CN117740031A - Monitoring method and device - Google Patents
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Abstract
The application discloses a monitoring method and device, wherein the method comprises the following steps: judging whether the integrity monitoring module works normally or not; if the integrity monitoring module works normally, determining a target integrated navigation algorithm based on GNSS correction data; calculating the residual square sum by using a target integrated navigation algorithm; calculating a horizontal protection level based on an integrity monitoring algorithm and a residual square sum corresponding to the target integrated navigation algorithm; and finally, generating prompt information based on the level protection level and a preset threshold value, and sending the prompt information to an automatic driving control unit. Before the vehicle-mounted integrated navigation system is monitored, whether the integrity monitoring module works normally is checked a priori, so that the condition of missing detection and error caused by failure or clamping stagnation of the integrity monitoring module is avoided, and the monitoring reliability and effect are improved. In addition, the integrity monitoring module monitors through two resolving modes, is simple and convenient to calculate, and avoids extra operation.
Description
Technical Field
The application relates to the technical field of vehicle-mounted integrated navigation, in particular to a monitoring method and device.
Background
The vehicle-mounted integrated navigation system is used as a key module for determining the position and the posture of the vehicle, and the running stability and the reliability of output data of the vehicle-mounted integrated navigation system are directly related to the safety of the navigation positioning driving function, so that the accuracy of the output data of the vehicle-mounted integrated navigation system is required to be monitored. Meanwhile, whether the monitoring module of the vehicle-mounted integrated navigation system is stable or not should be further managed so as to prevent the danger caused by the fact that the wrong position and posture is used for controlling the vehicle body by the downstream automatic driving control unit when the monitoring module is in failure.
At present, for the monitoring of the vehicle-mounted integrated navigation system, the vehicle-mounted integrated navigation system is generally monitored through a monitoring module, and monitored data is reported so as to carry out corresponding management on the vehicle-mounted integrated navigation system through the reported data.
However, the method is easy to cause detection omission and error conditions due to failure or clamping stagnation of the monitoring module, so that the monitoring effect is poor.
Disclosure of Invention
The main purpose of the application is to provide a monitoring method and a device, so as to solve the problem of poor monitoring effect caused by missed detection and error conditions due to failure or clamping stagnation of a monitoring module in the related technology.
To achieve the above object, in a first aspect, the present application provides a monitoring method, including:
judging whether the integrity monitoring module works normally or not;
if the integrity monitoring module works normally, determining a target integrated navigation algorithm based on GNSS correction data;
calculating the residual square sum by using a target integrated navigation algorithm;
calculating a horizontal protection level based on an integrity monitoring algorithm corresponding to the target integrated navigation algorithm and a residual square sum, wherein the integrity monitoring algorithm is arranged in an integrity monitoring module;
based on the level of protection and a preset threshold, generating a prompt message and sending the prompt message to an automatic driving control unit.
In one possible implementation, determining whether the integrity monitoring module is functioning properly includes:
transmitting a request signal to an integrity monitoring module;
if the response signal of the integrity monitoring module responding to the request signal is not received, the integrity monitoring module does not work normally and sends a reset signal to the microcontroller;
if a response signal of the integrity monitoring module responding to the request signal is received, the integrity monitoring module works normally.
In one possible implementation, determining the target integrated navigation algorithm based on the GNSS correction data includes:
judging whether the GNSS correction data is successfully unpacked or not;
if the GNSS correction data unpacking is successful, the target integrated navigation algorithm is a first integrated navigation algorithm, wherein the first integrated navigation algorithm is used for executing an integrated positioning solution;
if the GNSS correction data unpacking is unsuccessful, the target integrated navigation algorithm is a second integrated navigation algorithm, wherein the second integrated navigation algorithm is used for executing dead reckoning.
In one possible implementation, using a target combined navigation algorithm, calculating the sum of squares of residuals includes:
calculating error covariance by adopting an extended Kalman filter algorithm;
processing the error covariance to obtain a longitude variance and a latitude variance;
the sum of squares of the residuals is calculated based on the latitude and longitude variances.
In one possible implementation, the error covariance is expressed by the following formula:
P k ＝HP k-1 H T +Q
wherein H is a measurement matrix, H T Transpose of H, Q is measurement noise, P k For the error covariance at time k, P k-1 Is the error covariance at time k-1.
In one possible implementation, calculating the level of protection based on the sum of squares of the residuals and an integrity monitoring algorithm corresponding to the target integrated navigation algorithm includes:
calculating a transverse error of a first position coordinate of the vehicle and a second position coordinate of the vehicle, wherein the first position coordinate is a coordinate output by the integrated navigation algorithm module, and the second position coordinate is a coordinate output by the network real-time dynamic positioning algorithm module;
and (5) carrying out product calculation on the transverse error and the residual error square sum to obtain the horizontal protection level.
In one possible implementation, calculating the level of protection based on the sum of squares of the residuals and an integrity monitoring algorithm corresponding to the target integrated navigation algorithm includes:
the residual square is taken as the horizontal protection level.
In one possible implementation, generating the prompt message based on the level of protection and the preset threshold value, and sending the prompt message to the autopilot control unit includes:
if the level of protection exceeds the preset threshold, generating an alarm signal and sending the alarm signal to the automatic driving control unit.
In one possible implementation, before determining whether the unpacking of the GNSS correction data is successful, the method further includes:
judging whether the observed quantity of the GNSS receiver meets the preset observed quantity or not.
In a second aspect, an embodiment of the present invention provides a monitoring device, including:
the judging module is used for judging whether the integrity monitoring module works normally or not;
the algorithm determining module is used for determining a target integrated navigation algorithm based on GNSS correction data if the integrity monitoring module works normally;
the first calculation module is used for calculating the residual square sum by utilizing a target integrated navigation algorithm;
the second calculation module is used for calculating the level protection level based on an integrity monitoring algorithm corresponding to the target integrated navigation algorithm and the sum of squares of residual errors, wherein the integrity monitoring algorithm is arranged in the integrity monitoring module;
the prompt module is used for generating prompt information based on the horizontal protection level and a preset threshold value and sending the prompt information to the automatic driving control unit.
In a third aspect, an embodiment of the present invention provides a terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the steps of any one of the monitoring methods described above when the computer program is executed by the processor.
In a fourth aspect, embodiments of the present invention provide a computer readable storage medium storing a computer program which, when executed by a processor, performs the steps of any of the above monitoring methods.
The embodiment of the invention provides a monitoring method and a device, comprising the following steps: judging whether the integrity monitoring module works normally, if so, determining a target integrated navigation algorithm based on GNSS correction data, then utilizing the target integrated navigation algorithm, calculating a residual square sum, further calculating a horizontal protection level based on the integrity monitoring algorithm corresponding to the target integrated navigation algorithm and the residual square sum, wherein the integrity monitoring algorithm is arranged in the integrity monitoring module, finally generating prompt information based on the horizontal protection level and a preset threshold value, and sending the prompt information to an automatic driving control unit. Before the vehicle-mounted integrated navigation system is monitored, whether the integrity monitoring module works normally is checked a priori, so that the condition of missing detection and error caused by failure or clamping stagnation of the integrity monitoring module is avoided, and the monitoring reliability and effect are improved. In addition, the integrity monitoring module monitors through two resolving modes, is simple and convenient to calculate, and avoids extra operation.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the application and to provide a further understanding of the application with regard to the other features, objects and advantages of the application. The drawings of the illustrative embodiments of the present application and their descriptions are for the purpose of illustrating the present application and are not to be construed as unduly limiting the present application. In the drawings:
FIG. 1 is a schematic diagram of a monitoring system according to an embodiment of the present invention;
FIG. 2 is a flow chart of an implementation of a monitoring method according to an embodiment of the present invention;
FIG. 3 is a flow chart of an implementation of a monitoring method according to another embodiment of the present invention;
fig. 4 is a schematic structural diagram of a monitoring device according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a terminal according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only 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.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein.
In the present embodiment, the term "module" or "unit" refers to a computer program or a part of a computer program having a predetermined function, and works together with other relevant parts to achieve a predetermined object, and may be implemented in whole or in part by using software, hardware (such as a processing circuit or a memory), or a combination thereof. Also, a processor (or multiple processors or memories) may be used to implement one or more modules or units. Furthermore, each module or unit may be part of an overall module or unit that incorporates the functionality of the module or unit.
It should be understood that, in various embodiments of the present invention, the sequence number of each process does not mean that the execution sequence of each process should be determined by its functions and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
It should be understood that in the present invention, "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements that are expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that in the present invention, "plurality" means two or more. "and/or" is merely an association relationship describing an association object, and means that three relationships may exist, for example, and/or B may mean: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship. "comprising A, B and C", "comprising A, B, C" means that all three of A, B, C comprise, "comprising A, B or C" means that one of the three comprises A, B, C, and "comprising A, B and/or C" means that any 1 or any 2 or 3 of the three comprises A, B, C.
It should be understood that in the present invention, "B corresponding to a", "a corresponding to B", or "B corresponding to a" means that B is associated with a, from which B can be determined. Determining B from a does not mean determining B from a alone, but may also determine B from a and/or other information. The matching of A and B is that the similarity of A and B is larger than or equal to a preset threshold value.
As used herein, "if" may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to detection" depending on the context.
The technical scheme of the invention is described in detail below by specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the following description will be made by way of specific embodiments with reference to the accompanying drawings.
In one embodiment, as shown in FIG. 1, there is provided a monitoring system comprising:
the system comprises an L1 application layer, an L2 function monitoring layer, an L3 monitoring management layer and an external interaction module, wherein the monitoring of the vehicle-mounted integrated navigation system is realized through interaction among the L1 application layer, the L2 function monitoring layer, the L3 monitoring management layer and the external interaction module.
The external interaction module includes GNSS (Global Navigation Satellite System ) data processing software (which may also be referred to as GNSS correction data unpacking software), a chassis, and an autopilot control unit.
The GNSS correction data unpacking software and the chassis provide necessary input information for the vehicle-mounted integrated navigation system, and the automatic driving control unit receives the vehicle position and posture and the warning signal AF-3 provided by the vehicle-mounted integrated navigation system.
The L1 application layer comprises a GNSS receiver, an NRTK (Network Real-Time Kinematic) algorithm module, an IMU (InerTIal measurement unit, inertial sensor), an IMU calibration module, a combined navigation algorithm module and a microcontroller (Microcontroller Unit, MCU). The L1 application layer is responsible for completing the GNSS and the GNSS+IMU combined navigation basic functions under the two conditions of available and unavailable correction data of the GNSS, and a special external monitoring mechanism is not arranged on the layer, wherein a GNSS receiver, an IMU and an MCU all adopt functional safety components with Self-Test or redundancy.
The L2 function monitoring layer includes an integrity monitoring module 1 and an integrity monitoring module 2. The integrity monitoring module 1 is used for checking the correctness of Dead Reckoning (DR) solutions when the GNSS receiver or the NRTK algorithm module is not available, and the integrity monitoring module 1 input signals include covariance matrix, calibrated acceleration and angular velocity. The integrity monitoring module 2 is used for checking the correctness of the combined positioning solution when both the GNSS receiver and the NRTK algorithm module are available, and the input signals of the integrity monitoring module 2 include an RTK (Real-Time Kinematic) solution, a vehicle position and posture, a covariance matrix, and a calibrated acceleration and angular velocity.
The L3 monitoring management layer comprises a state centralized management module. The state centralized management module is used for monitoring the running states of the integrity monitoring module 1 and the integrity monitoring module 2 in the L2 function monitoring layer.
In one embodiment, as shown in FIG. 2, a monitoring method is provided, comprising the steps of:
step S201: and judging whether the integrity monitoring module works normally or not.
Judging whether the integrity monitoring module works normally or not is achieved by the following modes: transmitting a request signal to the integrity monitoring module, if a response signal of the integrity monitoring module responding to the request signal is not received, the integrity monitoring module does not work normally, and transmitting a reset signal to the microcontroller; if a response signal of the integrity monitoring module responding to the request signal is received, the integrity monitoring module works normally.
The integrity monitoring module comprises an integrity monitoring module 1 and an integrity monitoring module 2.
In connection with fig. 1, the state centralized management module sends an inquiry signal 1 (i.e., a request signal 1) to the integrity monitoring module 1 and an inquiry signal 2 (i.e., a request signal 2) to the integrity monitoring module 2 at a fixed period.
If the response signal 1 fed back from the integrity monitoring module 1 and the response signal 2 fed back by the integrity monitoring module 2 are received, the integrity monitoring module 1 and the integrity monitoring module 2 are indicated to be normal in operation, otherwise, the integrity monitoring module 1 and the integrity monitoring module 2 are indicated to find out that the heartbeat packet is abnormal (abnormal heartbeat), and the state centralized management module sends a reset signal to the microcontroller to request reset.
In addition, if the state centralized management module receives the alarm signal AF-1 fed back by the integrity monitoring module 1 or the alarm signal AF-2 fed back by the integrity monitoring module 2, it indicates that the integrity monitoring module 1 and the integrity monitoring module 2 are operating normally, and the result calculated by the integrated navigation algorithm module is incorrect, and the alarm signal AF-3 needs to be sent to the automatic driving control unit to prompt the automatic driving control unit to disable the result calculated by the integrated navigation algorithm module.
Step S202: and if the integrity monitoring module works normally, determining a target integrated navigation algorithm based on the GNSS correction data.
Based on the GNSS correction data, a target integrated navigation algorithm is determined, which is realized by the following steps: judging whether the GNSS correction data is successfully unpacked, and if so, determining that the target integrated navigation algorithm is a first integrated navigation algorithm, wherein the first integrated navigation algorithm is used for executing integrated positioning unpacking; if the GNSS correction data unpacking is unsuccessful, the target integrated navigation algorithm is a second integrated navigation algorithm, wherein the second integrated navigation algorithm is used for executing dead reckoning.
If the GNSS correction data is successfully unpacked, the NRTK algorithm module can calculate the high-precision position coordinates by adopting the GNSS correction data, and the input information of the combined navigation algorithm module comprises the high-precision position coordinates calculated by the NRTK algorithm module, the wheel speed and steering angle output by the chassis and the calibrated acceleration and angular velocity output by the IMU calibration module.
If the GNSS correction data unpacking is unsuccessful, the position coordinates calculated by the NRTK algorithm module are indicated and errors possibly exist, and therefore the position coordinates calculated by the NRTK algorithm module cannot be obtained, and the input information of the combined navigation algorithm module comprises the wheel speed and the steering angle output by the chassis and the calibrated acceleration and the angular speed output by the IMU calibration module.
Step S203: and calculating the residual square sum by using a target integrated navigation algorithm.
Calculating a residual square sum by using a target integrated navigation algorithm, wherein the residual square sum is realized by the following steps of: and calculating error covariance by adopting an extended Kalman filter algorithm, processing the error covariance to obtain a longitude variance and a latitude variance, and calculating a residual square sum based on the longitude variance and the latitude variance.
Wherein the error covariance is expressed by the following formula:
P k ＝HP k-1 H T +Q (1)
wherein H is a measurement matrix, H T Transpose of H, Q is measurement noise, P k For the error covariance at time k, P k-1 Is the error covariance at time k-1.
Calculating the error covariance P by the above formula k The error covariance may then be processed to obtain a longitude variance and a latitude variance, specifically,
the longitude variance can be expressed by the following formula:
where var_lon is the variance of longitude,representing error covariance P k Is the first element of the main diagonal of (c).
The latitude variance can be expressed by the following formula:
wherein var_lat is the latitude variance,representing error covariance P k A second element of the main diagonal of (c).
After the longitude variance and the latitude variance are calculated, the residual square sum can be calculated based on the longitude variance and the latitude variance, specifically as follows:
where SSE is the sum of squares of the residuals.
Step S204: the level of protection is calculated based on the integrity monitoring algorithm and the sum of squares of residuals corresponding to the target integrated navigation algorithm.
Wherein the integrity monitoring algorithm is disposed in the integrity monitoring module.
In one embodiment, the level of protection is calculated based on the sum of squares of the residuals and integrity monitoring algorithms corresponding to the target integrated navigation algorithm: firstly, calculating a transverse error of a first position coordinate of the vehicle and a second position coordinate of the vehicle, wherein the first position coordinate is a coordinate output by the combined navigation algorithm module, the second position coordinate is a coordinate output by the network real-time dynamic positioning algorithm module, and then, carrying out product calculation on the transverse error and the residual square sum to obtain a horizontal protection level.
If the combined navigation algorithm module adopts the high-precision position coordinate (namely the second position coordinate of the vehicle) output by the NRTK algorithm module, calculating the transverse error w of the first position coordinate of the vehicle output by the combined navigation algorithm module and the second position coordinate of the vehicle output by the NRTK algorithm module.
After the lateral error w is calculated, then the level protection level (Horizontal Protection Level, HPL) at this time can be calculated by the following formula:
HPL＝w*SSE (5)
in another embodiment, the level of protection is calculated based on the sum of squares of the residuals and integrity monitoring algorithms corresponding to the target integrated navigation algorithm: the residual square is taken as the horizontal protection level.
The level of protection can be calculated by the following formula:
HPL＝SSE (6)
step S205: based on the level of protection and a preset threshold, generating a prompt message and sending the prompt message to an automatic driving control unit.
Based on the level protection level and a preset threshold, generating prompt information and sending the prompt information to an automatic driving control unit: if the level of protection exceeds the preset threshold, generating an alarm signal and sending the alarm signal to the automatic driving control unit. The preset threshold may be set according to specific situations, and is not specifically limited herein.
And (3) taking the preset threshold value as a horizontal alarm threshold (Horizontal Alert Limit), calculating the horizontal protection level HPL according to the formula (5), setting an alarm signal AF-2=0 if the horizontal protection level HPL exceeds the horizontal alarm threshold, and sending the alarm signal to the state centralized management module to prompt that the data correctness is abnormal, otherwise, keeping AF-2=1, and prompting the automatic driving control unit that the data correctness is abnormal.
And (3) setting an alarm signal AF-1=0 if the HPL exceeds a horizontal alarm threshold through the horizontal protection level HPL calculated by the formula (6), and sending the alarm signal to the state centralized management module to prompt that the data correctness is abnormal, otherwise, keeping AF-1=1, and prompting that the data correctness is abnormal if the data correctness is not considered to be available, wherein the data can be prompted to an automatic driving control unit.
When the state centralized management module receives the alarm signal AF-1 or the alarm signal AF-2, the alarm signal AF-3 can be sent to the automatic driving control unit to prompt the automatic driving control unit that the data is not available.
With reference to fig. 3, before determining whether the unpacking of the GNSS correction data is successful, the method further includes: judging whether the observed quantity of the GNSS receiver meets the preset observed quantity or not, and if the observed quantity of the GNSS receiver meets the preset observed quantity, judging whether the GNSS correction data is successfully unpacked or not; and if the observed quantity of the GNSS receiver does not meet the preset observed quantity, executing the step of calculating the horizontal protection level based on the integrity monitoring algorithm corresponding to the target integrated navigation algorithm and the sum of squares of residual errors, wherein the squares of residual errors are used as the horizontal protection level.
The embodiment of the invention provides a monitoring method, which comprises the following steps: judging whether the integrity monitoring module works normally, if so, determining a target integrated navigation algorithm based on GNSS correction data, then utilizing the target integrated navigation algorithm, calculating a residual square sum, further calculating a horizontal protection level based on the integrity monitoring algorithm corresponding to the target integrated navigation algorithm and the residual square sum, wherein the integrity monitoring algorithm is arranged in the integrity monitoring module, finally generating prompt information based on the horizontal protection level and a preset threshold value, and sending the prompt information to an automatic driving control unit. Before the vehicle-mounted integrated navigation system is monitored, whether the integrity monitoring module works normally is checked a priori, so that the condition of missing detection and error caused by failure or clamping stagnation of the integrity monitoring module is avoided, and the monitoring reliability and effect are improved. In addition, the integrity monitoring module monitors through two resolving modes, is simple and convenient to calculate, and avoids extra operation.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
The following are device embodiments of the invention, for details not described in detail therein, reference may be made to the corresponding method embodiments described above.
Fig. 4 shows a schematic structural diagram of a monitoring device according to an embodiment of the present invention, and for convenience of explanation, only a portion related to the embodiment of the present invention is shown, and the monitoring device includes a judging module 401, an algorithm determining module 402, a first calculating module 403, a second calculating module 404, and a prompting module 405, which are specifically as follows:
a judging module 401, configured to judge whether the integrity monitoring module works normally;
the algorithm determining module 402 is configured to determine a target integrated navigation algorithm based on GNSS correction data if the integrity monitoring module is working normally;
a first calculation module 403, configured to calculate a sum of squares of residuals using a target integrated navigation algorithm;
a second calculation module 404, configured to calculate a level of protection based on a sum of squares of residuals and an integrity monitoring algorithm corresponding to the target integrated navigation algorithm, where the integrity monitoring algorithm is disposed in the integrity monitoring module;
the prompt module 405 is configured to generate prompt information based on the level protection level and a preset threshold, and send the prompt information to the autopilot control unit.
In one possible implementation, the determining module 401 is further configured to send a request signal to the integrity monitoring module;
if the response signal of the integrity monitoring module responding to the request signal is not received, the integrity monitoring module does not work normally and sends a reset signal to the microcontroller;
if a response signal of the integrity monitoring module responding to the request signal is received, the integrity monitoring module works normally.
In one possible implementation, the algorithm determining module 402 is further configured to determine whether the unpacking of the GNSS correction data is successful;
if the GNSS correction data unpacking is successful, the target integrated navigation algorithm is a first integrated navigation algorithm, wherein the first integrated navigation algorithm is used for executing an integrated positioning solution;
if the GNSS correction data unpacking is unsuccessful, the target integrated navigation algorithm is a second integrated navigation algorithm, wherein the second integrated navigation algorithm is used for executing dead reckoning.
In one possible implementation, the first calculation module 403 is further configured to calculate an error covariance using an extended kalman filter algorithm;
processing the error covariance to obtain a longitude variance and a latitude variance;
the sum of squares of the residuals is calculated based on the latitude and longitude variances.
In one possible implementation, the error covariance is expressed by the following formula:
P k ＝HP k-1 H T +Q
wherein H is a measurement matrix, H T Transpose of H, Q is measurement noise, P k For the error covariance at time k, P k-1 Is the error covariance at time k-1.
In a possible implementation manner, the second calculating module 404 is further configured to calculate a lateral error between a first position coordinate of the vehicle and a second position coordinate of the vehicle, where the first position coordinate is a coordinate output by the integrated navigation algorithm module, and the second position coordinate is a coordinate output by the network real-time dynamic positioning algorithm module;
and (5) carrying out product calculation on the transverse error and the residual error square sum to obtain the horizontal protection level.
In one possible implementation, the second calculation module 404 is further configured to take the residual square as the horizontal protection level.
In one possible implementation, the prompting module 405 is further configured to generate an alarm signal and send the alarm signal to the autopilot control unit if the level of protection exceeds a preset threshold.
In one possible implementation, before the determining module 401, an observed quantity determining module is further included, where the observed quantity determining module is configured to determine whether an observed quantity of the GNSS receiver meets a preset observed quantity.
The embodiment of the invention provides a monitoring device which is particularly used for judging whether an integrity monitoring module works normally or not, if the integrity monitoring module works normally, determining a target integrated navigation algorithm based on GNSS correction data, then utilizing the target integrated navigation algorithm to calculate a residual square sum, and further calculating a horizontal protection level based on the integrity monitoring algorithm and the residual square sum corresponding to the target integrated navigation algorithm, wherein the integrity monitoring algorithm is arranged in the integrity monitoring module, and finally generates prompt information based on the horizontal protection level and a preset threshold value and sends the prompt information to an automatic driving control unit. Before the vehicle-mounted integrated navigation system is monitored, whether the integrity monitoring module works normally is checked a priori, so that the condition of missing detection and error caused by failure or clamping stagnation of the integrity monitoring module is avoided, and the monitoring reliability and effect are improved. In addition, the integrity monitoring module monitors through two resolving modes, is simple and convenient to calculate, and avoids extra operation.
Fig. 5 is a schematic diagram of a terminal according to an embodiment of the present invention. As shown in fig. 5, the terminal 5 of this embodiment includes: a processor 501, a memory 502 and a computer program 505 stored in the memory 502 and executable on the processor 501. The steps of the various monitoring method embodiments described above, such as steps 201-205 shown in fig. 2, are implemented by processor 501 when executing computer program 505. Alternatively, processor 501, when executing computer program 505, performs the functions of the modules/units of the various embodiments of the monitoring device described above, such as the functions of modules/units 401-405 shown in FIG. 4.
The present invention also provides a readable storage medium having a computer program stored therein, which when executed by a processor is configured to implement a monitoring method provided in the above various embodiments, including:
judging whether the integrity monitoring module works normally or not;
if the integrity monitoring module works normally, determining a target integrated navigation algorithm based on GNSS correction data;
calculating the residual square sum by using a target integrated navigation algorithm;
calculating a horizontal protection level based on an integrity monitoring algorithm corresponding to the target integrated navigation algorithm and a residual square sum, wherein the integrity monitoring algorithm is arranged in an integrity monitoring module;
based on the level of protection and a preset threshold, generating a prompt message and sending the prompt message to an automatic driving control unit.
In one possible implementation, determining whether the integrity monitoring module is functioning properly includes:
transmitting a request signal to an integrity monitoring module;
if the response signal of the integrity monitoring module responding to the request signal is not received, the integrity monitoring module does not work normally and sends a reset signal to the microcontroller;
if a response signal of the integrity monitoring module responding to the request signal is received, the integrity monitoring module works normally.
In one possible implementation, determining the target integrated navigation algorithm based on the GNSS correction data includes:
judging whether the GNSS correction data is successfully unpacked or not;
if the GNSS correction data unpacking is successful, the target integrated navigation algorithm is a first integrated navigation algorithm, wherein the first integrated navigation algorithm is used for executing an integrated positioning solution;
if the GNSS correction data unpacking is unsuccessful, the target integrated navigation algorithm is a second integrated navigation algorithm, wherein the second integrated navigation algorithm is used for executing dead reckoning.
In one possible implementation, using a target combined navigation algorithm, calculating the sum of squares of residuals includes:
calculating error covariance by adopting an extended Kalman filter algorithm;
processing the error covariance to obtain a longitude variance and a latitude variance;
the sum of squares of the residuals is calculated based on the latitude and longitude variances.
In one possible implementation, the error covariance is expressed by the following formula:
P k ＝HP k-1 H T +Q
wherein H is a measurement matrix, H T Transpose of H, Q is measurement noise, P k For the error covariance at time k, P k-1 Is the error covariance at time k-1.
In one possible implementation, calculating the level of protection based on the sum of squares of the residuals and an integrity monitoring algorithm corresponding to the target integrated navigation algorithm includes:
calculating a transverse error of a first position coordinate of the vehicle and a second position coordinate of the vehicle, wherein the first position coordinate is a coordinate output by the integrated navigation algorithm module, and the second position coordinate is a coordinate output by the network real-time dynamic positioning algorithm module;
and (5) carrying out product calculation on the transverse error and the residual error square sum to obtain the horizontal protection level.
In one possible implementation, calculating the level of protection based on the sum of squares of the residuals and an integrity monitoring algorithm corresponding to the target integrated navigation algorithm includes:
the residual square is taken as the horizontal protection level.
In one possible implementation, generating the prompt message based on the level of protection and the preset threshold value, and sending the prompt message to the autopilot control unit includes:
if the level of protection exceeds the preset threshold, generating an alarm signal and sending the alarm signal to the automatic driving control unit.
In one possible implementation, before determining whether the unpacking of the GNSS correction data is successful, the method further includes:
judging whether the observed quantity of the GNSS receiver meets the preset observed quantity or not.
The readable storage medium may be a computer storage medium or a communication medium. Communication media includes any medium that facilitates transfer of a computer program from one place to another. Computer storage media can be any available media that can be accessed by a general purpose or special purpose computer. For example, a readable storage medium is coupled to the processor such that the processor can read information from, and write information to, the readable storage medium. In the alternative, the readable storage medium may be integral to the processor. The processor and the readable storage medium may reside in an application specific integrated circuit (Application Specific Integrated Circuits, ASIC). In addition, the ASIC may reside in a user device. The processor and the readable storage medium may reside as discrete components in a communication device. The readable storage medium may be read-only memory (ROM), random-access memory (RAM), CD-ROMs, magnetic tape, floppy disk, optical data storage device, etc.
The present invention also provides a program product comprising execution instructions stored in a readable storage medium. At least one processor of the device may read the execution instructions from the readable storage medium, the execution instructions being executed by the at least one processor to cause the device to implement a monitoring method provided by the various embodiments described above, comprising:
judging whether the integrity monitoring module works normally or not;
if the integrity monitoring module works normally, determining a target integrated navigation algorithm based on GNSS correction data;
calculating the residual square sum by using a target integrated navigation algorithm;
calculating a horizontal protection level based on an integrity monitoring algorithm corresponding to the target integrated navigation algorithm and a residual square sum, wherein the integrity monitoring algorithm is arranged in an integrity monitoring module;
based on the level of protection and a preset threshold, generating a prompt message and sending the prompt message to an automatic driving control unit.
In one possible implementation, determining whether the integrity monitoring module is functioning properly includes:
transmitting a request signal to an integrity monitoring module;
if the response signal of the integrity monitoring module responding to the request signal is not received, the integrity monitoring module does not work normally and sends a reset signal to the microcontroller;
if a response signal of the integrity monitoring module responding to the request signal is received, the integrity monitoring module works normally.
In one possible implementation, determining the target integrated navigation algorithm based on the GNSS correction data includes:
judging whether the GNSS correction data is successfully unpacked or not;
if the GNSS correction data unpacking is successful, the target integrated navigation algorithm is a first integrated navigation algorithm, wherein the first integrated navigation algorithm is used for executing an integrated positioning solution;
if the GNSS correction data unpacking is unsuccessful, the target integrated navigation algorithm is a second integrated navigation algorithm, wherein the second integrated navigation algorithm is used for executing dead reckoning.
In one possible implementation, using a target combined navigation algorithm, calculating the sum of squares of residuals includes:
calculating error covariance by adopting an extended Kalman filter algorithm;
processing the error covariance to obtain a longitude variance and a latitude variance;
the sum of squares of the residuals is calculated based on the latitude and longitude variances.
In one possible implementation, the error covariance is expressed by the following formula:
P k ＝HP k-1 H T +Q
wherein H is a measurement matrix, H T Transpose of H, Q is measurement noise, P k For the error covariance at time k, P k-1 Is the error covariance at time k-1.
In one possible implementation, calculating the level of protection based on the sum of squares of the residuals and an integrity monitoring algorithm corresponding to the target integrated navigation algorithm includes:
calculating a transverse error of a first position coordinate of the vehicle and a second position coordinate of the vehicle, wherein the first position coordinate is a coordinate output by the integrated navigation algorithm module, and the second position coordinate is a coordinate output by the network real-time dynamic positioning algorithm module;
and (5) carrying out product calculation on the transverse error and the residual error square sum to obtain the horizontal protection level.
In one possible implementation, calculating the level of protection based on the sum of squares of the residuals and an integrity monitoring algorithm corresponding to the target integrated navigation algorithm includes:
the residual square is taken as the horizontal protection level.
In one possible implementation, generating the prompt message based on the level of protection and the preset threshold value, and sending the prompt message to the autopilot control unit includes:
if the level of protection exceeds the preset threshold, generating an alarm signal and sending the alarm signal to the automatic driving control unit.
In one possible implementation, before determining whether the unpacking of the GNSS correction data is successful, the method further includes:
judging whether the observed quantity of the GNSS receiver meets the preset observed quantity or not.
In the above described embodiments of the apparatus, it is understood that the processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor for execution, or in a combination of hardware and software modules in a processor for execution.
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, and are intended to be included in the scope of the present invention.
Claims (10)
1. A method of monitoring, comprising:
judging whether the integrity monitoring module works normally or not;
if the integrity monitoring module works normally, determining a target integrated navigation algorithm based on GNSS correction data;
calculating the residual square sum by using the target integrated navigation algorithm;
calculating a level of protection based on an integrity monitoring algorithm corresponding to the target integrated navigation algorithm and the sum of squares of residuals, wherein the integrity monitoring algorithm is arranged in the integrity monitoring module;
and generating prompt information based on the horizontal protection level and a preset threshold value, and sending the prompt information to an automatic driving control unit.
2. The method of monitoring of claim 1, wherein determining whether the integrity monitoring module is operating properly comprises:
transmitting a request signal to the integrity monitoring module;
if the response signal of the integrity monitoring module responding to the request signal is not received, the integrity monitoring module does not work normally and sends a reset signal to the microcontroller;
and if a response signal of the integrity monitoring module responding to the request signal is received, the integrity monitoring module works normally.
3. The method of monitoring as recited in claim 1, wherein said determining a target integrated navigation algorithm based on GNSS correction data comprises:
judging whether the GNSS correction data is successfully unpacked or not;
if the GNSS correction data unpacking is successful, the target integrated navigation algorithm is a first integrated navigation algorithm, wherein the first integrated navigation algorithm is used for executing an integrated positioning solution;
and if the GNSS correction data unpacking is unsuccessful, the target integrated navigation algorithm is a second integrated navigation algorithm, wherein the second integrated navigation algorithm is used for executing dead reckoning.
4. The method of monitoring as claimed in claim 3, wherein said calculating a sum of squares of residuals using said target combined navigation algorithm comprises:
calculating error covariance by adopting an extended Kalman filter algorithm;
processing the error covariance to obtain a longitude variance and a latitude variance;
and calculating a residual square sum based on the longitude variance and the latitude variance.
5. The method of monitoring of claim 4, wherein the error covariance is expressed by the following formula:
P k ＝HP k-1 H T +Q
wherein H is a measurement matrix, H T Transpose of H, Q is measurement noise, P k For the error covariance at time k, P k-1 Is the error covariance at time k-1.
6. The monitoring method of claim 1, wherein the calculating a level of protection based on an integrity monitoring algorithm corresponding to the target integrated navigation algorithm and the sum of squares residuals comprises:
calculating a transverse error of a first position coordinate of the vehicle and a second position coordinate of the vehicle, wherein the first position coordinate is a coordinate output by the integrated navigation algorithm module, and the second position coordinate is a coordinate output by the network real-time dynamic positioning algorithm module;
and carrying out product calculation on the transverse error and the residual error square sum to obtain the horizontal protection level.
7. The monitoring method of claim 1, wherein the calculating a level of protection based on an integrity monitoring algorithm corresponding to the target integrated navigation algorithm and the sum of squares residuals comprises:
the residual square is taken as the horizontal protection level.
8. The monitoring method according to claim 6 or 7, wherein the generating a prompt message based on the level of protection and a preset threshold value and transmitting the prompt message to an automatic driving control unit includes:
and if the level protection level exceeds the preset threshold value, generating an alarm signal and sending the alarm signal to an automatic driving control unit.
9. The method of monitoring as recited in claim 3, wherein said determining whether said GNSS correction data was unwrapped successfully further comprises:
judging whether the observed quantity of the GNSS receiver meets the preset observed quantity or not.
10. A monitoring device, comprising:
the judging module is used for judging whether the integrity monitoring module works normally or not;
the algorithm determining module is used for determining a target integrated navigation algorithm based on GNSS correction data if the integrity monitoring module works normally;
the first calculation module is used for calculating the residual square sum by utilizing the target integrated navigation algorithm;
the second calculation module is used for calculating a horizontal protection level based on an integrity monitoring algorithm corresponding to the target integrated navigation algorithm and the residual square sum, wherein the integrity monitoring algorithm is arranged in the integrity monitoring module;
and the prompt module is used for generating prompt information based on the horizontal protection level and a preset threshold value and sending the prompt information to the automatic driving control unit.
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| CN202311630617.7A CN117740031A (en) | 2023-11-30 | 2023-11-30 | Monitoring method and device |
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