehicle moves forward for 100 meters, and the generated pulse signals are sent to an upper computer for processing through a data acquisition card, namely 1833 pulses are generated by the wheel speed sensor every time the vehicle moves forward for 0.5 meter.
Step S103, a GPS signal receiver is fixed at the center position of the top of the vehicle and is used for receiving longitude and latitude data and opposite direction angle data in real time, the last group of longitude and latitude data before the vehicle enters a scene is used as relative origin data, and the last group of opposite direction angles before the vehicle enters the scene is used as an initial advancing direction; and the longitude and latitude data and the ground direction angle data are sent to an upper computer for processing through a data acquisition card.
Step S104, fixing a gyroscope at the center position in the vehicle, sending angular velocity data generated when the vehicle turns, and sending the angular velocity data to an upper computer for processing through a data acquisition card, namely:
∠b＝ω*Δt
in the formula:
the angle b is the deflection angle of the vehicle in unit time required by 0.5 meter of advance; ω ═ the angular velocity of the gyroscope return; Δ t is the unit time required for the vehicle to advance 0.5 meters.
Step S105, taking the due north direction as 0 degree, taking the sum of the deflection angle and the initial advancing direction angle of the vehicle after entering the scene as the advancing direction of the vehicle in the scene, and calculating the displacement distance of the vehicle in the east-west direction and the south-north direction according to the trigonometric function relation between the advancing direction of the vehicle in the scene and the advancing distance of the vehicle in the unit time, namely:
S1＝sin((∠a+∠b)*π/180)*0.5
S2＝cos((∠a+∠b)*π/180)*0.5
in the formula (I);
s1 is a displacement distance of the vehicle in the east-west direction after advancing 0.5 m; s2 is the displacement distance of the vehicle in the north-south direction after 0.5 m of forward movement; the angle a is equal to an initial advancing direction angle after the vehicle enters a scene; angle b is the deflection angle of the vehicle per unit time required to advance 0.5 meters. The principle of this calculation process is shown in fig. 2.
Step S106, converting the displacement distances in the east-west direction and the south-north direction into the sum of the change value of the longitude and latitude and the relative origin, and calculating the longitude and latitude data of the vehicle in the scene, namely:
D＝D0+S2/1000/111.11111
L＝L0+S1/1000/(cos(D*π/180)*111.11111)
in the formula:
d ═ latitude value of the vehicle within the scene; l-longitude value of the vehicle within the scene; d0 ═ latitude value from origin; l0 ═ longitude relative to the origin; s1 is the displacement distance of the vehicle in the east-west direction after 0.5 m of forward movement; s2 is the displacement distance of the vehicle in the north-south direction after 0.5 m of forward travel.
And S107, obtaining the real-time longitude and latitude values of the vehicle in the scene through iterative calculation of the formula, and reporting the longitude and latitude data.
Fig. 3 shows the difference in accuracy between position data and GPS position using the method of the present invention in a particular scenario. The specific scene is that the vehicle passes through an S-shaped curve and then passes through a C-shaped curve. As can be seen from fig. 3, the latitude and longitude data of GPS positioning is not significantly different from the latitude and longitude data of the present invention.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention in any way, and it will be apparent to those skilled in the art that the above description of the present invention can be applied to various modifications, equivalent variations or modifications without departing from the spirit and scope of the present invention.
Claims (8)
1. A gyroscope-based positioning method, comprising:
receiving a starting signal and entering a guidance mode;
receiving the number of pulses of the wheel speed sensor, and calculating the advancing distance of the vehicle;
receiving a last group of longitude and latitude data and a local direction angle signal of a vehicle before entering a scene, and taking the data and the local direction angle signal as a relative origin and an initial advancing direction of the vehicle after entering the scene;
after a vehicle enters a scene, receiving the angular speed of the Z axis of the gyroscope and the unit time difference in each signal acquisition period, and calculating the deflection angle of the vehicle;
taking the north direction as 0 degrees, taking the sum of the deflection angle and the opposite direction angle of the vehicle before entering the scene as the vehicle advancing direction in the scene, and calculating the distance change of the vehicle in the east-west direction and the south-north direction according to the trigonometric function relation between the vehicle advancing direction and the vehicle advancing distance in the scene;
converting the distance changes in the east-west direction and the south-north direction into change values of longitude and latitude, adding the change values of the longitude and latitude and longitude and latitude values relative to an original point, and calculating longitude and latitude data of the vehicle in a scene;
and reporting the longitude and latitude data.
2. The gyroscope-based positioning method of claim 1, wherein wheel speed sensors are used to generate the pulse data.
3. The gyroscope-based positioning method of claim 1, wherein the gyroscope is fixed at a vehicle interior center position.
4. The gyroscope-based positioning method according to claim 3, wherein the gyroscope is used for sending angular velocity data generated when the vehicle turns, and sending the angular velocity data to the upper computer for processing through the data acquisition card.
5. The gyroscope-based positioning method according to claim 1, wherein the step of receiving a difference between an angular velocity of a Z-axis of the gyroscope and a unit time and calculating a yaw angle of the vehicle for each signal acquisition cycle comprises:
calculating the vehicle yaw angle according to the following formula:
∠b＝ω*Δt
wherein, the angle b is the deflection angle of the vehicle in the unit time required by 0.5 meter of advance, omega is the angular velocity returned by the gyroscope, and delta t is the unit time required by 0.5 meter of advance of the vehicle.
6. The gyroscope-based positioning method according to claim 1, wherein with the true north direction being 0 ° and the sum of the yaw angle and the forward-to-backward direction angle of the vehicle before entering the scene being the vehicle traveling direction in the scene, the distance variation of the vehicle in the east-west and south-north directions can be calculated from the trigonometric function relationship between the vehicle traveling direction in the scene and the vehicle traveling distance, comprising:
the distance change in the east-west and north-south directions is calculated according to the following formula:
S1＝sin((∠a+∠b)*π/180)*0.5
S2＝cos((∠a+∠b)*π/180)*0.5
wherein S1 is the displacement distance of the vehicle in the east-west direction after 0.5 meter of advance, S2 is the displacement distance of the vehicle in the south-north direction after 0.5 meter of advance, angle a is the initial advance direction angle of the vehicle after entering the scene, and angle b is the deflection angle of the vehicle in the unit time required by 0.5 meter of advance.
7. The gyroscope-based positioning method according to claim 1, wherein the calculating of the latitude and longitude data of the vehicle within the scene by converting the distance changes in the east-west and north-south directions into change values of longitude and latitude, and adding the change values of longitude and latitude to the longitude and latitude values relative to the origin comprises:
calculating latitude and longitude data according to the following formula:
D＝D0+S2/1000/111.11111
L＝L0+S1/1000/(cos(D*π/180)*111.11111)
where D is a latitude value of the vehicle within the scene, L is a longitude value of the vehicle within the scene, D0 is a latitude value from the origin, L0 is a longitude value from the origin, S1 is a displacement distance of the vehicle in the east-west direction after 0.5 meter of advance, and S2 is a displacement distance of the vehicle in the north-south direction after 0.5 meter of advance.
8. A gyroscope-based positioning system, comprising:
one or more processors;
a storage device 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 gyroscope-based positioning method of any of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210579832.8A CN114964271A (en) | 2022-05-25 | 2022-05-25 | Positioning method and system based on gyroscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210579832.8A CN114964271A (en) | 2022-05-25 | 2022-05-25 | Positioning method and system based on gyroscope |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114964271A true CN114964271A (en) | 2022-08-30 |
Family
ID=82972417
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210579832.8A Pending CN114964271A (en) | 2022-05-25 | 2022-05-25 | Positioning method and system based on gyroscope |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114964271A (en) |
-
2022
- 2022-05-25 CN CN202210579832.8A patent/CN114964271A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Fu et al. | High-accuracy SINS/LDV integration for long-distance land navigation | |
| JP2961966B2 (en) | Vehicle position and orientation calculation device | |
| CN101907714B (en) | GPS aided positioning system and method based on multi-sensor data fusion | |
| US20060265127A1 (en) | Vehicle position detector device and its processing method | |
| US8731769B2 (en) | Inertial sensor calibration method for vehicles and device therefor | |
| CN107389064A (en) | A kind of unmanned vehicle based on inertial navigation becomes channel control method | |
| JP2000502803A (en) | Zero motion detection system for improved vehicle navigation system | |
| CN111536972B (en) | Vehicle-mounted DR navigation method based on odometer scale factor correction | |
| CN101498583A (en) | Vehicle navigation apparatus and its positioning method | |
| CN102508280B (en) | Method for assisting double-antenna measuring unit in determining integer ambiguity and heading by gyroscope | |
| CN107765279B (en) | Vehicle-mounted positioning and directional aiming system and method integrating inertia and satellite | |
| CN108845345B (en) | Double-antenna directional attitude measurement method based on GNSS speed measurement principle | |
| WO2015131464A1 (en) | Method and device for correcting error of vehicle positioning | |
| CN110631579A (en) | Combined positioning method for agricultural machine navigation | |
| CN107830873B (en) | High-precision vehicle positioning and orientation method based on combination of single-shaft horizontal rotation inertial navigation and odometer | |
| Abosekeen et al. | Utilizing the ACC-FMCW radar for land vehicles navigation | |
| CN100516777C (en) | GPS/INS combined locating navigation system and testing and correcting method for speed rate thereof | |
| CN102538790A (en) | Method for solving difference of gyroscope parameters in inertial navigation | |
| CN104864874A (en) | Low-cost single-gyroscope dead reckoning navigation method and system | |
| CN112229422A (en) | Speedometer quick calibration method and system based on FPGA time synchronization | |
| CN101017098A (en) | Angle testing and correcting method of GPS/INS combined locating navigation system | |
| CN110133695A (en) | A kind of double antenna GNSS location delay time dynamic estimation system and method | |
| CN112525207B (en) | Unmanned vehicle positioning method based on vehicle pitch angle map matching | |
| CN201016741Y (en) | GPS/INS combined positioning guidance system | |
| CN114964271A (en) | Positioning method and system based on gyroscope |
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 |