CN116660963A - Vehicle positioning method under tunnel group scene - Google Patents
Vehicle positioning method under tunnel group scene Download PDFInfo
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- CN116660963A CN116660963A CN202310433428.4A CN202310433428A CN116660963A CN 116660963 A CN116660963 A CN 116660963A CN 202310433428 A CN202310433428 A CN 202310433428A CN 116660963 A CN116660963 A CN 116660963A
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Classifications
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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 invention relates to a vehicle positioning method under a tunnel group scene, and belongs to the technical field of vehicle positioning. The method is divided into the following three cases: the vehicle is outside the tunnel: when the GPS signal exists, the GPS data, the IMU data and the visual odometer data are utilized to position the vehicle, and the G-I-V positioning method is short for short; when the GPS signal is weak, namely the GPS signal loss time is smaller than the time interval, the IMU data and the visual mileage data are utilized to position the vehicle, and the V-I positioning method is short for short; the vehicle is in the tunnel: when the GPS signal loss time is greater than the time interval, the vehicle is judged to enter the tunnel, and the vehicle is positioned by using the pseudolite data, the IMU data and the vision mileage data, namely the PL-V-I positioning method is used for short. The method and the system can improve the accuracy and the robustness of the vehicle positioning system in the tunnel scene.
Description
Technical Field
The invention belongs to the technical field of vehicle positioning, and relates to a vehicle positioning method under a tunnel group scene.
Background
The real-time high-precision positioning technology has wide application in life, such as automatic driving, intelligent transportation and the like. The current main positioning techniques are: GPS positioning, inertial navigation positioning, and the like. However, the navigation positioning method alone has some problems.
The GPS is a navigation system which is most widely applied at present and has the advantages of all weather, global property, low cost, high precision, no error accumulation with time and the like, and the GPS system consists of three parts of a space section, a ground section and a user section, and can obtain the information of three-dimensional coordinates, speed, time and the like of the geographic position of the current user by carrying out data calculation on data such as pseudo-range between a receiver and a satellite, satellite orbit parameters and the like. However, the data updating frequency is low, the continuous positioning is difficult, and the signals can be lost and damaged due to the influence of interference factors such as shielding, multipath, bad weather and the like.
The principle of operation of the inertial navigation system (Inertial Navigation System, INS) is based on newton's law of motion, which is based on the acceleration of motion of the carrier measured by the accelerometer in the inertial measurement unit (Inertial Measurement Unit, IMU) and the rotational angular velocity of the carrier measured by the gyroscope, and these measurements are processed by a computer to obtain the attitude, velocity and position of the carrier. The IMU is an independent system for calculating the position, speed and attitude of the vehicle, has extremely strong autonomy and concealment, and also has the advantages of high short-term navigation precision, good stability, high data updating speed and the like, but the errors of the inertial device are accumulated along with time and initial alignment is needed before each use.
The image information can be used for correcting the drift problem in inertial navigation, so that the accurate and robust positioning navigation system realized by effectively utilizing the complementarity of the visual information and the inertial information has become a hot spot and a difficult point in the research field of intelligent vehicles.
Therefore, a positioning method capable of effectively integrating three data of GPS, IMU and visual odometer is needed.
Disclosure of Invention
Therefore, the invention aims to provide a vehicle positioning method under a tunnel group scene, which is based on Kalman filtering and integrates three data of GPS, IMU and visual odometer to position a vehicle outside a tunnel; and pseudo satellite data are added to position the vehicle in the tunnel, so that the accuracy and the robustness of the vehicle positioning system in the tunnel scene are improved. .
In order to achieve the above purpose, the present invention provides the following technical solutions:
a vehicle positioning method under a tunnel group scene is divided into the following three cases:
the vehicle is outside the tunnel:
(1) When the GPS signal exists, the GPS data, the IMU data and the visual odometer data are utilized to position the vehicle, and the G-I-V positioning method is short for short;
(2) When the GPS signal loss time is smaller than the time interval delta t, the IMU data and the vision mileage data are utilized to position the vehicle, and the V-I positioning method is short for short;
the vehicle is in the tunnel:
(3) When the GPS signal loss time is greater than the time interval delta t, the vehicle is judged to enter the tunnel, and the vehicle is positioned by using the pseudolite data, the IMU data and the vision mileage data, namely the PL-V-I positioning method is used for short.
Further, the G-I-V positioning method specifically comprises the following steps: firstly, combining the position and speed information output by an inertial navigation system and a visual mileage system, and calculating the position and speed by an inertial navigation platform meter and a visual mileage meter through Kalman filtering; combining the position and the speed of the output of the inertial navigation system with the ephemeris information of the satellite system, and calculating by the inertial navigation platform to obtain a pseudo range and a pseudo range rate; then, making a difference with the pseudo range and the pseudo range rate measured by the satellite navigation system, and taking the difference as the observed quantity of the filtering model; then feeding back the error estimated according to the error model to an inertial navigation system; and finally, taking the corrected inertial system calculation result as the output of the integrated navigation system.
Further, the V-I positioning method specifically comprises the following steps: the IMU is calculated to obtain the vehicle speed v1 and the visual odometer is calculated to obtain the vehicle speed v2, the vehicle speed v is obtained through fusion by Kalman filtering, one known point is used as a reference feature, and the position information prediction network is trained by utilizing historical data; and taking the vehicle speed v and the reference characteristic, the accelerometer characteristic and the gyroscope characteristic of the IMU which are obtained through fusion as the input of a position information prediction network, and finally outputting the position information of the next point through the network.
The vision and inertial navigation information has inherent complementary characteristics in positioning, the IMU can provide self three-axis acceleration and angular velocity, the self gesture is estimated by utilizing a pre-integration technology, the scale uncertainty of the system when only a monocular camera is used is effectively solved, and meanwhile, under the condition that vision tracking errors or losses are caused by dynamic objects, sparse features and fuzzy pictures, the constraint item of the system can be increased by utilizing the pre-integration, so that the accuracy and the robustness of the system are improved.
Further, the PL-V-I positioning method specifically comprises the following steps: firstly, solving and obtaining a space coordinate position of a user by using a relation between a pseudo-range measured value and a user coordinate; and then combining the calculated user coordinates with the V-I method to obtain data, and fusing the data by using a Kalman filtering method and a loose combination method.
The spatial coordinate position expression of the user is as follows:
wherein ρ is i Pseudo-range values for pseudolite i, (x) i ,y i ,z i ) Is the coordinates of pseudolite i, (x) u ,y u ,z u ) For user receiver coordinates, Δt u Delay error for the user receiver clock, c is the speed of light.
The invention has the beneficial effects that: the invention considers three situations of strong and weak signals and complete loss of GPS signals inside and outside the tunnel, and adopts fusion of different data to realize vehicle positioning, thereby improving the accuracy and the robustness of the vehicle positioning system inside and outside the tunnel.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objects and other advantages of the invention may be realized and obtained by means of the instrumentalities and combinations particularly pointed out in the specification.
Drawings
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in the following preferred detail with reference to the accompanying drawings, in which:
FIG. 1 is a flow chart of a G-I-V positioning method;
FIG. 2 is a flow chart of a V-I positioning method;
FIG. 3 is a flow chart of a PL-V-I positioning method;
FIG. 4 is a schematic diagram of a global positioning of a tunnel;
FIG. 5 is a general flow chart of the positioning method of the present invention.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the illustrations provided in the following embodiments merely illustrate the basic idea of the present invention by way of illustration, and the following embodiments and features in the embodiments may be combined with each other without conflict.
Referring to fig. 1 to 5, the present invention proposes a vehicle positioning method in a tunnel group scene, and when a GPS signal exists, three data of GPS, IMU and visual odometer are fused by using kalman filtering. The main process is as follows, when outside the tunnel, three groups of data are fused by adopting a tight combination fusion method.
The method (namely the G-I-V positioning method) combines the position and speed information output by an inertial navigation system and a visual mileage system, and the position and the speed are obtained by calculation of an inertial navigation platform meter and a visual mileage meter through Kalman filtering. Combining the output position and speed of the inertial navigation system with the ephemeris information of the satellite system, calculating to obtain a pseudo range and a pseudo range rate by the inertial navigation platform, making a difference with the pseudo range and the pseudo range rate measured by the satellite navigation system, taking the difference as the observed quantity of the filtering model, feeding back the error estimated according to the error model to the inertial navigation system, and finally taking the corrected calculated result of the inertial system as the output of the integrated navigation system.
And if the GPS signal acquisition frequency is low and the time of two adjacent GPS data is respectively T0 and T1, the time interval is deltat, and only IMU data and visual odometer data exist in the time interval. In this case, the present invention performs vehicle positioning by using the V-I method, that is, the IMU calculates the vehicle speed V1 and the visual odometer calculates the vehicle speed V2, and the vehicle speed V is obtained by fusion through the kalman filter, and the above known point is used as a reference feature, and the position information prediction network is trained by using the history data. And taking the vehicle speed v and the reference characteristic, the accelerometer characteristic and the gyroscope characteristic of the IMU which are obtained through fusion as the input of a position information prediction network, and finally outputting the position information of the next point through the network. Thereby achieving the effect of improving the positioning frequency.
And when the GPS signal loss time interval is larger than deltat, judging that the vehicle enters the tunnel. At this time, the PL-V-I method is used for vehicle positioning. I.e. using pseudolites to locate the vehicle in the tunnel. The pseudolite is used for enhancing and supplementing the GNSS system, so that the inherent defect of the GNSS system can be overcome, the integrity and reliability of the existing GNSS navigation system on train positioning are obviously improved, the application scene range of the GNSS navigation system is enlarged, the further development of the combined navigation system is facilitated, and the safety performance of the train control system is improved. The GNSS/PL combined navigation technology comprehensively utilizes the resources of the two navigation systems, can complement advantages, can meet the positioning requirements of high precision, strong availability and interference resistance at present, and is beneficial to realizing seamless positioning of vehicles. Mainly crossThe method is characterized in that pseudolites are installed in the tunnel, so that the vehicle can receive four pseudolites at any position in the tunnel, and the positions of the pseudolites are accurately calibrated. The pseudo-satellite signal transmission and receiving time delay is multiplied by the speed of light to obtain the pseudo-satellite signal, and in an actual pseudo-satellite system, a certain error exists between a pseudo-range and a true distance because a certain deviation exists between a time system of the pseudo-satellite and a user receiver and a standard time. The time at which the pseudolite transmits a signal is measured by a pseudolite clock and is referred to as the time of transmission of the signal, and the time at which the user receives the signal is obtained from the receiver and is referred to as the time of reception of the signal. Neither the pseudolite nor the user receiver clock is a high precision atomic clock, resulting in their time out of sync, and some error in the system. The standard clock in the system can be understood as a high-precision atomic clock under the general condition, the atomic clock is expensive, and the atomic clock is not suitable for a true pseudolite system due to the cost problem, and only is used as reference time for theoretical analysis of pseudo-range calculation in the invention. Let the time when the user receiver accepts the signal be t r The corresponding system is t, and the receiver clock is advanced by Δt r Representing the clock difference of the receiver clock, which is an unknown quantity, then the signal is received for a time t r The relationship with system time t can be expressed by the formula (1):
t r ＝t+Δt r (1)
the clock in the pseudo satellite system is synchronous, but has error with the system time, and the time of the pseudo satellite transmitting signal is set as t s The clock difference of the pseudo satellite clock is delta t s The actual time used in the navigation signal transmission process is tau, and then the relation between the signal transmission time and the system time t can be expressed by the formula (2).
t s ＝t-τ+Δt s (2)
When the pseudo range is calculated, the signal receiving time and the signal transmitting time are subjected to difference and multiplied by the speed of light, so that a pseudo range value is obtained, and the pseudo range value is shown in a formula (3):
ρ＝c*(t r -t s ) (3) Substituting formula (1) and formula (2) to obtain:
ρ＝c*(Δt r -Δt s )+r (4)
where c is the speed of light. As can be seen from the formula (4), the pseudo-range includes the true distance r between the receiver and the pseudolite clock difference between the receiver and the pseudolite clock difference, but in reality, the pseudo-range of the satellite also includes other interference terms, the error of which is represented by e, and then the pseudo-range observation equation is:
ρ＝c*(Δt r -Δt s )+r+∈ (5)
suppose that the user receiver coordinates are (x u ,y u ,z u ) Pseudolite coordinates are (x i ,y i ,z i ) The geometrical distance between the pseudolite and the user receiver is:
the formula (6) is brought into the formula (5), for the convenience of calculation, the error epsilon is temporarily omitted first, the relation between the pseudo-range measured value and the user coordinate is obtained, a nonlinear equation set is formed by simultaneous combination, and the space coordinate position of the user can be obtained by solving, as shown in the formula (7):
which contains four unknowns, namely the user receiver coordinates (x u ,y u ,z u ) Δt (delta t) u Wherein Δt is u The error is delayed for the user receiver clock. And (3) obtaining data by using the calculated user coordinates and a V-I method, and fusing by using a Kalman filtering method and a loose combination method to achieve the effect of positioning in the tunnel.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the present invention, which is intended to be covered by the claims of the present invention.
Claims (5)
1. The vehicle positioning method under the tunnel group scene is characterized by comprising the following three conditions:
the vehicle is outside the tunnel:
(1) When the GPS signal exists, the GPS data, the IMU data and the visual odometer data are utilized to position the vehicle, and the G-I-V positioning method is short for short;
(2) When the GPS signal is weak, namely the GPS signal loss time is smaller than the time interval delta t, the IMU data and the visual mileage data are utilized to position the vehicle, and the V-I positioning method is short for short;
the vehicle is in the tunnel:
(3) When the GPS signal loss time is greater than the time interval delta t, the vehicle is judged to enter the tunnel, and the vehicle is positioned by using the pseudolite data, the IMU data and the vision mileage data, namely the PL-V-I positioning method is used for short.
2. The method for positioning vehicles in a tunnel group scene according to claim 1, wherein the G-I-V positioning method specifically comprises: firstly, combining the position and speed information output by an inertial navigation system and a visual mileage system, and calculating the position and speed by an inertial navigation platform meter and a visual mileage meter through Kalman filtering; combining the position and the speed of the output of the inertial navigation system with the ephemeris information of the satellite system, and calculating by the inertial navigation platform to obtain a pseudo range and a pseudo range rate; then, making a difference with the pseudo range and the pseudo range rate measured by the satellite navigation system, and taking the difference as the observed quantity of the filtering model; then feeding back the error estimated according to the error model to an inertial navigation system; and finally, taking the corrected inertial system calculation result as the output of the integrated navigation system.
3. The method for positioning vehicles in a tunnel group scene according to claim 1, wherein the V-I positioning method specifically comprises: the IMU is calculated to obtain the vehicle speed v1 and the visual odometer is calculated to obtain the vehicle speed v2, the vehicle speed v is obtained through fusion by Kalman filtering, one known point is used as a reference feature, and the position information prediction network is trained by utilizing historical data; and taking the vehicle speed v and the reference characteristic, the accelerometer characteristic and the gyroscope characteristic of the IMU which are obtained through fusion as the input of a position information prediction network, and finally outputting the position information of the next point through the network.
4. A method for locating a vehicle in a tunnel group scene according to claim 1 or 3, wherein the PL-V-I locating method specifically comprises: firstly, solving and obtaining a space coordinate position of a user by using a relation between a pseudo-range measured value and a user coordinate; and then combining the calculated user coordinates with the V-I method to obtain data, and fusing the data by using a Kalman filtering method and a loose combination method.
5. The method for locating a vehicle in a tunnel group scene according to claim 4, wherein the spatial coordinate position expression of the user is:
wherein ρ is i Pseudo-range values for pseudolite i, (x) i ,y i ,z i ) Is the coordinates of pseudolite i, (x) u ,y u ,z u ) For user receiver coordinates, Δt u Delay error for the user receiver clock, c is the speed of light.
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