CN203869697U - Beidou/GPS and INS combined vehicle-mounted navigation positioning system based on GIS technology - Google Patents
Beidou/GPS and INS combined vehicle-mounted navigation positioning system based on GIS technology Download PDFInfo
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- CN203869697U CN203869697U CN201420149258.3U CN201420149258U CN203869697U CN 203869697 U CN203869697 U CN 203869697U CN 201420149258 U CN201420149258 U CN 201420149258U CN 203869697 U CN203869697 U CN 203869697U
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Abstract
The utility model relates to a Beidou/GPS and INS combined vehicle-mounted navigation positioning system based on a GIS technology. The combined vehicle-mounted navigation positioning system comprises a Beidou second generation-global satellite navigation system, an inertial navigation system, a geographic information system and a data integration and control system, wherein the inertial navigation system comprises a fiber optic gyroscope, an acceleration sensor, a pressure sensor, an electronic compass, a shaping circuit and an interface circuit, and the interface circuit is connected with the data integration and control system; the data integration and control system comprises a processor and an interface, and a Kalman filtering module is integrated in the processor. According to the utility model, by researching and developing the real-time, stable and high-precision Beidou second generation and GP/INS combined vehicle-mounted navigation positioning system based on the GIS technology, the compatible application of the vehicle-mounted Beidou second generation and the GPS navigation positioning terminal is realized and the Beidou second generation and the GPS navigation positioning terminal are combined with the INS, so that users not only can receive signals from the Beidou second generation, but also can receive signals from the GPS, the Beidou second generation and the GPS can be used in a compatible manner and can switch automatically and mutually, and the accuracy and the reliability of the navigation positioning can be improved.
Description
The technical field is as follows:
the utility model relates to a vehicle navigation technical field refers in particular to a big dipper GPS based on GIS technique and INS combination vehicle navigation positioning system.
Background art:
the global satellite navigation system starts from the U.S. GPS in the 70 th 20 th century, is increasingly widely applied and is of great importance to national economy, national defense and the like. The european union predicted that the economic loss would exceed 10 billion euros a day after satellite navigation was interrupted, and now re-evaluated, the amount may be doubled if the satellite navigation service provided by foreign institutions is relied upon too much, and once the other party intentionally turns off or reduces the navigation positioning accuracy in an area for political and military purposes, the loss will be immeasurable. Second, the GPS system in the united states has grown to date with annual production rates of several billion dollars, and is expected to reach 4000 billion dollars by the year 2020. The satellite navigation is not only an important national infrastructure, but also has an important role in national defense safety and economic construction, and is a high-technology product. Therefore, even in russia, the european union, china, japan, india, etc., are competing to develop their own satellite navigation systems vigorously, and even in some more powerful countries such as thailand, etc., they are planned to build their own satellite navigation systems.
At present, four global satellite navigation systems are mainly used in the world, namely a United states GPS, a Russian 'Glonass' system, a Chinese 'Beidou' system and an European Union 'Galileo' system. Wherein,
U.S. GPS: the GPS is the global satellite navigation positioning system which is established and used most at the earliest in the world, the annual output value of the GPS reaches billions of dollars at present, the annual output value of the GPS reaches 4000 billions of dollars in 2020, and the GPS accounts for more than nine-dozen markets in China at present.
Russian "glonass" system: the global satellite navigation system is built by the former Soviet Union national defense department in the beginning of the 80 th 20 th century, is a global satellite navigation system for the second military and civilian dual-purpose after GPS, and at present, Russia is tightening and recovering to build a Gronese system, but the construction of the Gronese system is discontinuous and has a difficult prospect due to fund shortage, talent resource deficiency, political pressure and the like.
European "galileo" system: the system is started by cooperation of the European Bureau and the European Union in 1999, the civil signal precision of the system can reach 1 meter at most, and at present, a Galileo system is built and has not provided formal services.
China 'Beidou' system: the Beidou satellite navigation system is developed comprehensively in 1994, and is implemented in three steps according to the planning:
firstly, a satellite navigation test system is established. The test system consisting of 2 Beidou navigation test satellites is built in 2000 years in China, and compared with the similar foreign systems, the Beidou test system has the advantages of low investment, quick construction, especially communication function and particular suitability for users needing to combine navigation and communication;
and secondly, completing 14 satellite launching tasks in 2012 to form a regional positioning system capable of autonomous navigation. The regional system provides land, sea and air navigation positioning services for users in China and surrounding areas, provides positioning and orbit measurement means for aerospace users, and meets the requirements of navigation positioning information exchange and the like;
and thirdly, in 2020 or so, a global navigation system which is composed of 5 geostationary orbit satellites and 30 non-geostationary orbit satellites and covers the whole world is built.
The development trend of satellite navigation technology is mainly reflected in three aspects: firstly, multiple systems of satellite navigation coexist, so that the system availability is improved, and the application field is wider; secondly, the multi-element combined navigation technology is being popularized and applied, and is mainly applied in combination with GPS and mobile communication base station positioning, gyroscopic and dead reckoning technologies and the like; and thirdly, satellite navigation and other high technologies such as wireless communication are combined, for example, a GPS receiver is embedded into electronic products such as cellular wireless phones, portable PCs, PDAs and watches for safety, communication and consumption, and the whole development of IT technology is fundamentally promoted.
With the development of various satellite navigation systems, there is a trend that the satellite navigation systems are compatible with each other and combined with other navigation technologies. China is always dedicated to the Beidou satellite navigation system, the Russian Glonass system and the European Galileo system to promote the compatible sharing of the global satellite navigation system, and provide more reliable and higher-performance positioning navigation time service for global users.
The utility model has the following contents:
an object of the utility model is to provide a big dipper GPS and INS combination vehicle navigation positioning system based on GIS technique.
The utility model discloses realize that the technical scheme that its purpose adopted is: a kind of vehicle carried navigation positioning system of combination of big Dipper/GPS and INS based on GIS technology, this vehicle carried navigation positioning system of combination is formed by big Dipper second generation-global satellite navigation system (GPS), Inertial Navigation System (INS), Geographic Information System (GIS) and data fusion and four parts of control system; the second generation Beidou satellite navigation system comprises a second generation Beidou/GPS receiver and an interface circuit connected with a data fusion and control system; the inertial navigation system comprises a fiber-optic gyroscope, an acceleration sensor, a pressure sensor, an electronic compass, a shaping circuit and an interface circuit connected with the data fusion and control system; the data fusion and control system comprises a processor and an interface, wherein a Kalman filtering module is integrated in the processor; the geographic information system includes a navigation map database and a map matching module.
Wherein the pressure sensor is composed of a piezoresistive sensor and an ADC device. The acceleration sensor is a three-axis acceleration sensor.
The utility model discloses a research and development to the compatible application terminal of second generation of big dipper and GPS INS, through research and development a real-time based on GIS technique, it is stable, the second generation of high accuracy big dipper and GP INS make up vehicle navigation positioning system, realize the compatible use of the second generation of big dipper and GPS navigation positioning terminal and with the INS combination, the user can accept the second generation signal of big dipper, can accept the GPS signal again, compatible use, automatic switch-over each other, the precision and the reliability of navigational positioning have been improved, have many-sided advantages such as good technical performance and market.
Description of the drawings:
FIG. 1 is a block diagram of the overall structure of the vehicle navigation positioning system of the present invention;
FIG. 2 is a block diagram of the information processing of the combination of the Beidou second generation/GPS and INS of the present invention;
fig. 3 is a logic block diagram of a map matching method of the map matching module of the present invention.
The specific implementation mode is as follows:
the present invention will be further described with reference to the following specific embodiments and accompanying drawings.
As shown in fig. 1-3, the utility model discloses a big dipper/GPS and INS combined vehicle navigation positioning system based on GIS technology, which is composed of four parts, namely a big dipper second generation-global satellite navigation system (GPS), an Inertial Navigation System (INS), a Geographic Information System (GIS) and a data fusion and control system; the second generation Beidou satellite navigation system comprises a second generation Beidou/GPS receiver and an interface circuit connected with a data fusion and control system; the inertial navigation system comprises a fiber-optic gyroscope, an acceleration sensor, a pressure sensor, an electronic compass, a shaping circuit and an interface circuit connected with the data fusion and control system; the data fusion and control system comprises a processor and an interface, wherein a Kalman filtering module is integrated in the processor; the geographic information system includes a navigation map database and a map matching module.
Wherein the pressure sensor is composed of a piezoresistive sensor and an ADC device. The acceleration sensor is a three-axis acceleration sensor.
The positioning process of the Beidou second generation/GPS system comprises the following steps: the position of the satellite is known, the relative position and time between the satellite and the user are obtained by adopting a high-precision GPS/Beidou module for measurement, and the most reliable position of the user is obtained by calculating through a navigation algorithm.
The inertial positioning navigation system comprises: the device comprises a fiber-optic gyroscope, an acceleration sensor, a pressure sensor and an electronic compass.
A pressure sensor module is employed to obtain an altitude of the current location. The pressure sensor is composed of a piezoresistive sensor and an ADC device. It can provide pressure and temperature data of 16-bit word length. Through high-precision calibration of the sensor, 10 unique coefficients are obtained and stored in a chip, so that high-precision air pressure and temperature data can be easily obtained, and high-precision altitude is obtained.
And an optical fiber gyroscope is adopted to obtain an accurate azimuth angle.
A three-axis acceleration sensor is used which can measure acceleration values of three axes (Xa, Ya, Za) respectively, and the signed output indicates the direction of the measured value. Since the acceleration sensor is used on the vehicle independently, it is impossible to make the straight line of the measurement axis Za of the acceleration sensor just perpendicular to the horizontal plane, and the direction in which the a axis faces the vehicle cannot be made. In general, the actual placement position is offset from the ideal position by a certain angle, the XY plane is assumed to be a plane parallel to the horizontal plane, and the z-axis is exactly perpendicular to the horizontal plane. When the acceleration sensor is actually placed, the three measurement axes (Xa, Ya, Za) of the acceleration sensor usually form certain angles with the X, Y, Z axis. Therefore, the displacement calculation cannot be performed for only one measurement axis, and the displacement calculation is performed for three measurement axes (Xa, Ya, Za) at the same time.
Due to the effect of gravity and the angle of the measurement axes (Xa, Ya, Za) with respect to the ideal state axis (X, Y, Z), the acceleration values of gravity are also resolved on the three measurement axes. The three-axis acceleration value of the vehicle GPS during the last positioning is recorded as a measurement reference, the difference between the measurement value and the base value is calculated at each measurement moment, and the three-axis difference is used for carrying out speed and displacement calculation instead of a human formula. And finally, calculating through vector sum to obtain the size of the displacement.
Combine fig. 2 to show, the utility model discloses a fiber-optic gyroscope strapdown is used to lead the system as the core to the restraint of big dipper two take place ofs GPS antenna receiver and automobile body motion characteristic is supplementary, estimates out fiber-optic gyroscope SINS's measuring error through the Kalman filter, and carries out the speed gesture matching mode combination navigation attitude determination method of rectifying to it. The data collected by the Beidou second generation/GPS, the gyroscope and the mileage meter is processed in the central controller, the Kalman filtering ground push algorithm is utilized, the Dead Reckoning (DR) method is combined, the information distribution principle is utilized, the optimal integration of the multi-sensor information is realized, and the whole system has certain fault-tolerant capability, so that the overall optimal performance can be obtained.
Aiming at the problem that two subsystems of a Beidou second generation/GPS-INS combined navigation system use different clock frequency standards respectively, if data of the two subsystems are registered at the same time, the two subsystems are unified into a common time reference system. Since kalman filtering is generally performed by a computer, the local time used by the computer is not used as a common time frame of reference for processing data by the two subsystems. In addition, after the two subsystems complete measurement and update data, the data are transmitted to a computer through a serial port, after the computer receives the data, the computer performs preprocessing on the data (for example, the attitude angle rate output by the INS is integrated to obtain the information of the attitude angle of the carrier) to start filtering operation, and because the data transmission and the preprocessing both take time, when the GPS/INS combined system performs data synchronization, the time corresponding to the data needing to be synchronized is the updating time of the data, but not the time when the computer performs filtering on the data.
The altitude information obtained by the pressure gauge and the Beidou second generation/GPS altitude information are introduced into the altitude channel, and the divergence of the altitude channel can be inhibited by adopting an effective fusion scheme; the longitude, latitude and ground speed information of the second generation of Beidou/GPS is introduced into a horizontal channel of the inertial navigation system to be combined through Kalman filtering, and the accumulated error of the inertial navigation is effectively eliminated.
As shown in fig. 3, the map matching positioning logic method of the present invention determines the most probable position of the vehicle relative to the map through pattern recognition and matching processes by using digital map information after the system receives the sensor data, and since the map database contains the position information of the road, the matching position can be used to reposition the vehicle, limiting the error amplitude, thereby improving the system performance.
The utility model discloses well map matching is the road network information in with vehicle positioning track and digital map links to confirm the position of vehicle for the map from this. The application of map matching techniques has two preconditions, namely: the digital map for matching contains high-precision road position information; the positioned vehicle is running on the road. When the above conditions are met, the positioning data and the vehicle running track can be compared with the road position information in the digital map, and the most possible running road section of the vehicle and the most possible position of the vehicle in the road section are determined. Therefore, a complete map matching algorithm includes three main processes, namely, determining an error area, selecting a matching road section, and calculating a correction result.
To sum up, the utility model discloses a research and development real-time, stable, the two take place ofs of high accuracy big dipper and GP INS combination vehicle navigation positioning system based on GIS technique realizes the compatible use of the two take place ofs of big dipper and GPS navigation positioning terminal and with the INS combination, and the user can accept the two take place ofs signals of big dipper, can accept the GPS signal again, and compatible use, automatic switch-over each other has improved navigation positioning's precision and reliability, has many-sided advantages such as good technical performance and market. The utility model discloses navigation can reach the technical indicator as shown in the following table:
Claims (3)
1. The utility model provides a big dipper GPS and INS combination vehicle navigation positioning system based on GIS technique which characterized in that: the combined vehicle-mounted navigation and positioning system consists of a Beidou second generation-global satellite navigation system (GPS), an Inertial Navigation System (INS), a Geographic Information System (GIS) and a data fusion and control system; the second generation Beidou satellite navigation system comprises a second generation Beidou/GPS receiver and an interface circuit connected with a data fusion and control system; the inertial navigation system comprises a fiber-optic gyroscope, an acceleration sensor, a pressure sensor, an electronic compass, a shaping circuit and an interface circuit connected with the data fusion and control system; the data fusion and control system comprises a processor and an interface, wherein a Kalman filtering module is integrated in the processor; the geographic information system includes a navigation map database and a map matching module.
2. The GIS technology-based Beidou/GPS and INS combined vehicle navigation and positioning system according to claim 1, characterized in that: the pressure sensor is composed of a piezoresistive sensor and an ADC device.
3. The GIS technology-based Beidou/GPS and INS combined vehicle navigation and positioning system according to claim 1, characterized in that: the acceleration sensor is a three-axis acceleration sensor.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103900580A (en) * | 2014-03-28 | 2014-07-02 | 东莞市领航通通信科技有限公司 | Compass/GPS (global positioning system) and INS (inertial navigation system) combination vehicle navigation positioning system based on GIS (geographic information system) technology |
| CN104483685A (en) * | 2014-11-17 | 2015-04-01 | 江苏博纳雨田通信电子有限公司 | Anti-4G (fourth generation)-interference Beidou GPS (global positioning system) multi-mode receiving-dispatching integration navigation communication module |
| CN104809904A (en) * | 2015-04-14 | 2015-07-29 | 深圳市润安科技发展有限公司 | Suspicious vehicle positioning system and method based on ultra-wideband wireless positioning technology |
| CN106485810A (en) * | 2016-10-28 | 2017-03-08 | 芜湖市吉安汽车电子销售有限公司 | The Big Dipper based on data mining and GPS dual-mode Tachographs |
| CN108828639A (en) * | 2018-06-25 | 2018-11-16 | 安徽尼古拉电子科技有限公司 | A kind of high accuracy positioning navigation system based on Beidou navigation |
| CN109001777A (en) * | 2018-05-15 | 2018-12-14 | 中国水产科学研究院南海水产研究所 | Bimodulus Shipborne terminal and method based on big dipper satellite navigation system positioning communication |
| CN111007225A (en) * | 2019-12-30 | 2020-04-14 | 广东长天思源环保科技股份有限公司 | Automatic environment water quality monitoring ship and water quality monitoring system |
| CN112382085A (en) * | 2020-10-20 | 2021-02-19 | 华南理工大学 | System and method suitable for intelligent vehicle traffic scene understanding and beyond visual range perception |
-
2014
- 2014-03-28 CN CN201420149258.3U patent/CN203869697U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103900580A (en) * | 2014-03-28 | 2014-07-02 | 东莞市领航通通信科技有限公司 | Compass/GPS (global positioning system) and INS (inertial navigation system) combination vehicle navigation positioning system based on GIS (geographic information system) technology |
| CN104483685A (en) * | 2014-11-17 | 2015-04-01 | 江苏博纳雨田通信电子有限公司 | Anti-4G (fourth generation)-interference Beidou GPS (global positioning system) multi-mode receiving-dispatching integration navigation communication module |
| CN104483685B (en) * | 2014-11-17 | 2017-03-22 | 江苏博纳雨田通信电子有限公司 | Anti-4G (fourth generation)-interference Beidou GPS (global positioning system) multi-mode receiving-dispatching integration navigation communication module |
| CN104809904A (en) * | 2015-04-14 | 2015-07-29 | 深圳市润安科技发展有限公司 | Suspicious vehicle positioning system and method based on ultra-wideband wireless positioning technology |
| CN104809904B (en) * | 2015-04-14 | 2018-02-09 | 深圳市润安科技发展有限公司 | Suspect vehicle alignment system and localization method based on ultra-wideband wireless location technology |
| CN106485810A (en) * | 2016-10-28 | 2017-03-08 | 芜湖市吉安汽车电子销售有限公司 | The Big Dipper based on data mining and GPS dual-mode Tachographs |
| CN109001777A (en) * | 2018-05-15 | 2018-12-14 | 中国水产科学研究院南海水产研究所 | Bimodulus Shipborne terminal and method based on big dipper satellite navigation system positioning communication |
| CN108828639A (en) * | 2018-06-25 | 2018-11-16 | 安徽尼古拉电子科技有限公司 | A kind of high accuracy positioning navigation system based on Beidou navigation |
| CN111007225A (en) * | 2019-12-30 | 2020-04-14 | 广东长天思源环保科技股份有限公司 | Automatic environment water quality monitoring ship and water quality monitoring system |
| CN112382085A (en) * | 2020-10-20 | 2021-02-19 | 华南理工大学 | System and method suitable for intelligent vehicle traffic scene understanding and beyond visual range perception |
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