CN201359500Y - GPS/DR combined navigation device for vehicle - Google Patents
GPS/DR combined navigation device for vehicle Download PDFInfo
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- CN201359500Y CN201359500Y CNU200920093072XU CN200920093072U CN201359500Y CN 201359500 Y CN201359500 Y CN 201359500Y CN U200920093072X U CNU200920093072X U CN U200920093072XU CN 200920093072 U CN200920093072 U CN 200920093072U CN 201359500 Y CN201359500 Y CN 201359500Y
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Abstract
The utility model discloses a GPS/DR combined navigation device for a vehicle, which comprises vehicle speed pulse, a gyroscope, an acceleration sensor, a GPS receiving system, a data acquisition MCU, a navigation main control CPU, an A/D converter and a temperature sensor. The gyroscope and the acceleration sensor are connected with a data acquisition unit through the A/D converter to sample; the data acquisition MCU is respectively connected with the vehicle speed pulse and the temperature sensor to collect the vehicle speed pulse signal and the temperature sampling of the DR; and the data acquisition MCU communicates with the navigation main control CPU through a UART(universal asynchronous receiver) port to achieve real-time data communication. The GPS/DR combined navigation device corrects and makes up the error of the DR system at rear time according to the position and speed information provided by the GPS receiving system, overcomes the disadvantage that the GPS positioning method often fails to position normally due to blockage of the signals, and also solves the problem that the direction sensor in DR positioning technology has big accumulated error after being used for a long time and can not be used separately nor be used for a long time.
Description
Technical field
The utility model provides a kind of GPS/DR combined navigation device that is used for vehicle, belongs to motor vehicles location indication technical field.
Background technology:
Along with the rising of automobile sales volume, people go out the increase of line frequency, and the demand of GPS onboard navigation system is strengthened day by day.The GPS onboard navigation system shows application prospect and the huge market potential that it is wide just gradually.GPS horizontal location precision has reached 3～5m at present, satisfies the requirement of vehicle location precision fully.But,, cause GPS normally not locate owing in the high building group of city or when passing viaduct, usually the gps signal occlusion issue can occur.
Vehicle positioning directed navigation system be meant be loaded in wheeled and track vehicle on, a kind of device of azimuth reference and positional information can independently be provided for vehicle.Dead reckoning (be called for short: DR) be the vehicle positioning technology of using always, but direction sensor accumulated error is bigger in time, can not be separately, use for a long time.
Summary of the invention
The utility model provides a kind of GPS/DR combined navigation device that is used for vehicle, overcome the GPS localization method often because signal blocks the shortcoming that can not normally locate, solved also that accumulated error is bigger in time owing to direction sensor in the DR location technology, can not be separately, the problem used for a long time.Improved the accuracy of dead reckoning when mutilevel overpass and MULTILAYER COMPOSITE garage simultaneously.
Technical solution of the present utility model is as follows:
By vehicle speed pulse, gyroscope, acceleration transducer, GPS receiving system, data acquisition MCU, navigation main control CPU are formed, the analog signal output of gyroscope and acceleration transducer is connected to the sampling channel of A/D converter, is 12 position digital signals by high-precision a/d converter with the analog signal conversion of gyroscope and acceleration transducer output; The digital signal output end of A/D converter is connected to the SPI mouth of data acquisition MCU, and data acquisition MCU gathers in real time to the digital signal of A/D converter; Vehicle speed pulse is connected to the pulse capture IO mouth of data acquisition MCU, and data acquisition MCU calculates current vehicle speed by the seizure to vehicle speed pulse; Temperature sensor is connected to the temperature of the I2C mouth collection DR system of data acquisition MCU, to the temperature compensation of DR system; The UART1 mouth of GPS receiving system is connected to the UART1 mouth of data acquisition MCU, finishes the extraction to GPS receiving system information; The UART mouth of data acquisition MCU is connected to the UART mouth of navigation main control CPU, and navigation main control CPU is obtained GPS receiving system information and DR system information in real time, and navigation main control CPU stores has two kinds of location mechanisms of integrated positioning, DR dead reckoning of GPS and DR.
Adopt acceleration transducer measurements travel in the method at automobile inclination angle just can help system distinguish the gradient situation of current road conditions, when enforcement can improve the precision of automobile coordinate during in mutilevel overpass and MULTILAYER COMPOSITE garage.
Integrated navigation system except will finishing a large amount of calculation process work, also to realize sensors such as Inertial Measurement Unit IMU (gyroscope and accelerometer) and GPS data acquisition, with functions such as the communicating by letter of external system, sequential logic control and man-machine interface.
Good effect of the present utility model is: the GPS/DR technology is organically combined, adopted the multi-sensor data fusion, have the function that receives and handle the information of odometer information, Inertial Measurement Unit IMU and GPS.Data acquisition MCU gathers gps data and DR integrated navigation data, and navigation main control CPU is finished the fusion treatment of data, and data acquisition MCU and navigation main control CPU communicate by the UART mouth, and it is mutual to finish real time data.6PS combines with DR's, has improved validity, integrality and the bearing accuracy of system.Realized that comprehensive, round-the-clock, nothing is blocked, the purpose of hi-Fix.
Description of drawings
Fig. 1 forms main block diagram for the utility model system;
Fig. 2 is the utility model circuit theory diagrams.
Embodiment
According to shown in Figure 1, the workflow of GPS/DR integrated navigation system can be divided into following 5 key steps:
(1) passes through the locator data that GPS receiving system 4 receives satellites;
(2) calculate by 2 pairs of vehicle corners of gyroscope;
(3) calculate by the acceleration transducer 3 road pavement gradients;
(4) calculate by 1 pair of vehicle ' distance of vehicle speed pulse;
(5) data acquisition MCU5 sends to above-mentioned information by navigation main control CPU 6, to all data screen, filtering, extrapolate the particular location of vehicle '.
According to shown in Figure 2, by vehicle speed pulse 1, gyroscope 2 (field, the village MEV50A of company), acceleration transducer 3 (KXPA4 of KIONIX company), GPS receiving system 4 (LEA-4H of U-BLOX company), data acquisition MCU5 (MC9S08AW60 single-chip microcomputer), navigation main control CPU 6 (adopting auspicious Sa navigation platform SH7770) is formed the utility model device, the analog signal output of gyroscope 2 and acceleration transducer 3 is connected to the sampling channel of A/D converter 7, is 12 position digital signals by high-precision a/d converter 7 with the analog signal conversion of gyroscope 2 and acceleration transducer 3 outputs; The digital signal output end of A/D converter 7 is connected to the SPI mouth of data acquisition MCU5, and the digital signal of 5 pairs of A/D converters 7 of data acquisition MCU is gathered in real time; Vehicle speed pulse 1 is connected to the pulse capture IO mouth of data acquisition MCU 5, and data acquisition MCU5 calculates current vehicle speed by the seizure to vehicle speed pulse 1; Temperature sensor 8 is connected to the temperature of the I2C mouth collection DR system of data acquisition MCU5, to the temperature compensation of DR system; The UART1 mouth of GPS receiving system 4 is connected to the UART1 mouth of data acquisition MCU 5, finishes the extraction to GPS receiving system 4 information; The UART mouth of data acquisition MCU 5 is connected to the UART mouth of navigation main control CPU 6, navigation main control CPU 6 is obtained GPS receiving system 4 information and DR system information in real time, navigation main control CPU 6 stores two kinds of location mechanisms of integrated positioning, DR dead reckoning of GPS and DR, navigation main control CPU 6 is selected concrete location mechanism according to the signal intensity of gps system, has realized that comprehensive, round-the-clock, nothing is blocked, the purpose of hi-Fix.
Claims (1)
1, a kind of GPS/DR combined navigation device that is used for vehicle, it is characterized in that: by vehicle speed pulse (1), gyroscope (2), acceleration transducer (3), GPS receiving system (4), data acquisition MCU (5), navigation main control CPU (6) are formed, the analog signal output of gyroscope (2) and acceleration transducer (3) is connected to the sampling channel of A/D converter (7), is 12 position digital signals by high-precision a/d converter (7) with the analog signal conversion of gyroscope (2) and acceleration transducer (3) output; The digital signal output end of A/D converter (7) is connected to the SPI mouth of data acquisition MCU (5), and data acquisition MCU (5) gathers in real time to the digital signal of A/D converter (7); Vehicle speed pulse (1) is connected to the pulse capture IO mouth of data acquisition MCU (5), and data acquisition MCU (5) calculates current vehicle speed by the seizure to vehicle speed pulse (1); Temperature sensor (8) is connected to the temperature of the I2C mouth collection DR system of data acquisition MCU (5), to the temperature compensation of DR system; The UART1 mouth of GPS receiving system (4) is connected to the UART1 mouth of data acquisition MCU (5), finishes the extraction to GPS receiving system (4) information; The UART mouth of data acquisition MCU (5) is connected to the UART mouth of navigation main control CPU (6), navigation main control CPU (6) is obtained GPS receiving system (4) information and DR system information in real time, and navigation main control CPU (6) stores two kinds of location mechanisms of integrated positioning, DR dead reckoning of GPS and DR.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU200920093072XU CN201359500Y (en) | 2009-02-27 | 2009-02-27 | GPS/DR combined navigation device for vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU200920093072XU CN201359500Y (en) | 2009-02-27 | 2009-02-27 | GPS/DR combined navigation device for vehicle |
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| Publication Number | Publication Date |
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| CN201359500Y true CN201359500Y (en) | 2009-12-09 |
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| CNU200920093072XU Expired - Lifetime CN201359500Y (en) | 2009-02-27 | 2009-02-27 | GPS/DR combined navigation device for vehicle |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101493335B (en) * | 2009-02-27 | 2011-05-04 | 启明信息技术股份有限公司 | GPS/DR combined navigation method and device |
| CN102155954A (en) * | 2010-02-11 | 2011-08-17 | 上海博泰悦臻电子设备制造有限公司 | Vehicular equipment and navigation method thereof |
| CN102874260A (en) * | 2011-07-14 | 2013-01-16 | 上海博泰悦臻电子设备制造有限公司 | Driving safety detection method and system |
| CN105091882A (en) * | 2015-06-30 | 2015-11-25 | 小米科技有限责任公司 | Navigation method and device |
| CN105318877A (en) * | 2015-11-21 | 2016-02-10 | 广西南宁至简至凡科技咨询有限公司 | Embedded vehicle-mounted navigation system based on GPS or DR |
| CN108240809A (en) * | 2017-12-08 | 2018-07-03 | 佛吉亚好帮手电子科技有限公司 | A kind of system and method that inertial navigation is navigated in QNX vehicle systems based on L3GD20 chips |
| CN109143305A (en) * | 2018-09-30 | 2019-01-04 | 百度在线网络技术（北京）有限公司 | Automobile navigation method and device |
-
2009
- 2009-02-27 CN CNU200920093072XU patent/CN201359500Y/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101493335B (en) * | 2009-02-27 | 2011-05-04 | 启明信息技术股份有限公司 | GPS/DR combined navigation method and device |
| CN102155954A (en) * | 2010-02-11 | 2011-08-17 | 上海博泰悦臻电子设备制造有限公司 | Vehicular equipment and navigation method thereof |
| CN102874260A (en) * | 2011-07-14 | 2013-01-16 | 上海博泰悦臻电子设备制造有限公司 | Driving safety detection method and system |
| CN105091882A (en) * | 2015-06-30 | 2015-11-25 | 小米科技有限责任公司 | Navigation method and device |
| CN105318877A (en) * | 2015-11-21 | 2016-02-10 | 广西南宁至简至凡科技咨询有限公司 | Embedded vehicle-mounted navigation system based on GPS or DR |
| CN108240809A (en) * | 2017-12-08 | 2018-07-03 | 佛吉亚好帮手电子科技有限公司 | A kind of system and method that inertial navigation is navigated in QNX vehicle systems based on L3GD20 chips |
| CN109143305A (en) * | 2018-09-30 | 2019-01-04 | 百度在线网络技术（北京）有限公司 | Automobile navigation method and device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20091209 Effective date of abandoning: 20090227 |