CN202229766U - Sensor-based inertial navigation system - Google Patents
Sensor-based inertial navigation system Download PDFInfo
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- CN202229766U CN202229766U CN2011203751108U CN201120375110U CN202229766U CN 202229766 U CN202229766 U CN 202229766U CN 2011203751108 U CN2011203751108 U CN 2011203751108U CN 201120375110 U CN201120375110 U CN 201120375110U CN 202229766 U CN202229766 U CN 202229766U
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Abstract
The utility model relates to a sensor-based inertial navigation system, which is a vehicle-mounted navigation terminal combining the inertial navigation technology and the GPS (Global Positioning System) technology and comprises a main-control module, a GPS receiving module, a CAN (Controller Area Network) bus control module, a gyroscope sensor, a speed pulse sensor, a tire rotating speed difference sensor and the like. The inertial navigation system combines automobile steering angles, automobile velocity, automobile tire rotating speed difference and other information which are obtained by the sensors, and the GPS positioning information, and displays position information on display terminal equipment, thereby improving the effective position coverage and position output precision of a GPS receiver.
Description
Technical field
The utility model relates to auto navigation and vehicle tracking system, is specifically related to a kind of inertial navigation system.
Background technology
GPS (Global Position System is called for short " GPS ") technology has been widely used in auto navigation and the vehicle tracking system at present.Effectively auto navigation and vehicle tracking application can only could realize under the prerequisite that the GPS receiver provides positional information and navigation software accurately that real-time map data base is provided.The positional information that the GPS receiver is provided need cover the street, lane, tunnel, the road under the underpass, overpass, various environment such as indoor and underground parking.Gps system comprises that the quantity of satellite surpasses 24,6 different orbital plane operations.The GPS receiver will receive that at least the satellite-signal that (comprises 4) more than 4 just can calculate positional information accurately.Yet the buildings of highly dense can stop satellite-signal in the city at present; Make number of satellite that the GPS receiver can receive its data less than 4; And; Because gps signal through repeatedly reflecting and reflections propagate, can make gps signal produce multipath effect in buildings, thereby can reduce the accuracy of the positional information of GPS receiver output.More serious situation is in the tunnel, and in the environment such as indoor and underground parking, gps signal intensity is too low and cause the GPS receiver can not receive satellite data thereby can't output position information basically.
The sensitivity that improves GPS receiver itself can not address the above problem with the influence of eliminating multipath effect fully.Therefore, need with active position coverage that provides a kind of effective navigational system to improve the GPS receiver and position output accuracy.
The utility model content
The purpose of the utility model provides a kind of sensor-based inertial navigation system, and this inertial navigation system is the vehicle mounted guidance terminal that inertial navigation technology is combined with the GPS technology.Inertial navigation technology is based on a known location point P (n); And judge a kind of localization method of next location point P (n+1) through the position offset (distance of skew and the direction of skew) of terminal device, the automotive electronics sensor can the provider to and range information.The GPS receiver can use the satellite data location under the situation preferably in satellite-signal intensity; Under the lower situation of gps satellite signal intensity, locate through sensing data; The positional information that also can the positional information and the sensor of calculated signals via satellite be calculated combines, thereby obtains more accurate position information.
One side according to the utility model; A kind of sensor-based inertial navigation system has been proposed; It is characterized in that, comprising: main control module, GPS receiver module, CAN bus control module, gyro sensor, velocity pulse sensor, tire rotational speed gap sensor, wherein:
Said gyro sensor, velocity pulse sensor, tire rotational speed gap sensor are connected with the CAN bus controller is two-way through the CAN bus, are used for sending the information that comprises automotive steering angle, car speed, doughnut speed discrepancy to said CAN bus controller;
Said CAN bus controller is connected with the GPS receiver module is two-way through the SPI interface; Be used for after the UBX that the information translation that will comprise automotive steering angle, car speed, doughnut speed discrepancy becomes the GPS receiver module to discern instructs, sending said instruction to said GPS receiver module;
Said GPS receiver module is connected with main control module is two-way through the UART interface; Be used for self receiving after the gps satellite data combine and calculate the information that comprises geographical location information, temporal information, satellite parametric reduction of said inertial navigation system, send the information that comprises geographical location information, temporal information, satellite parametric reduction of said inertial navigation system to said main control module at the information that comprises automotive steering angle, car speed, doughnut speed discrepancy that will obtain from said CAN bus controller and said GPS receiver module;
Said main control module is connected with said display terminal is two-way; Be used in the geographic position that said GPS receiver module is obtained and temporal information said geographic position and temporal information being presented in the said display terminal with after map and navigation software combine.
Said in a preferred embodiment GPS receiver module is u-blox 6 a generation LEA-6R module.
Said in a preferred embodiment gyro sensor is EPSON VX-8000C.
In a preferred embodiment, said speed pickup and tire rotational speed gap sensor are that automobile electronic system is from belt sensor.
In a preferred embodiment, said main control module comprises Samsung processor S3C2440.
In a preferred embodiment; Said main control module also comprises UART interface and display screen interface; Said UART interface connect said GPS receiver module the UART interface and with two-way connection of said processor S3C2440, said display screen interface and two-way connection of said processor S3C2440.In a preferred embodiment, said main control module also comprises the TF interface, connects the external data source through said TF interface.
In a preferred embodiment, said display terminal is touch display terminal.
In a preferred embodiment, comprise also and the two-way storer that is connected of said main control module that said storer comprises random access memory, flash memory.
The utility model is owing to adopt above technical scheme; The GPS receiver can not normally receive under the situation of abundant gps satellite signal, the automotive steering angle that utilizes sensor to provide, information such as speed and tire rotational speed difference; Continue outlet terminal information; Main control module combines positional information with map and navigation software, on display device, show, thereby improve the active position coverage and the position output accuracy of GPS receiver effectively.
Description of drawings
Fig. 1 is the structured flowchart of an embodiment of sensor-based inertial navigation system of the utility model.
Fig. 2 is the structured flowchart of an embodiment of the GPS receiver module of the inertial navigation system among Fig. 1.
Fig. 3 is the structured flowchart of an embodiment of the main control module of the inertial navigation system among Fig. 1.
Embodiment
For letting above-mentioned purpose, the feature and advantage of the utility model can be more obviously understandable, elaborate below in conjunction with the embodiment of accompanying drawing to the utility model.At first need to prove; The embodiment of the utility model is not limited to following embodiment; Those skilled in the art should understand the utility model from the spirit that following embodiment embodied, and each technical term can be done the most wide in range understanding based on the spirit of the utility model.
As shown in Figure 1; In one embodiment; The inertial navigation system 100 that sensor-based inertial navigation technology combines with the GPS technology comprises: main control module 110, GPS receiver module 120, display terminal 130, controller local area network (Controller Area Network is called for short " CAN ") bus controller 140, such as storer, gyro sensor 170, velocity pulse sensor 180 and the tire rotational speed gap sensor 190 of flash memory (Flash) 160 and synchronous DRAM (SDRAM) 150.Inertial navigation system 100 can be vehicle mounted guidance terminal or vehicle monitor terminal.
As shown in the figure; Gyro sensor 170, velocity pulse sensor 180, tire rotational speed gap sensor 190 are through CAN bus and 140 two-way connections of CAN bus controller, and it is used for sending the information that comprises automotive steering angle, car speed, doughnut speed discrepancy to CAN bus controller 140.Gyro sensor 170, velocity pulse sensor 180, tire rotational speed gap sensor 190 is the native system Sensor section, for the realization of carrying out the inertial navigation function provides correlation parameter.In this example, the XC-8000V that gyro sensor 170 adopts EPSON company to provide, velocity pulse sensor 180, tire rotational speed gap sensor 190 is from belt sensor in the automobile electronic system.Gyro sensor 170 can be exported the angle information of turn inside diameter, and velocity pulse sensor 180 can be exported the velocity information of current vehicle operation, and the tire rotational speed gap sensor can export that automobile advances or backward information and automotive wheel rotation angle information.Sensor information is through CAN bus and 140 two-way connections of CAN bus controller in the automobile electronic system, and with Vehicular turn information, and velocity information and come in backward information etc. send CAN bus 140 to.
As shown in Figure 2, in one embodiment, the model of GPS receiver module 120 for example adopts the 6th generation GPS receiver module LEA-6H of U-blox company exploitation, and this module is supported motor turning information, the input of sensor informations such as velocity information and parsing.GPS receiver module 120 comprises impedance matching network 121, low noise amplifier (LNA) 122, IF wave filter 123, GPS/Galileo engine 124, the ARM7CPU 125 of antenna successively; These modules are respectively in order to receiving gps satellite signal, and through impedance matching, low noise amplification, filtering, demodulation, decoding and calculation process.GPS receiver module 120 also can comprise ROM (ROM (read-only memory)) 126a, RAM (random access memory) 126b, external interface 127 and power management module 128 in addition.GPS receiver module 120 is connected with main control module 110 through the UART serial ports in the external interface 127, sends positional information via this interface.GPS receiver module 120 is connected with CAN bus controller 140 through the SPI interface.GPS receiver module 120 parses Vehicular turn angle a, information such as car speed v after receiving the UBX instruction that CAN bus controller 140 sends.According to the inertial navigation principle, in two dimensional surface, the position of known previous anchor point is (X (n), Y (n)), and behind the elapsed time interval t, the position of next anchor point is (X (n)+v * t * cos (a), Y (n)+v * t * sin (a)).In with the inertial navigation method calculating location information, GPS receiver module 120 is also used satellite data and is come calculating location information.If satellite data undercapacity and can not locating, GPS receiver module 120 be output inertial navigation positional information directly, if satellite intensity is enough big, GPS receiver module 120 can output satellite data calculating location informations.If but the slight relatively poor positional information of satellite data can be exported, GPS receiver module 120 is used the inertial navigation positional information and is revised the satellite data positional information.
As shown in Figure 3, in one embodiment, main control module 110 mainly is that the 32-bit microprocessor chip S3C2440111 of employing Samsung company is the circuit board of core.The main control module 110 main processing capacities of accomplishing gps data and IMAQ also can be used for process user interface, man-machine conversation etc.Main control module 110 mainly comprises: ARM920T kernel, general MMU and various interface such as UART, USB, LCD, ADC, MMC, camera interface, JTAG, storage controller interface, IIC, IIS, SPI, AC97, GPIO etc.Wherein the UART interface is used for receiving gps data from the UART interface of GPS receiver module 120; LCD interface (for the parallel port) is used to be connected display terminal 180 with the ADC interface; Camera interface is used for obtaining view data from camera, and jtag interface is the most basic debugging approach of total system.
In addition, system 100 also can comprise other input/output interfaces, like the TF memory card interface, connects other external data sources through these input/output interfaces.These external data sources comprise the data from CF card, SD card, other storeies and network.
Adopt above technical scheme; The GPS receiver can not normally receive under the situation of abundant gps satellite signal, the automotive steering angle that utilizes sensor to provide, information such as speed and tire rotational speed difference; Continue outlet terminal information; Main control module combines positional information with map and navigation software, on display device, show, thereby improve the active position coverage and the position output accuracy of GPS receiver effectively.
Disclose as above with preferred embodiment though one skilled in the art will understand that the utility model, the utility model is embodied as other particular form, and does not break away from its spirit or inner characteristic.The foregoing description all will be understood as that it only is exemplary with nonrestrictive in all respects.Therefore, the scope of the utility model is limited in the instructions of appending claims rather than front.All fall into the implication of claims equivalent and the change in the scope all will be included within the scope of claims.
Claims (9)
1. sensor-based inertial navigation system; It is characterized in that; Comprise: main control module, global position system GPS receiver module, the CAN of controller local area network bus control module, gyro sensor, velocity pulse sensor, tire rotational speed gap sensor, wherein:
Said gyro sensor, velocity pulse sensor, tire rotational speed gap sensor are connected with the CAN bus controller is two-way through the CAN bus, are used for sending the information that comprises automotive steering angle, car speed, doughnut speed discrepancy to said CAN bus controller;
Said CAN bus controller is connected with the GPS receiver module is two-way through serial peripheral SPI interface; Be used for after the information translation that will comprise automotive steering angle, car speed, doughnut speed discrepancy becomes the instruction that the GPS receiver module can discern, sending said instruction to said GPS receiver module;
Said GPS receiver module is connected with main control module is two-way through universal asynchronous reception/dispensing device UART interface; Be used for combining will self receiving the gps satellite data with said GPS receiver module from the information that comprises automotive steering angle, car speed, doughnut speed discrepancy that said CAN bus controller obtains; And calculate after the information that comprises geographical location information, temporal information, satellite parametric reduction of said inertial navigation system, send the information that comprises geographical location information, temporal information, satellite parametric reduction of described inertial navigation system to said main control module;
Said main control module is connected with said display terminal is two-way; Be used in the geographic position that said GPS receiver module is obtained and temporal information said geographic position and temporal information being presented in the said display terminal with after map and navigation software combine.
2. sensor-based inertial navigation system as claimed in claim 1 is characterized in that, said gyro sensor is EPSON VX-8000C.
3. sensor-based inertial navigation system as claimed in claim 1 is characterized in that, said speed pickup and tire rotational speed gap sensor are that automobile electronic system is from belt sensor.
4. sensor-based inertial navigation system as claimed in claim 1 is characterized in that, said GPS receiver module is u-blox 6 a generation LEA-6R module.
5. sensor-based inertial navigation system as claimed in claim 1 is characterized in that, said main control module comprises Samsung processor S3C2440.
6. sensor-based inertial navigation system as claimed in claim 5; It is characterized in that; Said main control module also comprises UART interface and display screen interface; Said UART interface connect said GPS receiver module the UART interface and with two-way connection of said processor S3C2440, said display screen interface and two-way connection of said processor S3C2440.
7. sensor-based inertial navigation system as claimed in claim 1 is characterized in that said main control module also comprises the TF memory card interface, connects the external data source through said TF memory card interface.
8. sensor-based inertial navigation system as claimed in claim 1 is characterized in that, said display terminal is touch display terminal.
9. sensor-based inertial navigation system as claimed in claim 1 is characterized in that, comprises also and the two-way storer that is connected of said main control module that said storer comprises random access memory, flash memory.
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| CN2011203751108U CN202229766U (en) | 2011-09-28 | 2011-09-28 | Sensor-based inertial navigation system |
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| CN2011203751108U CN202229766U (en) | 2011-09-28 | 2011-09-28 | Sensor-based inertial navigation system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103808324A (en) * | 2013-12-11 | 2014-05-21 | 延锋伟世通电子科技（上海）有限公司 | Intelligent terminal navigation system based on vehicle-mounted gyroscope |
| CN104697536A (en) * | 2015-02-12 | 2015-06-10 | 奇瑞汽车股份有限公司 | Vehicle positioning method and apparatus |
| WO2018034365A1 (en) * | 2016-08-16 | 2018-02-22 | 엠텍비젼 주식회사 | Vehicle speed calculation method and device, and driver's state-monitoring system provided with vehicle speed calculation device |
| CN109188486A (en) * | 2018-06-27 | 2019-01-11 | 北斗星通（重庆）汽车电子有限公司 | A kind of high-accuracy position system |
| CN110657811A (en) * | 2019-10-07 | 2020-01-07 | 佛吉亚好帮手电子科技有限公司 | Vehicle-mounted compass implementation method and system based on GPS inertial navigation |
| CN110657810A (en) * | 2019-10-07 | 2020-01-07 | 佛吉亚好帮手电子科技有限公司 | Method and system for calculating specific direction based on vehicle navigation |
| CN111505680A (en) * | 2020-04-21 | 2020-08-07 | 中国人民解放军陆军勤务学院 | Logistics support vehicle monitoring and commanding system |
| CN112243217A (en) * | 2020-10-13 | 2021-01-19 | 安徽富煌科技股份有限公司 | Vehicle-mounted tandem control system based on 5G communication |
-
2011
- 2011-09-28 CN CN2011203751108U patent/CN202229766U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103808324A (en) * | 2013-12-11 | 2014-05-21 | 延锋伟世通电子科技（上海）有限公司 | Intelligent terminal navigation system based on vehicle-mounted gyroscope |
| CN104697536A (en) * | 2015-02-12 | 2015-06-10 | 奇瑞汽车股份有限公司 | Vehicle positioning method and apparatus |
| WO2018034365A1 (en) * | 2016-08-16 | 2018-02-22 | 엠텍비젼 주식회사 | Vehicle speed calculation method and device, and driver's state-monitoring system provided with vehicle speed calculation device |
| JP2019515268A (en) * | 2016-08-16 | 2019-06-06 | エムテクビジョン カンパニー リミテッド | Vehicle speed calculation method and device, and driver's condition monitoring system provided with vehicle speed calculation device |
| US10946742B2 (en) | 2016-08-16 | 2021-03-16 | Mtekvision Co., Ltd. | Vehicle speed calculating method and device and driver state monitoring system including vehicle speed calculating device |
| CN109188486A (en) * | 2018-06-27 | 2019-01-11 | 北斗星通（重庆）汽车电子有限公司 | A kind of high-accuracy position system |
| CN110657811A (en) * | 2019-10-07 | 2020-01-07 | 佛吉亚好帮手电子科技有限公司 | Vehicle-mounted compass implementation method and system based on GPS inertial navigation |
| CN110657810A (en) * | 2019-10-07 | 2020-01-07 | 佛吉亚好帮手电子科技有限公司 | Method and system for calculating specific direction based on vehicle navigation |
| CN111505680A (en) * | 2020-04-21 | 2020-08-07 | 中国人民解放军陆军勤务学院 | Logistics support vehicle monitoring and commanding system |
| CN112243217A (en) * | 2020-10-13 | 2021-01-19 | 安徽富煌科技股份有限公司 | Vehicle-mounted tandem control system based on 5G communication |
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Granted publication date: 20120523 Termination date: 20160928 |
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| CF01 | Termination of patent right due to non-payment of annual fee |