CN116972837B - Self-adaptive vehicle-mounted combined navigation positioning method and related equipment - Google Patents
Self-adaptive vehicle-mounted combined navigation positioning method and related equipment Download PDFInfo
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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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
- G01C21/20—Instruments for performing navigational calculations
Abstract
The embodiment of the invention provides a self-adaptive vehicle-mounted combined navigation positioning method, which comprises the steps of obtaining a navigation signal sequence of a preset point position in a navigation route corresponding to a target vehicle, wherein one preset point position corresponds to one navigation signal sequence, and navigation signals in the navigation signal sequence are navigation signals obtained by a first navigation positioning subsystem in a plurality of second vehicles, and the target vehicle is provided with a vehicle-mounted combined navigation positioning system; determining navigation signal predicted values of all preset points based on the navigation signal sequences of all preset points, wherein the navigation signal predicted values are navigation signal predicted values of the first navigation positioning subsystem; and determining a navigation positioning subsystem of the preset point position based on the predicted value of the navigation signal. The navigation system of each preset point position can be planned in advance, error accumulation of the current measured value can be avoided, and the accuracy of navigation positioning is improved.
Description
Technical Field
The invention relates to the technical field of vehicle navigation, in particular to a self-adaptive vehicle-mounted combined navigation positioning method and related equipment.
Background
Satellite navigation has the advantages of global, all-weather, high precision and the like, but satellite signals of a satellite navigation system are easily influenced by environment, so that the precision of a positioning result is reduced or even lost. The inertial navigation system measures acceleration of the vehicle in an inertial reference system, integrates time and transforms the acceleration into navigation coordinates, and further obtains positioning information of the vehicle in the navigation coordinates, but inertial navigation is affected by system errors and error accumulation, and the accuracy of long-time work is low. Integrated navigation systems combine multiple single systems together, with multiple sources of information being used to supplement each other. The existing integrated navigation system considers the currently measured positioning parameter value and the past positioning parameter value through a motion equation and a measurement equation, presumes the currently needed positioning parameter value based on the past positioning parameter value, and corrects the currently measured positioning parameter value by taking the currently measured positioning parameter value as a correction amount, thereby obtaining the optimal estimation of the current positioning parameter value. However, the existing integrated navigation system only estimates the current positioning parameter value through the current measured positioning parameter value and the positioning parameter value measured in the past, and corrects the current positioning parameter value under the condition that the current measured positioning parameter value is inaccurate, so that a large error exists in the optimal estimation of the current positioning parameter value, and the error is brought into the subsequent positioning, so that the positioning accuracy is low.
Disclosure of Invention
The embodiment of the invention provides a self-adaptive vehicle-mounted integrated navigation positioning method, which aims to solve the problems that the existing integrated navigation positioning system corrects under the condition that the currently measured positioning parameter value is inaccurate, so that the optimal estimation of the current positioning parameter value has larger error, the error can be brought into the subsequent positioning, and the positioning accuracy is lower. The navigation signal sequences of the preset points in the navigation route are obtained, the navigation signal sequences are navigation signals obtained by the satellite navigation subsystems in the first navigation positioning subsystem in the plurality of second vehicles, the navigation signal predicted values of the preset points are predicted by the navigation signal sequences of the preset points, and then the navigation positioning subsystem of the preset points is determined according to the navigation signal predicted values, so that the navigation system of the preset points can be planned in advance, the error accumulation of the current measured values can be avoided, and the navigation positioning accuracy is improved.
In a first aspect, an embodiment of the present invention provides an adaptive vehicle-mounted integrated navigation positioning method, where the adaptive vehicle-mounted integrated navigation positioning method is applied to a vehicle-mounted integrated navigation positioning system, the vehicle-mounted integrated navigation positioning system at least includes a first navigation positioning subsystem and a second navigation positioning subsystem, the first navigation positioning subsystem includes at least a satellite navigation positioning module, and the second navigation positioning subsystem does not include a satellite navigation positioning module, and the method includes:
Acquiring a navigation signal sequence of a preset point position in a navigation route corresponding to a target vehicle, wherein one preset point position corresponds to one navigation signal sequence, the navigation signals in the navigation signal sequence are navigation signals obtained by the first navigation positioning subsystem in a plurality of second vehicles, and the target vehicle is provided with the vehicle-mounted combined navigation positioning system;
determining a navigation signal predicted value of each preset point location based on the navigation signal sequence of each preset point location, wherein the navigation signal predicted value is the navigation signal predicted value of the first navigation positioning subsystem;
and determining the navigation positioning subsystem of the preset point location based on the navigation signal predicted value.
Optionally, before the obtaining the navigation signal sequence of the preset point position of the target vehicle in the navigation route, the method further includes:
acquiring a navigation route of the target vehicle;
determining a first traveling vehicle based on the navigation route, wherein the traveling route of the first traveling vehicle comprises the navigation route of the target vehicle, and the first traveling vehicle is provided with the vehicle-mounted integrated navigation positioning system;
acquiring historical navigation data of the first running vehicle;
And determining a preset point position of the navigation route based on the historical navigation data of the first running vehicle.
Optionally, determining the preset point location of the navigation route based on the historical navigation data of the first traveling vehicle includes:
determining a candidate road section with satellite signal strength smaller than a preset value based on the historical navigation data, wherein the candidate road section is a road section of the navigation route;
and determining a preset point position of the navigation route based on the candidate road section.
Optionally, the obtaining a navigation signal sequence of a preset point location in a navigation route corresponding to the target vehicle includes:
determining a second running vehicle passing through the preset point position;
acquiring a navigation signal of the second running vehicle when the second running vehicle passes through the preset point, wherein the second running vehicle is provided with the vehicle-mounted integrated navigation positioning system;
and determining a navigation signal sequence of the preset point position in the navigation route corresponding to the target vehicle based on the navigation signals of the preset point positions.
Optionally, the determining the predicted value of the navigation signal of each preset point location based on the navigation signal sequence of each preset point location includes:
preprocessing the navigation signal sequences of the preset point positions to obtain preprocessing sequences of the preset point positions;
Inputting the preprocessing sequences of the preset points into a trained prediction model for prediction processing to obtain the navigation signal predicted values of the preset points.
Optionally, the preprocessing the navigation signal sequence of each preset point location to obtain a preprocessed sequence of each preset point location includes:
dividing the navigation signal sequence according to time segments to obtain a plurality of navigation signal subsequences;
when a plurality of navigation signals exist in the navigation signal subsequence, determining a representative navigation signal of the navigation signal subsequence based on the plurality of navigation signals;
when the navigation signal sub-sequence does not exist, determining a representative navigation signal of the navigation signal sub-sequence based on adjacent navigation signal sub-sequences;
when only one navigation signal exists in the navigation signal subsequence, determining the navigation signal as a representative navigation signal of the navigation signal subsequence;
and obtaining a preprocessing sequence of each preset point location based on the representative navigation signal corresponding to the navigation signal subsequence of each preset point location.
Optionally, before the inputting the sequence to be processed of each preset point location into the trained prediction model to perform prediction processing, the method further includes:
Acquiring a sample navigation signal sequence and a model to be trained, wherein the sample navigation signal in the sample navigation signal sequence is a navigation signal corresponding to the satellite navigation positioning module, and the model to be trained is a time sequence model;
preprocessing the sample navigation signal sequence to obtain a sample preprocessing sequence;
dividing the sample pretreatment sequence into a first sample pretreatment sequence and a second sample pretreatment sequence according to a preset proportion;
taking the first sample pretreatment sequence as input sample data, and taking the second sample pretreatment sequence as result label data to construct a training data set;
training the model to be trained through the training data set, and obtaining a trained prediction model after training is completed.
In a second aspect, an embodiment of the present invention further provides an adaptive vehicle-mounted integrated navigation positioning device, where the adaptive vehicle-mounted integrated navigation positioning device includes:
the first acquisition module is used for acquiring a navigation signal sequence of a preset point position in a navigation route corresponding to a target vehicle, one preset point position corresponds to one navigation signal sequence, the navigation signals in the navigation signal sequence are navigation signals obtained by the first navigation positioning subsystem in a plurality of second vehicles, and the target vehicle is provided with the vehicle-mounted combined navigation positioning system;
The first determining module is used for determining the navigation signal predicted value of each preset point location based on the navigation signal sequence of each preset point location, wherein the navigation signal predicted value is the navigation signal predicted value of the first navigation positioning subsystem;
and the second determining module is used for determining the navigation positioning subsystem of the preset point location based on the navigation signal predicted value.
In a third aspect, an embodiment of the present invention provides an electronic device, including: the system comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the steps in the self-adaptive vehicle-mounted integrated navigation positioning method provided by the embodiment of the invention are realized when the processor executes the computer program.
In a fourth aspect, an embodiment of the present invention provides a computer readable storage medium, where a computer program is stored, where the computer program when executed by a processor implements the steps in the adaptive vehicle-mounted integrated navigation positioning method provided in the embodiment of the present invention.
In the embodiment of the invention, a navigation signal sequence of a preset point position in a navigation route corresponding to a target vehicle is obtained, one preset point position corresponds to one navigation signal sequence, navigation signals in the navigation signal sequence are navigation signals obtained by the first navigation positioning subsystem in a plurality of second vehicles, and the target vehicle is provided with the vehicle-mounted combined navigation positioning system; determining a navigation signal predicted value of each preset point location based on the navigation signal sequence of each preset point location, wherein the navigation signal predicted value is the navigation signal predicted value of the first navigation positioning subsystem; and determining the navigation positioning subsystem of the preset point location based on the navigation signal predicted value. The navigation signal sequences of the preset points in the navigation route are obtained, the navigation signal sequences are navigation signals obtained by the satellite navigation subsystems in the first navigation positioning subsystem in the plurality of second vehicles, the navigation signal predicted values of the preset points are predicted by the navigation signal sequences of the preset points, and then the navigation positioning subsystem of the preset points is determined according to the navigation signal predicted values, so that the navigation system of the preset points can be planned in advance, the error accumulation of the current measured values can be avoided, and the navigation positioning accuracy is improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for adaptive vehicle-mounted integrated navigation positioning provided by an embodiment of the invention;
fig. 2 is a schematic structural diagram of an adaptive vehicle-mounted integrated navigation positioning device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but 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.
As shown in fig. 1, fig. 1 is a method flowchart of a self-adaptive vehicle-mounted integrated navigation positioning method provided by an embodiment of the present invention. The self-adaptive vehicle-mounted integrated navigation positioning method comprises the following steps:
101. and acquiring a navigation signal sequence of a preset point position in a navigation route corresponding to the target vehicle.
In the embodiment of the invention, the self-adaptive vehicle-mounted integrated navigation positioning method is applied to a vehicle-mounted integrated navigation positioning system, wherein the vehicle-mounted integrated navigation positioning system can comprise a plurality of navigation positioning subsystems, and the navigation positioning subsystem can be a single navigation positioning subsystem or an integrated navigation positioning subsystem.
When the navigation positioning subsystem is a combined navigation positioning subsystem, the navigation positioning subsystem comprises a plurality of navigation positioning modules, and the navigation positioning modules can be understood as single navigation positioning modules, such as satellite navigation positioning modules, inertial navigation positioning modules, astronomical navigation positioning modules and the like, and the navigation positioning modules in different combined navigation positioning subsystems are different.
The preferred navigation positioning subsystem of the embodiment of the invention is a combined navigation positioning subsystem.
Further, the vehicle-mounted combined navigation positioning system at least comprises a first navigation positioning subsystem and a second navigation positioning subsystem, wherein the first navigation positioning subsystem comprises a plurality of navigation positioning modules, such as a satellite positioning navigation module, an ultra-wideband positioning navigation module, an inertial navigation module and the like, the second navigation positioning subsystem also comprises a plurality of navigation positioning modules, such as an ultra-wideband positioning navigation module, an inertial navigation module and the like, the first navigation positioning subsystem and the second navigation positioning subsystem comprise different navigation positioning modules, further, the first navigation positioning subsystem at least comprises a satellite navigation positioning module, and the second navigation positioning subsystem does not comprise a satellite navigation positioning module.
The first navigation positioning subsystem and the second navigation positioning subsystem both adopt Kalman filtering for navigation positioning, and the difference is that the data sources of the first navigation positioning subsystem and the second navigation positioning subsystem adopting Kalman filtering for navigation positioning are different due to the difference of navigation positioning modules, especially the data sources of the first navigation positioning subsystem comprise the data of the satellite navigation positioning module, and the data sources of the second navigation positioning subsystem do not comprise the data of the satellite navigation positioning module.
The target vehicle may be a vehicle on which the adaptive integrated-vehicle navigation positioning method is started, and the target vehicle is mounted with the integrated-vehicle navigation positioning system.
The user may determine a navigation route in the interactive interface of the target vehicle, the navigation route including a current location of the target vehicle and a target location to which the target vehicle is to reach.
The preset point location may be a road section starting point where the navigation signal in the navigation route becomes weak.
The method comprises the steps that one preset point position corresponds to one navigation signal sequence, navigation signals in the navigation signal sequence are navigation signals obtained through a first navigation positioning subsystem in a plurality of second vehicles, and a target vehicle is provided with a vehicle-mounted combined navigation positioning system; the first navigation positioning subsystem may be understood as a general navigation positioning subsystem and the second navigation positioning subsystem may be understood as a standby navigation positioning subsystem.
102. And determining the navigation signal predicted value of each preset point based on the navigation signal sequence of each preset point.
In the embodiment of the present invention, the predicted navigation signal value is a predicted navigation signal value of the first navigation positioning subsystem.
The navigation signal predicted value may be obtained by performing prediction processing according to a navigation signal sequence, the navigation signal sequence processing may be prediction processing based on a time sequence model, and the time sequence model may be a time sequence model based on a recurrent neural network RNN or a long short time memory network LSMT. And predicting the navigation signal sequence of each preset point location through the time sequence model to obtain the navigation signal predicted value of each preset point location.
103. And determining a navigation positioning subsystem of the preset point position based on the predicted value of the navigation signal.
In the embodiment of the present invention, the predicted navigation signal value is a predicted navigation signal value of the first navigation positioning subsystem when the target vehicle is at the preset point, and the predicted navigation signal value may be a predicted satellite signal strength value of the satellite navigation positioning module.
When the predicted value of the navigation signal is smaller than the first signal threshold, the obtained satellite signal is unreliable when the target vehicle runs to the preset point, and the unreliable satellite signal is used for participating in Kalman filtering of the first navigation positioning subsystem, so that the deviation amount is increased, and an inaccurate positioning estimation is obtained. Therefore, when the predicted value of the navigation signal is lower than the first signal threshold value, the navigation positioning subsystem of the preset point position is determined to be the second navigation positioning subsystem, and when the target vehicle reaches the preset point position, the first navigation positioning subsystem is switched to the second navigation positioning subsystem, so that the condition that the navigation signal in the first navigation positioning subsystem is inaccurate is eliminated, the navigation positioning is performed through the second navigation subsystem without the satellite navigation positioning module, and the accuracy of the navigation positioning is further improved. When the predicted value of the navigation signal is larger than or equal to a first signal threshold value, the obtained satellite signal is reliable when the target vehicle runs to a preset point, and at the moment, the first navigation positioning subsystem can be continuously used as the navigation positioning subsystem of the target vehicle without switching; or the original second navigation positioning subsystem is switched to the first navigation positioning subsystem.
In one possible embodiment, the first navigation positioning subsystem and the second navigation positioning subsystem are both in an operation state, and in general, the navigation positioning information of the first navigation positioning subsystem is output, and when the first navigation positioning subsystem is switched to the second navigation positioning subsystem, the first navigation positioning subsystem is still in the operation state to provide corresponding navigation data to the server, specifically, when the first navigation positioning subsystem is switched to the second navigation positioning subsystem, the satellite navigation positioning module in the first navigation positioning subsystem is still in operation to extract the satellite navigation data for the server to store and use.
In one possible embodiment, the navigation prediction value may be a navigation prediction value of a preset time, where the preset time is a time when the target vehicle is expected to reach a corresponding preset point.
In the embodiment of the invention, a navigation signal sequence of a preset point position in a navigation route corresponding to a target vehicle is obtained, one preset point position corresponds to one navigation signal sequence, navigation signals in the navigation signal sequence are navigation signals obtained through a first navigation positioning subsystem in a plurality of second vehicles, and the target vehicle is provided with a vehicle-mounted combined navigation positioning system; determining navigation signal predicted values of all preset points based on the navigation signal sequences of all preset points, wherein the navigation signal predicted values are navigation signal predicted values of the first navigation positioning subsystem; and determining a navigation positioning subsystem of the preset point position based on the predicted value of the navigation signal. The navigation signal sequences of the preset points in the navigation route are obtained, the navigation signal sequences are navigation signals obtained by the satellite navigation subsystems in the first navigation positioning subsystems in the plurality of second vehicles, the navigation signal predicted values of the preset points are predicted by the navigation signal sequences of the preset points, and then the navigation positioning subsystems of the preset points are determined according to the navigation signal predicted values, so that the navigation systems of the preset points can be planned in advance, the proper navigation positioning subsystems are selected in the preset points, error accumulation of current measured values can be avoided, and the accuracy of navigation positioning is improved.
Optionally, before the step of acquiring the navigation signal sequence of the preset point position of the target vehicle in the navigation route, the navigation route of the target vehicle may also be acquired; determining a first traveling vehicle based on the navigation route, wherein the traveled route of the first traveling vehicle comprises the navigation route of the target vehicle, and the first traveling vehicle is loaded with a vehicle-mounted combined navigation positioning system; acquiring historical navigation data of a first running vehicle; and determining a preset point position of the navigation route based on the historical navigation data of the first running vehicle.
In the embodiment of the invention, a user can determine a navigation route in an interactive interface of the target vehicle, wherein the navigation route comprises the current position of the target vehicle and the target position to be reached by the target vehicle. The self-adaptive vehicle-mounted integrated navigation positioning method can be deployed in a server, the server can be a cloud server, and after a user determines a navigation route in an interactive interface of a target vehicle, the navigation route can be uploaded to the server. After the user changes the navigation route in the interactive interface of the target vehicle, the changed navigation route can be stopped in the server.
When the server acquires the navigation route of the target vehicle, the running vehicle running through the navigation route can be searched from the database to serve as a first running vehicle, wherein the first running vehicle comprises the integrated navigation positioning system, and further the first running vehicle at least comprises a first navigation positioning subsystem in the integrated navigation positioning system. The number of the first traveling vehicles is plural, specifically plural in the near term, so that the accuracy of the preset point location can be ensured.
After the first running vehicle is determined, historical navigation data of the first running vehicle is obtained from a database, wherein the historical navigation data is a navigation signal when the first running vehicle runs on a navigation route. The road section of the navigation route, the navigation signal of which is lower than the second signal threshold value, can be determined through the historical navigation data of the first traveling vehicle, and the starting point and the ending point of the road section of the navigation signal of which is lower than the second signal threshold value are determined to be preset points.
The road section of the navigation route, the navigation signal of which is lower than the threshold value, can be rapidly determined through the historical navigation data of the first traveling vehicle, and then the preset point position of the navigation route can be rapidly determined.
Optionally, in the step of determining the preset point location of the navigation route based on the historical navigation data of the first traveling vehicle, a candidate road segment with the satellite signal strength smaller than the preset value may be determined based on the historical navigation data, where the candidate road segment is a road segment of the navigation route; and determining a preset point position of the navigation route based on the candidate road segments.
In the embodiment of the invention, the historical navigation data of a plurality of first traveling vehicles can be fitted to obtain the fitted historical navigation data, the road section with the navigation signal lower than the second signal threshold value is determined in the fitted historical navigation data to be used as the candidate road section, and the starting point and the ending point of the candidate road section are determined as the preset point positions of the navigation route.
Further, after the candidate road segments are obtained, the candidate road segments with the road segment length being greater than or equal to the preset length can be determined as target road segments, and the starting point and the ending point of the target road segments are determined as preset points of the navigation route.
Optionally, in the step of acquiring the navigation signal sequence of the preset point location in the navigation route corresponding to the target vehicle, a second driving vehicle passing through the preset point location may be determined; acquiring a navigation signal of a second running vehicle passing through a preset point, wherein the second running vehicle is provided with a vehicle-mounted combined navigation positioning system; and determining a navigation signal sequence of the preset point positions in the navigation route corresponding to the target vehicle based on the navigation signals of the preset point positions.
In the embodiment of the present invention, the second traveling vehicle is a traveling vehicle passing through a preset point location, and each preset point location may correspond to a different second traveling vehicle.
When the preset point positions of the navigation route are determined, the running vehicles passing through the preset point positions can be determined in the database, the running vehicles passing through the preset point positions are determined to be second running vehicles, the navigation signals when the second running vehicles pass through the preset point positions are determined in the database, the navigation signal sequences of the preset point positions are ordered according to the passing time, and the navigation signal sequences of the preset point positions are obtained. One preset point location corresponds to one navigation signal sequence.
Optionally, in the step of determining the navigation signal predicted value of each preset point location based on the navigation signal sequence of each preset point location, the navigation signal sequence of each preset point location may be preprocessed to obtain a preprocessed sequence of each preset point location; inputting the preprocessing sequences of the preset points into a trained prediction model for prediction processing to obtain the predicted values of the navigation signals of the preset points.
In the embodiment of the present invention, the preprocessing may be a splicing processing, a smoothing processing, a segmentation processing, etc., for a preset point location, the second running vehicles passing through the preset point location have randomness, for example, a certain period of time has a plurality of second running vehicles passing through the preset point location, a certain period of time has no second running vehicles passing through the preset point location, but the navigation signal of the preset point location in the certain period of time is not affected by whether the vehicle passes or not, so that the navigation signal sequence needs to be preprocessed, so that the navigation signal sequence is more complete.
Optionally, in the step of preprocessing the navigation signal sequence of each preset point location to obtain a preprocessed sequence of each preset point location, the navigation signal sequence may be divided according to time periods to obtain a plurality of navigation signal subsequences; when a plurality of navigation signals exist in the navigation signal subsequence, determining a representative navigation signal of the navigation signal subsequence based on the plurality of navigation signals; when the navigation signal is not present in the navigation signal subsequence, determining a representative navigation signal of the navigation signal subsequence based on the adjacent navigation signal subsequences; when only one navigation signal exists in the navigation signal subsequence, determining the navigation signal as a representative navigation signal of the navigation signal subsequence; and obtaining a preprocessing sequence of each preset point location based on the representative navigation signal corresponding to the navigation signal subsequence of each preset point location.
In the embodiment of the invention, after the navigation signal sequence is obtained, the navigation signal sequence may be divided according to a preset period to obtain a plurality of navigation signal sub-sequences, for example, the navigation signal sequence may be divided according to hours or minutes, and each navigation signal sub-sequence corresponds to one hour or one minute. The preset time period can be determined according to the traffic flow of the navigation route, and the larger the traffic flow is, the smaller the preset time period is, and the longer the preset time period is.
For one navigation signal sequence, after a plurality of navigation signal sub-sequences are obtained, whether the navigation signal of the second running vehicle exists in each navigation signal sub-sequence or not can be determined, and if the navigation signal of the second running vehicle exists, the fact that the second running vehicle passes through the preset point location in the period corresponding to the navigation signal sub-sequence is indicated. If the navigation signal of the second traveling vehicle does not exist, the fact that the second traveling vehicle passes through the preset point position in the period corresponding to the navigation signal subsequence is indicated.
When a plurality of navigation signals exist in the navigation signal subsequence, the fact that a plurality of second running vehicles pass through corresponding preset points in the period is indicated, and the average value of the plurality of navigation signals can be used for determining the representative navigation signal of the navigation signal subsequence.
When one navigation signal exists in the navigation signal subsequence, the fact that a second running vehicle passes through a corresponding preset point position in the period is indicated, and the navigation signal can be directly determined to represent the navigation signal of the navigation signal subsequence.
When no navigation signal exists in the navigation signal subsequence, the condition that no second running vehicle passes through the corresponding preset point position in the period is indicated, and the average value of adjacent navigation signal subsequences can be used for determining the representative navigation signal of the navigation signal subsequence, wherein the adjacent navigation signal subsequences can be a preceding adjacent navigation signal subsequence and a following adjacent navigation signal subsequence.
Optionally, before the step of inputting the sequence to be processed of each preset point location into a trained prediction model to perform prediction processing to obtain a navigation signal predicted value of each preset point location, a sample navigation signal sequence and a model to be trained can be obtained, wherein the sample navigation signal in the sample navigation signal sequence is a navigation signal corresponding to a satellite navigation positioning module, and the model to be trained is a time sequence model; preprocessing a sample navigation signal sequence to obtain a sample preprocessing sequence; dividing the sample pretreatment sequence into a first sample pretreatment sequence and a second sample pretreatment sequence according to a preset proportion; taking the first sample pretreatment sequence as input sample data, and taking the second sample pretreatment sequence as result label data to construct a training data set; training the model to be trained through the training data set, and obtaining a trained prediction model after training is completed.
In the embodiment of the invention, the model to be trained is a time sequence model, for example, the model can be a time sequence model based on a cyclic neural network RNN or a long-short-time memory network LSMT. The sample navigation signal is a navigation signal sequence of a sample vehicle passing through a sampling point, and when the sample navigation signal is obtained, the sample navigation signal can be preprocessed in the preprocessing mode to obtain a sample preprocessing sequence. After the sample pretreatment sequence is obtained, dividing the sample pretreatment sequence into a front section and a rear section according to a preset proportion to obtain a first sample pretreatment sequence and a second sample pretreatment sequence, wherein the first sample pretreatment sequence is used as the input of a model to be trained, and the second sample pretreatment sequence is used as a label of the first sample pretreatment sequence and used for guiding training of the model to be trained.
Specifically, a first sample pretreatment sequence is input into a model to be trained for processing, a result sequence of the first sample pretreatment sequence is obtained, error loss between the result sequence of the first sample pretreatment sequence and a second sample pretreatment sequence is calculated, the error loss is minimized as an optimization target, parameter adjustment is carried out on the model to be trained through an error back propagation algorithm, the parameter adjustment process is iterated, and training is stopped when the iteration times reach the preset times, so that a trained prediction model is obtained. After the trained prediction model is obtained, the preprocessing sequence of each preset point location can be input into the trained prediction model for prediction processing, and the navigation signal predicted value of each preset point location is obtained.
As shown in fig. 2, an embodiment of the present invention provides an adaptive vehicle-mounted integrated navigation positioning device, which includes:
the first obtaining module 201 is configured to obtain a navigation signal sequence of a preset point location in a navigation route corresponding to a target vehicle, where one preset point location corresponds to one navigation signal sequence, and navigation signals in the navigation signal sequence are navigation signals obtained by the first navigation positioning subsystem in a plurality of second vehicles, and the target vehicle is loaded with the vehicle-mounted integrated navigation positioning system;
a first determining module 202, configured to determine a predicted value of a navigation signal of each preset point location based on a navigation signal sequence of each preset point location, where the predicted value of the navigation signal is a predicted value of a navigation signal of the first navigation positioning subsystem;
the second determining module 203 is configured to determine a navigation positioning subsystem of the preset point location based on the predicted value of the navigation signal.
Optionally, the apparatus further includes:
the second acquisition module is used for acquiring a navigation route of the target vehicle;
a third determining module, configured to determine a first traveling vehicle based on the navigation route, where a traveled route of the first traveling vehicle includes a navigation route of the target vehicle, and the first traveling vehicle is mounted with the vehicle-mounted integrated navigation positioning system;
A third acquisition module for acquiring historical navigation data of the first traveling vehicle;
and the fourth determining module is used for determining preset point positions of the navigation route based on the historical navigation data of the first running vehicle.
Optionally, the fourth determining module includes:
the first determining submodule is used for determining candidate road sections with satellite signal strength smaller than a preset value based on the historical navigation data, wherein the candidate road sections are road sections of the navigation route;
and the second determination submodule is used for determining preset point positions of the navigation route based on the candidate road sections.
Optionally, the first obtaining module 201 includes:
a third determining sub-module, configured to determine a second traveling vehicle passing through the preset point location;
the acquisition sub-module is used for acquiring a navigation signal of the second running vehicle when the second running vehicle passes through the preset point location, and the second running vehicle is provided with the vehicle-mounted integrated navigation positioning system;
and the fourth determination submodule is used for determining a navigation signal sequence of the preset point position in the navigation route corresponding to the target vehicle based on the navigation signals of the preset point positions.
Optionally, the first determining module 202 includes:
The first processing sub-module is used for preprocessing the navigation signal sequences of the preset point positions to obtain preprocessing sequences of the preset point positions;
and the second processing sub-module is used for inputting the preprocessing sequences of the preset point positions into a trained prediction model for prediction processing to obtain the predicted values of the navigation signals of the preset point positions.
Optionally, the first processing sub-module includes:
the first processing unit is used for dividing the navigation signal sequence according to time segments to obtain a plurality of navigation signal subsequences;
a first determining unit, configured to determine a navigation signal representing the navigation signal sub-sequence based on a plurality of navigation signals when the navigation signals exist in the navigation signal sub-sequence;
a second determining unit, configured to determine, when no navigation signal exists in the navigation signal subsequence, a representative navigation signal of the navigation signal subsequence based on adjacent navigation signal subsequences;
a third determining unit, configured to determine, when only one navigation signal exists in the navigation signal sub-sequence, the navigation signal as a representative navigation signal of the navigation signal sub-sequence;
And the second processing unit is used for obtaining a preprocessing sequence of each preset point location based on the representative navigation signal corresponding to the navigation signal subsequence of each preset point location.
Optionally, the apparatus further includes:
the third acquisition module is used for acquiring a sample navigation signal sequence and a model to be trained, wherein the sample navigation signal in the sample navigation signal sequence is a navigation signal corresponding to the satellite navigation positioning module, and the model to be trained is a time sequence model;
the first processing module is used for preprocessing the sample navigation signal sequence to obtain a sample preprocessing sequence;
the second processing module is used for dividing the sample pretreatment sequence into a first sample pretreatment sequence and a second sample pretreatment sequence according to a preset proportion;
the construction module is used for constructing a training data set by taking the first sample pretreatment sequence as input sample data and the second sample pretreatment sequence as result label data;
and the training module is used for training the model to be trained through the training data set pair, and obtaining a trained prediction model after training is completed.
It should be noted that the self-adaptive vehicle-mounted integrated navigation positioning device provided by the embodiment of the invention can be applied to equipment such as shooting equipment, smart phones, computers, servers and the like which can perform self-adaptive vehicle-mounted integrated navigation positioning.
The self-adaptive vehicle-mounted integrated navigation positioning device provided by the embodiment of the invention can realize all the processes realized by the self-adaptive vehicle-mounted integrated navigation positioning method in the method embodiment, and can achieve the same beneficial effects. In order to avoid repetition, a description thereof is omitted.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, as shown in fig. 3, including: memory 302, processor 301, and a computer program stored on memory 302 and executable on processor 301 for an adaptive vehicle integrated navigation positioning method, wherein:
the processor 301 is configured to call a computer program stored in the memory 302, and perform the following steps:
acquiring a navigation signal sequence of a preset point position in a navigation route corresponding to a target vehicle, wherein one preset point position corresponds to one navigation signal sequence, the navigation signals in the navigation signal sequence are navigation signals obtained by the first navigation positioning subsystem in a plurality of second vehicles, and the target vehicle is provided with the vehicle-mounted combined navigation positioning system;
determining a navigation signal predicted value of each preset point location based on the navigation signal sequence of each preset point location, wherein the navigation signal predicted value is the navigation signal predicted value of the first navigation positioning subsystem;
And determining the navigation positioning subsystem of the preset point location based on the navigation signal predicted value.
Optionally, before the acquiring the navigation signal sequence of the preset point position of the target vehicle in the navigation route, the method executed by the processor 301 further includes:
acquiring a navigation route of the target vehicle;
determining a first traveling vehicle based on the navigation route, wherein the traveling route of the first traveling vehicle comprises the navigation route of the target vehicle, and the first traveling vehicle is provided with the vehicle-mounted integrated navigation positioning system;
acquiring historical navigation data of the first running vehicle;
and determining a preset point position of the navigation route based on the historical navigation data of the first running vehicle.
Optionally, the determining, by the processor 301, the preset point location of the navigation route based on the historical navigation data of the first traveling vehicle includes:
determining a candidate road section with satellite signal strength smaller than a preset value based on the historical navigation data, wherein the candidate road section is a road section of the navigation route;
and determining a preset point position of the navigation route based on the candidate road section.
Optionally, the acquiring, by the processor 301, the navigation signal sequence of the preset point location in the navigation route corresponding to the target vehicle includes:
Determining a second running vehicle passing through the preset point position;
acquiring a navigation signal of the second running vehicle when the second running vehicle passes through the preset point, wherein the second running vehicle is provided with the vehicle-mounted integrated navigation positioning system;
and determining a navigation signal sequence of the preset point position in the navigation route corresponding to the target vehicle based on the navigation signals of the preset point positions.
Optionally, the determining, by the processor 301, the predicted value of the navigation signal of each preset point location based on the navigation signal sequence of each preset point location includes:
preprocessing the navigation signal sequences of the preset point positions to obtain preprocessing sequences of the preset point positions;
inputting the preprocessing sequences of the preset points into a trained prediction model for prediction processing to obtain the navigation signal predicted values of the preset points.
Optionally, the preprocessing, performed by the processor 301, of the navigation signal sequence of each preset point location, to obtain a preprocessed sequence of each preset point location includes:
dividing the navigation signal sequence according to time segments to obtain a plurality of navigation signal subsequences;
When a plurality of navigation signals exist in the navigation signal subsequence, determining a representative navigation signal of the navigation signal subsequence based on the plurality of navigation signals;
when the navigation signal sub-sequence does not exist, determining a representative navigation signal of the navigation signal sub-sequence based on adjacent navigation signal sub-sequences;
when only one navigation signal exists in the navigation signal subsequence, determining the navigation signal as a representative navigation signal of the navigation signal subsequence;
and obtaining a preprocessing sequence of each preset point location based on the representative navigation signal corresponding to the navigation signal subsequence of each preset point location.
Optionally, before the inputting the sequence to be processed of each preset point location into the trained prediction model to perform prediction processing, the method executed by the processor 301 further includes:
acquiring a sample navigation signal sequence and a model to be trained, wherein the sample navigation signal in the sample navigation signal sequence is a navigation signal corresponding to the satellite navigation positioning module, and the model to be trained is a time sequence model;
Preprocessing the sample navigation signal sequence to obtain a sample preprocessing sequence;
dividing the sample pretreatment sequence into a first sample pretreatment sequence and a second sample pretreatment sequence according to a preset proportion;
taking the first sample pretreatment sequence as input sample data, and taking the second sample pretreatment sequence as result label data to construct a training data set;
training the model to be trained through the training data set, and obtaining a trained prediction model after training is completed.
It should be noted that, the electronic device provided by the embodiment of the invention can be applied to devices such as a smart phone, a computer, a server and the like which can perform the self-adaptive vehicle-mounted integrated navigation positioning method.
The electronic equipment provided by the embodiment of the invention can realize each process realized by the self-adaptive vehicle-mounted integrated navigation positioning method in the embodiment of the method, and can achieve the same beneficial effects. In order to avoid repetition, a description thereof is omitted.
The embodiment of the invention also provides a computer readable storage medium, and a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the process of the self-adaptive vehicle-mounted combined navigation positioning method or the application-side self-adaptive vehicle-mounted combined navigation positioning method provided by the embodiment of the invention is realized, and the same technical effect can be achieved, so that repetition is avoided, and no repeated description is provided here.
Those skilled in the art will appreciate that the processes implementing all or part of the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, and the program may be stored in a computer readable storage medium, and the program may include the processes of the embodiments of the methods as above when executed. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM) or the like.
The foregoing disclosure is illustrative of the present invention and is not to be construed as limiting the scope of the invention, which is defined by the appended claims.
Claims (5)
1. The self-adaptive vehicle-mounted integrated navigation positioning method is characterized by being applied to a vehicle-mounted integrated navigation positioning system, wherein the vehicle-mounted integrated navigation positioning system at least comprises a first navigation positioning subsystem and a second navigation positioning subsystem, the first navigation positioning subsystem at least comprises a satellite navigation positioning module, and the second navigation positioning subsystem does not comprise the satellite navigation positioning module, and the method comprises the following steps:
Acquiring a navigation route of a target vehicle;
determining a first traveling vehicle based on the navigation route, wherein the traveling route of the first traveling vehicle comprises the navigation route of the target vehicle, and the first traveling vehicle is provided with the vehicle-mounted integrated navigation positioning system;
acquiring historical navigation data of the first running vehicle;
determining a candidate road section with satellite signal strength smaller than a preset value based on the historical navigation data, wherein the candidate road section is a road section of the navigation route;
determining a preset point position of the navigation route based on the candidate road section;
determining a second running vehicle passing through the preset point position; acquiring a navigation signal of the second running vehicle when the second running vehicle passes through the preset point, wherein the second running vehicle is provided with the vehicle-mounted integrated navigation positioning system; determining a navigation signal sequence of a preset point position in a navigation route corresponding to the target vehicle based on the navigation signals of the preset point positions, wherein one preset point position corresponds to one navigation signal sequence, the navigation signals in the navigation signal sequence are navigation signals obtained by the first navigation positioning subsystem in a plurality of second driving vehicles, and the target vehicle is provided with the vehicle-mounted combined navigation positioning system;
Dividing the navigation signal sequence according to time segments to obtain a plurality of navigation signal subsequences; when a plurality of navigation signals exist in the navigation signal subsequence, the fact that a plurality of second running vehicles pass through corresponding preset points in the period is indicated, and the representative navigation signals of the navigation signal subsequence are determined based on the average value of the plurality of navigation signals; when no navigation signal exists in the navigation signal subsequence, the fact that no second running vehicle passes through the corresponding preset point location in the period is indicated, and the average value of adjacent navigation signal subsequences determines the representative navigation signal of the navigation signal subsequence; when only one navigation signal exists in the navigation signal subsequence, indicating that a second running vehicle passes through a corresponding preset point position in the period, determining the navigation signal as a representative navigation signal of the navigation signal subsequence; obtaining a preprocessing sequence of each preset point location based on the representative navigation signal corresponding to the navigation signal subsequence of each preset point location; inputting the preprocessing sequences of the preset points into a trained prediction model for prediction processing to obtain navigation signal predicted values of the preset points, wherein the navigation signal predicted values are navigation signal predicted values of the first navigation positioning subsystem;
And when the predicted value of the navigation signal is lower than the first signal threshold value, determining the navigation positioning subsystem of the preset point position as a second navigation positioning subsystem.
2. The adaptive vehicle-mounted integrated navigation positioning method according to claim 1, wherein before the inputting the sequence to be processed of each preset point location into the trained prediction model for prediction processing, the method further comprises:
acquiring a sample navigation signal sequence and a model to be trained, wherein the sample navigation signal in the sample navigation signal sequence is a navigation signal corresponding to the satellite navigation positioning module, and the model to be trained is a time sequence model;
preprocessing the sample navigation signal sequence to obtain a sample preprocessing sequence;
dividing the sample pretreatment sequence into a first sample pretreatment sequence and a second sample pretreatment sequence according to a preset proportion;
taking the first sample pretreatment sequence as input sample data, and taking the second sample pretreatment sequence as result label data to construct a training data set;
training the model to be trained through the training data set, and obtaining a trained prediction model after training is completed.
3. The utility model provides a self-adaptation on-vehicle integrated navigation positioner, its characterized in that, self-adaptation on-vehicle integrated navigation positioner is applied to on-vehicle integrated navigation positioning system, on-vehicle integrated navigation positioning system includes first navigation positioning subsystem and second navigation positioning subsystem at least, first navigation positioning subsystem includes at least satellite navigation positioning module, the second navigation positioning subsystem does not include satellite navigation positioning module, self-adaptation on-vehicle integrated navigation positioning device includes:
the second acquisition module is used for acquiring a navigation route of the target vehicle;
a third determining module, configured to determine a first traveling vehicle based on the navigation route, where the traveling route of the first traveling vehicle includes the navigation route of the target vehicle, and the first traveling vehicle is mounted with the vehicle-mounted integrated navigation positioning system;
a third acquisition module for acquiring historical navigation data of the first traveling vehicle;
a fourth determining module, configured to determine a preset point location of the navigation route based on historical navigation data of the first traveling vehicle;
the first acquisition module is used for determining a second running vehicle passing through the preset point location; acquiring a navigation signal of the second running vehicle when the second running vehicle passes through the preset point, wherein the second running vehicle is provided with the vehicle-mounted integrated navigation positioning system; determining a navigation signal sequence of a preset point position in a navigation route corresponding to the target vehicle based on the navigation signals of the preset point positions, wherein one preset point position corresponds to one navigation signal sequence, the navigation signals in the navigation signal sequence are navigation signals obtained by the first navigation positioning subsystem in a plurality of second driving vehicles, and the target vehicle is provided with the vehicle-mounted combined navigation positioning system;
The first determining module is used for dividing the navigation signal sequence according to time segments to obtain a plurality of navigation signal subsequences; when a plurality of navigation signals exist in the navigation signal subsequence, the fact that a plurality of second running vehicles pass through corresponding preset points in the period is indicated, and the representative navigation signals of the navigation signal subsequence are determined based on the average value of the plurality of navigation signals; when no navigation signal exists in the navigation signal subsequence, the fact that no second running vehicle passes through the corresponding preset point location in the period is indicated, and the average value of adjacent navigation signal subsequences determines the representative navigation signal of the navigation signal subsequence; when only one navigation signal exists in the navigation signal subsequence, indicating that a second running vehicle passes through a corresponding preset point position in the period, determining the navigation signal as a representative navigation signal of the navigation signal subsequence; obtaining a preprocessing sequence of each preset point location based on the representative navigation signal corresponding to the navigation signal subsequence of each preset point location; inputting the preprocessing sequences of the preset points into a trained prediction model for prediction processing to obtain navigation signal predicted values of the preset points, wherein the navigation signal predicted values are navigation signal predicted values of the first navigation positioning subsystem;
And the second determining module is used for determining the navigation positioning subsystem of the preset point location as a second navigation positioning subsystem when the predicted value of the navigation signal is lower than the first signal threshold value.
4. An electronic device, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps in the adaptive vehicle integrated navigation positioning method according to claim 1 or 2 when the computer program is executed.
5. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the adaptive vehicle integrated navigation positioning method according to claim 1 or 2.
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