CN116828592A - Shared vehicle positioning method and device - Google Patents

Shared vehicle positioning method and device Download PDF

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Publication number
CN116828592A
CN116828592A CN202310655083.7A CN202310655083A CN116828592A CN 116828592 A CN116828592 A CN 116828592A CN 202310655083 A CN202310655083 A CN 202310655083A CN 116828592 A CN116828592 A CN 116828592A
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China
Prior art keywords
shared vehicle
under
acceleration
angular velocity
positioning
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Inventor
吴辉
王满
李飞
钱建安
江涛
张瑛
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Wuhan Xiaoan Technology Co ltd
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Wuhan Xiaoan Technology Co ltd
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Priority to CN202310655083.7A priority Critical patent/CN116828592A/en
Publication of CN116828592A publication Critical patent/CN116828592A/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • 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
    • G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
    • G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
    • 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
    • G01S19/393—Trajectory determination or predictive tracking, e.g. Kalman filtering
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental & Geological Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention provides a shared vehicle positioning method and a device, wherein the method comprises the following steps: receiving an inertial navigation positioning instruction sent by a cloud platform; the inertial navigation positioning instruction is transmitted under the condition that the GPS positioning precision under any patch is less than the preset precision after the cloud platform divides the shared vehicle service area into a plurality of patches; the acceleration and the angular velocity of the shared vehicle under any one of the zones are measured based on the inertial measurement unit, and the position of the shared vehicle is determined based on the acceleration and the angular velocity. The method can accurately determine the position of the shared vehicle based on the acceleration and the angular velocity, avoid the problem that GPS positioning is influenced by environmental conditions to influence the positioning precision of the shared vehicle in the traditional method, and save the reconstruction cost of hardware equipment without changing the hardware equipment of the shared vehicle.

Description

Shared vehicle positioning method and device
Technical Field
The present invention relates to the field of shared vehicles, and in particular, to a shared vehicle positioning method and apparatus.
Background
With the development of sharing economy, a large number of sharing vehicles are widely used in various cities. In order to ensure that the user is provided with a high-quality service, the shared vehicle operator needs to find the shared vehicle in time according to the location of the shared vehicle and replace the battery for the shared vehicle. Therefore, how precisely to locate the shared vehicle is important.
At present, the position of the shared vehicle is obtained by installing a positioning chip on the shared vehicle, but in some scenes, the positioning error of the positioning chip is larger, so that the positioning accuracy of the shared vehicle is lower.
Disclosure of Invention
The invention provides a shared vehicle positioning method and device, which are used for solving the defect of lower positioning precision of a shared vehicle in the prior art.
The invention provides a shared vehicle positioning method, which is applied to shared vehicle central control and comprises the following steps:
receiving an inertial navigation positioning instruction sent by a cloud platform; the inertial navigation positioning instruction is transmitted under the condition that the GPS positioning precision under any patch is less than the preset precision after the cloud platform divides the shared vehicle service area into a plurality of patches;
an acceleration and an angular velocity of the shared vehicle under the any one zone are measured based on an inertial measurement unit, and a position of the shared vehicle is determined based on the acceleration and the angular velocity.
The shared vehicle positioning method provided by the invention further comprises the following steps:
receiving an inertial navigation fusion instruction sent by the cloud platform; the inertial navigation fusion instruction is sent when the cloud platform determines that the GPS positioning precision under any area is greater than or equal to the preset precision;
the method includes measuring acceleration and angular velocity of the shared vehicle based on the inertial measurement unit, acquiring GPS positions of the shared vehicle under any one of the areas based on a global navigation satellite system, and determining the position of the shared vehicle based on the acceleration, the angular velocity, and the GPS positions.
The invention also provides a shared vehicle positioning method which is applied to the cloud platform and comprises the following steps:
dividing a shared vehicle service area into a plurality of areas, and determining GPS positioning accuracy under each area;
and under the condition that GPS positioning accuracy under any one area is smaller than preset accuracy, sending an inertial navigation positioning instruction to a shared vehicle central control under any one area, so that the shared vehicle central control measures acceleration and angular velocity of a shared vehicle based on an inertial measurement unit, and determines the position of the shared vehicle based on the acceleration and the angular velocity.
The shared vehicle positioning method provided by the invention further comprises the following steps:
and under the condition that the GPS positioning precision under any one zone is greater than or equal to the preset precision, sending an inertial navigation fusion instruction to a shared vehicle central control under any zone, so that the shared vehicle central control measures the acceleration and the angular velocity of a shared vehicle based on the inertial measurement unit, acquires the GPS position of the shared vehicle based on a global navigation satellite system, and determines the position of the shared vehicle based on the acceleration, the angular velocity and the GPS position.
According to the shared vehicle positioning method provided by the invention, the GPS positioning accuracy under each zone is determined based on at least one of the vehicle returning success rate, the vehicle finding success rate and the operation and maintenance identification under each zone.
The invention also provides a shared vehicle positioning device which is arranged in the shared vehicle and comprises:
the receiving unit is used for receiving the inertial navigation positioning instruction sent by the cloud platform; the inertial navigation positioning instruction is transmitted under the condition that the GPS positioning precision under any patch is less than the preset precision after the cloud platform divides the shared vehicle service area into a plurality of patches;
and the positioning unit is used for measuring the acceleration and the angular velocity of the shared vehicle under any area based on the inertia measurement unit and determining the position of the shared vehicle based on the acceleration and the angular velocity.
The invention also provides a shared vehicle positioning device which is arranged on the cloud platform and comprises:
the determining unit is used for dividing the shared vehicle service area into a plurality of areas and determining GPS positioning accuracy under each area;
and the sending unit is used for sending an inertial navigation positioning instruction to the central control of the shared vehicle under any one area under the condition that the GPS positioning precision under any one area is smaller than the preset precision, so that the central control of the shared vehicle measures the acceleration and the angular velocity of the shared vehicle based on the inertial measurement unit, and determines the position of the shared vehicle based on the acceleration and the angular velocity.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the shared vehicle locating method as described in any one of the above when executing the computer program.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a shared vehicle locating method as described in any of the above.
The invention also provides a computer program product comprising a computer program which when executed by a processor implements a method of sharing a vehicle location as described in any of the above.
According to the shared vehicle positioning method and device, under the condition that GPS positioning accuracy under any area is smaller than preset accuracy, the acceleration and the angular velocity of the shared vehicle under the corresponding area are measured based on the inertial measurement unit, and the measured acceleration and angular velocity are not influenced by environmental conditions, so that the position of the shared vehicle can be accurately determined based on the acceleration and the angular velocity, and the problem that GPS positioning is influenced by the environmental conditions to influence the positioning accuracy of the shared vehicle in the traditional method is avoided. In addition, the embodiment of the invention does not need to change the hardware equipment of the shared vehicle, thereby saving the reconstruction cost of the hardware equipment.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, 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 in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a shared vehicle positioning method provided by the invention;
FIG. 2 is a schematic illustration of a shared vehicle service area division provided by the present invention;
FIG. 3 is a flow chart of another method for locating a shared vehicle according to the present invention;
FIG. 4 is a schematic diagram of a shared vehicle locating apparatus provided by the present invention;
FIG. 5 is a schematic view of another shared vehicle positioning apparatus according to the present invention;
fig. 6 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. 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.
At present, the position of the shared vehicle is obtained by installing a positioning chip on the shared vehicle, but in some scenes, the positioning error of the positioning chip is larger, so that the positioning accuracy of the shared vehicle is lower. Meanwhile, the position of the shared vehicle is obtained by installing a positioning chip with higher positioning precision on the shared vehicle, but the existing equipment on the shared vehicle is required to be modified by installing the positioning chip, so that the modification cost is high, and the compatibility is poor.
In this regard, the present invention provides a shared vehicle positioning method. Fig. 1 is a schematic flow chart of a method for locating a shared vehicle, as shown in fig. 1, where the method is applied to a central control system of the shared vehicle, and the central control system of the shared vehicle controls and manages the shared vehicle. The system is generally composed of a central computer, a series of sensors, controllers, displays and the like, and can realize the functions of remote monitoring, control, maintenance, management and the like of the shared vehicle. The method comprises the following steps:
step 110, receiving an inertial navigation positioning instruction sent by a cloud platform; the inertial navigation positioning instruction is transmitted under the condition that the GPS positioning precision under any patch is less than the preset precision after the cloud platform divides the shared vehicle service area into a plurality of patches.
Specifically, the cloud platform is a service platform based on cloud computing technology, and can comprise functional modules such as vehicle management, user management, order management, payment settlement, data analysis and the like, so as to realize intelligent operation and management of shared vehicles. The shared vehicle service area refers to an area that provides service for the shared vehicle, e.g., the shared vehicle service area may be a shared vehicle parking area, a shared vehicle service area, or the like.
Since GPS (Global Positioning System) positioning accuracy is affected by environmental conditions, GPS positioning accuracy is different at different positions. For example, in open areas, the accuracy of the GPS receiver may be on the order of meters, so that the GPS receiver may provide relatively accurate location information, i.e., GPS positioning accuracy is high in open areas. In complex environments such as cities or mountainous areas, the accuracy of the GPS receiver may be reduced to the order of several centimeters due to the propagation of satellite signals being disturbed by buildings, mountains and other obstacles, and thus the GPS reception may not provide accurate position information, i.e. the GPS positioning accuracy is low in complex environments such as cities or mountainous areas.
In contrast, in the embodiment of the invention, the cloud platform divides the shared vehicle service area into a plurality of areas and determines the GPS positioning accuracy under each area. Optionally, the embodiment of the present invention may divide the shared vehicle service area into a plurality of segments based on latitude and longitude, or may divide the shared vehicle service area into a plurality of segments based on the road network, which is not limited in particular. As shown in fig. 2, the shared vehicle service area is divided into a plurality of tiles (a plurality of rectangular grid areas in fig. 2), wherein the hatched area is a tile with GPS positioning accuracy less than a preset accuracy, and the remaining areas without the hatched area are tiles with GPS positioning accuracy greater than or equal to the preset accuracy.
In some embodiments, after dividing the shared vehicle service area into a plurality of zones, the cloud platform may determine GPS positioning accuracy of each zone based on a return success rate, a find success rate, an operation and maintenance identifier, and the like under each zone. For example, the higher the success rate of returning to the vehicle, the higher the GPS positioning precision of the corresponding area; the higher the success rate of finding the vehicle, the higher the GPS positioning accuracy of the corresponding area.
Under the condition that the GPS positioning precision under any patch is smaller than the preset precision, the fact that the GPS positioning error is larger is indicated to be adopted by the corresponding patch, and at the moment, the cloud platform sends an inertial navigation positioning instruction to the shared vehicle central control of the corresponding patch so as to instruct the shared vehicle central control to determine the position of the shared vehicle by adopting an inertial navigation algorithm (Inertial Navigation Algorithm, INA), and the interference of GPS positioning is avoided.
Step 120, measuring acceleration and angular velocity of the shared vehicle under any area based on the inertial measurement unit, and determining a position of the shared vehicle based on the acceleration and angular velocity.
In particular, inertial measurement units (Inertial Measurement Unit, IMUs) typically include sensors such as accelerometers, gyroscopes, and magnetometers that can measure acceleration and angular velocity of the shared vehicle in three directions.
After the acceleration and angular velocity are obtained, the shared vehicle position may be determined based on inertial navigation algorithms. The inertial navigation algorithm may include a triaxial integration method, a kalman filter, an extended kalman filter, a particle filter, and the like.
According to the shared vehicle positioning method provided by the embodiment of the invention, under the condition that the GPS positioning precision under any area is smaller than the preset precision, the acceleration and the angular velocity of the shared vehicle under the corresponding area are measured based on the inertial measurement unit, and the measured acceleration and angular velocity are not influenced by environmental conditions, so that the position of the shared vehicle can be accurately determined based on the acceleration and the angular velocity, and the problem that the GPS positioning is influenced by the environmental conditions to influence the positioning precision of the shared vehicle in the traditional method is avoided. In addition, the embodiment of the invention does not need to change the hardware equipment of the shared vehicle, thereby saving the reconstruction cost of the hardware equipment.
Based on the above embodiment, the method further includes:
receiving an inertial navigation fusion instruction sent by a cloud platform; the inertial navigation fusion instruction is sent when the cloud platform determines that the GPS positioning precision under any area is more than or equal to the preset precision;
the method includes measuring acceleration and angular velocity of the shared vehicle based on the inertial measurement unit, acquiring GPS positions of the shared vehicle under any one district based on the global navigation satellite system, and determining the positions of the shared vehicle based on the acceleration, the angular velocity and the GPS positions.
Specifically, when the GPS positioning precision under any one of the zones is greater than or equal to the preset precision, the fact that the GPS positioning error is smaller is indicated to be adopted by the corresponding zone, and at the moment, the cloud platform sends an inertial navigation fusion instruction to the central control of the sharing vehicle of the corresponding zone so as to indicate the central control of the sharing vehicle to adopt inertial navigation fusion positioning (Inertial Fusion Positioning, IFP) to determine the position of the sharing vehicle, so that the positioning precision of the sharing vehicle is ensured. The inertial navigation fusion positioning is a technology for estimating a position by using IMU and global navigation satellite system (Global Navigation Satellite System, GNSS) data.
In some embodiments, the acceleration (e.g., angular acceleration, linear acceleration, etc.) and angular velocity of the shared vehicle may be measured by the IMU, and the GPS position of the shared vehicle may be determined from data (e.g., satellite signal strength, satellite orbit information, etc.) of the GNSS receiver, and the acceleration, angular velocity, and GPS position may be fused to determine the position of the shared vehicle. As the inertial navigation fusion positioning method combines the accuracy of the IMU and the wide area coverage of the GNSS, more accurate and robust position estimation can be realized.
Based on any one of the above embodiments, the present invention further provides a shared vehicle positioning method, as shown in fig. 3, where the method is applied to a cloud platform, and includes the following steps:
step 310, dividing a shared vehicle service area into a plurality of areas, and determining GPS positioning accuracy under each area;
step 320, sending an inertial navigation positioning instruction to the central control of the shared vehicle under any one of the areas when the GPS positioning accuracy under any one of the areas is smaller than the preset accuracy, so that the central control of the shared vehicle measures the acceleration and the angular velocity of the shared vehicle based on the inertial measurement unit, and determines the position of the shared vehicle based on the acceleration and the angular velocity.
Specifically, since the GPS positioning accuracy is affected by environmental conditions, the GPS positioning accuracy is different at different positions. For example, in open areas, the accuracy of the GPS receiver may be on the order of meters, so that the GPS receiver may provide relatively accurate location information, i.e., GPS positioning accuracy is high in open areas. In complex environments such as cities or mountainous areas, the accuracy of the GPS receiver may be reduced to the order of several centimeters due to the propagation of satellite signals being disturbed by buildings, mountains and other obstacles, and thus the GPS reception may not provide accurate position information, i.e. the GPS positioning accuracy is low in complex environments such as cities or mountainous areas.
In contrast, in the embodiment of the invention, the cloud platform divides the shared vehicle service area into a plurality of areas and determines the GPS positioning accuracy under each area. Optionally, the embodiment of the present invention may divide the shared vehicle service area into a plurality of segments based on latitude and longitude, or may divide the shared vehicle service area into a plurality of segments based on the road network, which is not limited in particular.
In some embodiments, after dividing the shared vehicle service area into a plurality of zones, the cloud platform may determine GPS positioning accuracy of each zone based on a return success rate, a find success rate, an operation and maintenance identifier, and the like under each zone. For example, the higher the success rate of returning to the vehicle, the higher the GPS positioning precision of the corresponding area; the higher the success rate of finding the vehicle, the higher the GPS positioning accuracy of the corresponding area.
Under the condition that the GPS positioning precision under any patch is smaller than the preset precision, the fact that the corresponding patch adopts the GPS positioning error is larger is indicated, and at the moment, the cloud platform sends an inertial navigation positioning instruction to the shared vehicle central control of the corresponding patch so as to instruct the shared vehicle central control to adopt an INA algorithm to determine the position of the shared vehicle, and the interference of GPS positioning is avoided.
Furthermore, IMUs typically include sensors such as accelerometers, gyroscopes, and magnetometers that can measure acceleration and angular velocity of the shared vehicle in three directions. After the acceleration and angular velocity are obtained, the shared vehicle position may be determined based on inertial navigation algorithms. The inertial navigation algorithm may include a triaxial integration method, a kalman filter, an extended kalman filter, a particle filter, and the like.
According to the shared vehicle positioning method provided by the embodiment of the invention, under the condition that the GPS positioning precision under any area is smaller than the preset precision, the acceleration and the angular velocity of the shared vehicle under the corresponding area are measured based on the inertial measurement unit, and the measured acceleration and angular velocity are not influenced by environmental conditions, so that the position of the shared vehicle can be accurately determined based on the acceleration and the angular velocity, and the problem that the GPS positioning is influenced by the environmental conditions to influence the positioning precision of the shared vehicle in the traditional method is avoided.
Based on any of the above embodiments, the method further comprises:
and under the condition that the GPS positioning precision under any one zone is greater than or equal to the preset precision, sending an inertial navigation fusion instruction to the central control of the shared vehicle under any zone, so that the central control of the shared vehicle measures the acceleration and the angular velocity of the shared vehicle based on the inertial measurement unit, acquires the GPS position of the shared vehicle based on the global navigation satellite system, and determines the position of the shared vehicle based on the acceleration, the angular velocity and the GPS position.
Specifically, when the GPS positioning precision under any one of the areas is greater than or equal to the preset precision, the fact that the GPS positioning error is smaller is indicated to be adopted by the corresponding area, and at the moment, the cloud platform sends an inertial navigation fusion instruction to the central control of the sharing vehicle of the corresponding area so as to indicate the central control of the sharing vehicle to adopt IFP to determine the position of the sharing vehicle, so that the positioning precision of the sharing vehicle is ensured. The inertial navigation fusion positioning is a technology for estimating the position by using IMU and GNSS data.
In some embodiments, the acceleration (e.g., angular acceleration, linear acceleration, etc.) and angular velocity of the shared vehicle may be measured by the IMU, and the GPS position of the shared vehicle may be determined from data (e.g., satellite signal strength, satellite orbit information, etc.) of the GNSS receiver, and the acceleration, angular velocity, and GPS position may be fused to determine the position of the shared vehicle. As the inertial navigation fusion positioning method combines the accuracy of the IMU and the wide area coverage of the GNSS, more accurate and robust position estimation can be realized.
Based on any of the above embodiments, the GPS positioning accuracy under each of the tiles is determined based on at least one of a return success rate, a find success rate, and an operation and maintenance identifier under each of the tiles.
Specifically, the vehicle returning success rate refers to the success rate of returning the shared vehicle to the designated shared vehicle service area according to the requirement of the shared vehicle service protocol by the user and completing the related procedures. The sharing vehicle operators monitor the user to return the vehicle through GPS positioning, and the higher the success rate of returning the vehicle is, the higher the GPS positioning precision of the corresponding area is.
The vehicle finding success rate refers to the probability that a user successfully finds an available shared vehicle through GPS positioning provided by a cloud platform when the user needs to use the shared vehicle. The higher the success rate of finding the vehicle is, the higher the GPS positioning accuracy of the corresponding area is.
The operation and maintenance identifier is the GPS positioning precision identifier of each patch by operation and maintenance workers, namely the operation and maintenance identifier is used for representing the GPS positioning precision of the corresponding patch.
The shared vehicle positioning device provided by the invention is described below, and the shared vehicle positioning device described below and the shared vehicle positioning method described above can be referred to correspondingly to each other.
Based on any of the above embodiments, the embodiment of the present invention further provides a shared vehicle positioning device, which is installed in a shared vehicle, as shown in fig. 4, and includes:
the receiving unit 410 is configured to receive an inertial navigation positioning instruction sent by the cloud platform; the inertial navigation positioning instruction is transmitted under the condition that the GPS positioning precision under any patch is less than the preset precision after the cloud platform divides the shared vehicle service area into a plurality of patches;
and a positioning unit 420 for measuring acceleration and angular velocity of the shared vehicle under the any one zone based on the inertial measurement unit, and determining a position of the shared vehicle based on the acceleration and the angular velocity.
Based on any of the above embodiments, the embodiment of the present invention further provides a shared vehicle positioning device, which is installed on a cloud platform, as shown in fig. 5, and the device includes:
a determining unit 510, configured to divide a shared vehicle service area into a plurality of areas, and determine GPS positioning accuracy under each area;
and the sending unit 520 is configured to send an inertial navigation positioning instruction to a central control of the shared vehicle under any one of the areas, so that the central control of the shared vehicle measures acceleration and angular velocity of the shared vehicle based on the inertial measurement unit, and determines a position of the shared vehicle based on the acceleration and the angular velocity, if the GPS positioning accuracy under any one of the areas is less than a preset accuracy.
Fig. 6 is a schematic structural diagram of an electronic device according to the present invention, and as shown in fig. 6, the electronic device may include: processor 610, memory 620, communication interface (Communications Interface) 630, and communication bus 640, wherein processor 610, memory 620, and communication interface 630 communicate with each other via communication bus 640. The processor 610 may invoke logic instructions in the memory 620 to perform a shared vehicle positioning method comprising: receiving an inertial navigation positioning instruction sent by a cloud platform; the inertial navigation positioning instruction is transmitted under the condition that the GPS positioning precision under any patch is less than the preset precision after the cloud platform divides the shared vehicle service area into a plurality of patches; an acceleration and an angular velocity of the shared vehicle under the any one zone are measured based on an inertial measurement unit, and a position of the shared vehicle is determined based on the acceleration and the angular velocity.
Or, the method comprises the following steps: dividing a shared vehicle service area into a plurality of areas, and determining GPS positioning accuracy under each area;
and under the condition that GPS positioning accuracy under any one area is smaller than preset accuracy, sending an inertial navigation positioning instruction to a shared vehicle central control under any one area, so that the shared vehicle central control measures acceleration and angular velocity of a shared vehicle based on an inertial measurement unit, and determines the position of the shared vehicle based on the acceleration and the angular velocity.
Further, the logic instructions in the memory 620 described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the method of shared vehicle positioning provided by the methods described above, the method comprising: receiving an inertial navigation positioning instruction sent by a cloud platform; the inertial navigation positioning instruction is transmitted under the condition that the GPS positioning precision under any patch is less than the preset precision after the cloud platform divides the shared vehicle service area into a plurality of patches; an acceleration and an angular velocity of the shared vehicle under the any one zone are measured based on an inertial measurement unit, and a position of the shared vehicle is determined based on the acceleration and the angular velocity.
Or, the method comprises the following steps: dividing a shared vehicle service area into a plurality of areas, and determining GPS positioning accuracy under each area;
and under the condition that GPS positioning accuracy under any one area is smaller than preset accuracy, sending an inertial navigation positioning instruction to a shared vehicle central control under any one area, so that the shared vehicle central control measures acceleration and angular velocity of a shared vehicle based on an inertial measurement unit, and determines the position of the shared vehicle based on the acceleration and the angular velocity.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the above-provided shared vehicle positioning methods, the method comprising: receiving an inertial navigation positioning instruction sent by a cloud platform; the inertial navigation positioning instruction is transmitted under the condition that the GPS positioning precision under any patch is less than the preset precision after the cloud platform divides the shared vehicle service area into a plurality of patches; an acceleration and an angular velocity of the shared vehicle under the any one zone are measured based on an inertial measurement unit, and a position of the shared vehicle is determined based on the acceleration and the angular velocity.
Or, the method comprises the following steps: dividing a shared vehicle service area into a plurality of areas, and determining GPS positioning accuracy under each area;
and under the condition that GPS positioning accuracy under any one area is smaller than preset accuracy, sending an inertial navigation positioning instruction to a shared vehicle central control under any one area, so that the shared vehicle central control measures acceleration and angular velocity of a shared vehicle based on an inertial measurement unit, and determines the position of the shared vehicle based on the acceleration and the angular velocity.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; 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 (10)

1. A shared vehicle positioning method, which is applied to shared vehicle central control, comprising:
receiving an inertial navigation positioning instruction sent by a cloud platform; the inertial navigation positioning instruction is transmitted under the condition that the GPS positioning precision under any patch is less than the preset precision after the cloud platform divides the shared vehicle service area into a plurality of patches;
an acceleration and an angular velocity of the shared vehicle under the any one zone are measured based on an inertial measurement unit, and a position of the shared vehicle is determined based on the acceleration and the angular velocity.
2. The shared vehicle locating method as claimed in claim 1, further comprising:
receiving an inertial navigation fusion instruction sent by the cloud platform; the inertial navigation fusion instruction is sent when the cloud platform determines that the GPS positioning precision under any area is greater than or equal to the preset precision;
the method includes measuring acceleration and angular velocity of the shared vehicle based on the inertial measurement unit, acquiring GPS positions of the shared vehicle under any one of the areas based on a global navigation satellite system, and determining the position of the shared vehicle based on the acceleration, the angular velocity, and the GPS positions.
3. The utility model provides a sharing vehicle positioning method which is characterized in that the utility model is applied to cloud platform, includes:
dividing a shared vehicle service area into a plurality of areas, and determining GPS positioning accuracy under each area;
and under the condition that GPS positioning accuracy under any one area is smaller than preset accuracy, sending an inertial navigation positioning instruction to a shared vehicle central control under any one area, so that the shared vehicle central control measures acceleration and angular velocity of a shared vehicle based on an inertial measurement unit, and determines the position of the shared vehicle based on the acceleration and the angular velocity.
4. The shared vehicle locating method as claimed in claim 3, further comprising:
and under the condition that the GPS positioning precision under any one zone is greater than or equal to the preset precision, sending an inertial navigation fusion instruction to a shared vehicle central control under any zone, so that the shared vehicle central control measures the acceleration and the angular velocity of a shared vehicle based on the inertial measurement unit, acquires the GPS position of the shared vehicle based on a global navigation satellite system, and determines the position of the shared vehicle based on the acceleration, the angular velocity and the GPS position.
5. The shared vehicle positioning method as claimed in claim 3 or 4, wherein the GPS positioning accuracy under each zone is determined based on at least one of a return success rate, a find success rate, and an operation and maintenance identification under each zone.
6. A shared vehicle positioning device, characterized by being mounted in a shared vehicle center control, comprising:
the receiving unit is used for receiving the inertial navigation positioning instruction sent by the cloud platform; the inertial navigation positioning instruction is transmitted under the condition that the GPS positioning precision under any patch is less than the preset precision after the cloud platform divides the shared vehicle service area into a plurality of patches;
and the positioning unit is used for measuring the acceleration and the angular velocity of the shared vehicle under any area based on the inertia measurement unit and determining the position of the shared vehicle based on the acceleration and the angular velocity.
7. A shared vehicle locating device, characterized by being mounted to a cloud platform, comprising:
the determining unit is used for dividing the shared vehicle service area into a plurality of areas and determining GPS positioning accuracy under each area;
and the sending unit is used for sending an inertial navigation positioning instruction to the central control of the shared vehicle under any one area under the condition that the GPS positioning precision under any one area is smaller than the preset precision, so that the central control of the shared vehicle measures the acceleration and the angular velocity of the shared vehicle based on the inertial measurement unit, and determines the position of the shared vehicle based on the acceleration and the angular velocity.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the shared vehicle localization method of any one of claims 1 to 5 when the computer program is executed.
9. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the shared vehicle localization method of any one of claims 1 to 5.
10. A computer program product comprising a computer program which, when executed by a processor, implements the shared vehicle locating method of any one of claims 1 to 5.
CN202310655083.7A 2023-06-02 2023-06-02 Shared vehicle positioning method and device Pending CN116828592A (en)

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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310655083.7A CN116828592A (en) 2023-06-02 2023-06-02 Shared vehicle positioning method and device

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