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 PDF

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Publication number
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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China
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gps
navigation
beidou
ins
navigation positioning
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CN201420149258.3U
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杜明德
叶少峰
向洈
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DONGGUAN BEIDOU HANGSHENG COMMUNICATION TECHNOLOGY Co Ltd
DONGGUAN LEADING COMMUNICATION TECHNOLOGY Co Ltd
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DONGGUAN BEIDOU HANGSHENG COMMUNICATION TECHNOLOGY Co Ltd
DONGGUAN LEADING COMMUNICATION TECHNOLOGY Co Ltd
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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 Big Dipper/GPS based on GIS technology and INS combine vehicle-mounted navigation positioning system
Technical field:
The utility model relates to vehicle mounted guidance technical field, refers in particular to a kind of Big Dipper/GPS and INS based on GIS technology and combines vehicle-mounted navigation positioning system.
Background technology:
GPS (Global Position System) starts from 20 century 70 GPS of America, and its application is increasingly extensive, most important to national economy, national defence etc.European Union is once prediction before more than 10 year, satellite navigation is interrupted one day, economic loss will be over 1,000,000,000 Euros, reevaluate now this loss, number turns over several times possibly, if too rely on the urban satellite navigation service that foreign organization provides, once the other side is for politics, military purposes, be intended in a region, close or reduce navigation and positioning accuracy, the confusion causing, loss will be difficult to appraisal.Secondly, the gps system of the U.S. develops into today, and annual value of production has reached hundred million dollars of hundreds ofs, expects the year two thousand twenty and will reach 4,000 hundred million dollars.National important infrastructure is not only in satellite navigation, and national defense safety and economic construction are had to significant role, and satellite navigation itself is a hi-tech product.Therefore, after the U.S., Russia, European Union, China, Japan, India etc. also all competitively greatly develop the satellite navigation system of oneself, even country's satellite navigation system of Program Construction oneself all of strength slightly such as Thailand.
At present, the world mainly contains four large GPS (Global Position System), respectively: GPS of America, Russia's " GLONASS " system, China's " Big Dipper " system, European Union's " Galileo " system.Wherein,
GPS of America: be to set up the earliest in the world, use maximum global navigation satellite systems, at present, its annual value of production has reached hundred million dollars of hundreds ofs, expects the year two thousand twenty and will reach 4,000 hundred million dollars, and GPS has accounted for more than ninety percent market of China at present.
Russia's " GLONASS " system: be that USSR (Union of Soviet Socialist Republics) Ministry of National Defence starts the GPS (Global Position System) of building in early 1980s, second dual-use GPS (Global Position System) after GPS, at present, Russia is stepping up to recover to build glonass system, but because lacking of capital, the reason such as resources of human talents deficiency, political pressure, " GLONASS " built intermittently, and prospect is hard to predict.
European " Galileo " system: be that European Space Agency and European Union start cooperation in 1999, this system civil signal precision reaches as high as 1 meter, at present, Galileo system is built, and formal service is not also provided.
China's " Big Dipper " system: started full-scale development in 1994, according to planning, Beidou satellite navigation system divides three steps to implement:
The first step, sets up satellite navigation pilot system.China has built up the pilot system being comprised of 2 Big Dipper Navigation Satellites for 2000, compare with external homogeneous system, the advantage of Big Dipper pilot system is small investment, sets up fast, especially there is communication function, be specially adapted to the user that navigation need be combined with communication;
Second step, completed 14 satellite launch tasks in 2012, compositing area, positioning system that can independent navigation.District system provides land, sea, air navigator fix service by the user for China and surrounding area, for space flight user provides location and determination of orbits means, meets the needs of navigator fix message exchange etc.;
The 3rd step, in the year two thousand twenty left and right, builds up by 5 satellites and 30 non-geo satellite Global Navigation Systems that form, covering the whole world.
The development trend of Satellite Navigation Technique is mainly manifested in three aspects: the one, and the multisystem of satellite navigation is also deposited, and system availability is improved, and application will be more wide; The 2nd, polynary integrated navigation technology is widely applied, and mainly contains the applied in any combination such as GPS and location, mobile communication base station, gyro, dead reckoning; The 3rd, satellite navigation is combined with other hi-techs such as radio communications, is embedded into the safety such as cellular radio, portable PC, PDA and wrist-watch, communicates by letter, in the electronic product such as consumption, fundamentally promoted the overall development of IT technology as GPS receiver.
Along with the development of various satellite navigation systems, each satellite navigation system is compatible also, be combined into trend with other airmanships.The compatibility that GPS, Russia's " GLONASS " system, the European " Galileo " system that China is devoted to " Big Dipper " satellite navigation system and the U.S. all the time comes together to promote GPS (Global Position System) shares, for global user provides more reliably, more high performance location navigation time service service.
Utility model content:
The purpose of this utility model is to provide a kind of Big Dipper/GPS and INS based on GIS technology to combine vehicle-mounted navigation positioning system.
The technical scheme that the utility model is realized its object employing is: a kind of Big Dipper/GPS and INS based on GIS technology combines vehicle-mounted navigation positioning system, and this combines vehicle-mounted navigation positioning system and consists of the Big Dipper two generations-GPS (Global Position System) (GPS), inertial navigation system (INS), Geographic Information System (GIS) and data fusion and control system four parts; Wherein, the Big Dipper two generations-GPS (Global Position System) comprises the Big Dipper two generations/GPS receiver and the interface circuit being connected with control system with data fusion thereof; Inertial navigation system comprises optical fibre gyro, acceleration transducer, pressure transducer, electronic compass, shaping circuit and the interface circuit being connected with control system with data fusion thereof; Data fusion and control system comprise processor and interface, are integrated with Kalman filtering module in processor; Geographic Information System comprises navigation map data storehouse and map-matching module.
Wherein, described pressure transducer is comprised of a piezoresistive transducer and an ADC device.Described acceleration transducer is 3-axis acceleration sensor.
The utility model is the research and development to the application terminal of two generations of the Big Dipper and GPS/INS compatibility, by research and develop a kind of based on GIS technology in real time, stable, two generations of the high precision Big Dipper and GP/INS combine vehicle-mounted navigation positioning system, realizing the compatibility of two generations of the vehicle-mounted Big Dipper and GPS navigation locating terminal uses and combines with INS, user can receive the Big Dipper two generations signal, can accept gps signal again, compatible use, automatically switch mutually, the precision and the reliability that have improved navigator fix, have many-sided advantages such as good technical feature and market.
Accompanying drawing explanation:
Fig. 1 is the overall formation block diagram of the utility model automotive positioning system;
Fig. 2 is the information processing block diagram of the Big Dipper two generations/GPS and INS combination in the utility model;
Fig. 3 is the map-matching method logic diagram of map-matching module in the utility model.
Embodiment:
Below in conjunction with specific embodiments and the drawings, the utility model is further illustrated.
As shown in Figure 1-Figure 3, the Big Dipper/GPS and INS based on GIS technology described in the utility model combines vehicle-mounted navigation positioning system, and this combines vehicle-mounted navigation positioning system and consists of the Big Dipper two generations-GPS (Global Position System) (GPS), inertial navigation system (INS), Geographic Information System (GIS) and data fusion and control system four parts; Wherein, the Big Dipper two generations-GPS (Global Position System) comprises the Big Dipper two generations/GPS receiver and the interface circuit being connected with control system with data fusion thereof; Inertial navigation system comprises optical fibre gyro, acceleration transducer, pressure transducer, electronic compass, shaping circuit and the interface circuit being connected with control system with data fusion thereof; Data fusion and control system comprise processor and interface, are integrated with Kalman filtering module in processor; Geographic Information System comprises navigation map data storehouse and map-matching module.
Wherein, described pressure transducer is comprised of a piezoresistive transducer and an ADC device.Described acceleration transducer is 3-axis acceleration sensor.
The position fixing process of the Big Dipper two generations/gps system is: the position of known satellite, and adopt high-precision GPS/ Big Dipper module to measure relative position, the time between satellite and user, with navigation algorithm, resolve and obtain the most believable position of user.
Inertial positioning navigational system comprises: optical fibre gyro, acceleration transducer, pressure transducer, electronic compass.
Adopts pressure sensor module is obtained the sea level elevation of current location.This pressure transducer is comprised of a piezoresistive transducer and an ADC device.It can provide air pressure and the temperature data of 16 word lengths.By to sensor high-precision calibration, obtain 10 unique coefficients and be stored in chip, therefore high-precision air pressure and temperature data can obtain easily, thereby obtain high-precision sea level elevation.
Adopt fibre optic gyroscope gyroscope to draw accurate position angle angle.
Adopt 3-axis acceleration sensor, it can measure respectively the accekeration of three axles (Xa, Ya, Za), and tape symbol output represents the direction of measured value.Owing to using separately acceleration transducer on vehicle, just making the measurement axle Za place straight line of acceleration transducer is impossible perpendicular to surface level, more cannot do a axle over against the direct of travel of vehicle.Generally, actual putting position and ideal bit are equipped with certain deviation angle, and the XY hypothesis of plane mechanism is the plane that is parallel to surface level, and z axle place straight line is just in time perpendicular to surface level.And actual while placing acceleration transducer, three of acceleration transducer measure axles (Xa, Ya, Za) conventionally and X, Y, Z axis forms certain angle.So just can not only measure axle to one, carry out displacement calculating, and will measure axle (Xa, Ya, Za) to three, carry out displacement calculating simultaneously.
Due to the effect of gravity and the angle of measurement axle (Xa, Ya, Za) and perfect condition axle (X, Y, Z), gravity acceleration value also can be measured on axles present three of breakdown.3-axis acceleration value when we need to first record vehicle GPS and locate for the last time, as measuring basis, is measured and is calculated the difference between measured value and base value constantly at each, and the difference of three axles is carried out to speed for people's formula respectively and displacement is calculated.Finally by vector, calculate, obtain the size of displacement.
Shown in Fig. 2, the utility model is core by fiber-optic gyroscope strapdown inertial navigation system, take the Big Dipper two generations/gps antenna receiver and body movement restrain condition as auxiliary, by Kalman wave filter, estimate the measuring error of optical fibre gyro SINS, and the speed attitude matching mode combinations that it is proofreaied and correct navigation method for determining posture.The data of the Big Dipper two generations/GPS and gyro and mileage gauge collection are processed at central control unit, utilize Kalman filtering ground predication method, in conjunction with dead reckoning (DR) method, utilize information distribution principle, realize the optimal synthesis of multi-sensor information, and make whole system there is certain fault-tolerant ability, thereby can obtain optimum on the whole performance.
For two subsystems of the Big Dipper two generations/GPS-INS integrated navigation system, use separately the problem of different clock frequency standards, if will, by their data at synchronization registration, must first be unified in a public time reference system.Because Kalman filtering is all generally to complete by computing machine, so might as well using local time that computing machine was used reference system common time as two subsystem deal with data.In addition; two subsystems complete measurement and more after new data, will data transmission arrived to computing machine by serial ports; computing machine, after receiving data, also will first carry out pre-service (just can obtain the information at attitude of carrier angle as the attitude angle speed of INS output is carried out to integration) to it and just can start filtering operation; Because spended time is all wanted in data transmission and pre-service, GPS/INS combined system is being made data when synchronous, and needing the synchronous corresponding moment of data be its updated time, rather than computing machine carries out the moment of filtering to it.
By introducing in altitude channel the elevation information of pressure device acquisition with the Big Dipper two generations/GPS elevation information, take effective integration program can suppress dispersing of altitude channel; The Big Dipper two generations/GPS longitude, latitude, ground velocity information are introduced to inertial navigation system horizontal channel and combined by Kalman filtering, effectively eliminate the accumulated error of inertial navigation.
Map match of the present utility model is located logical method as shown in Figure 3, system receives after sensing data, utilize digital map information, by pattern-recognition and matching process, determine that vehicle is with respect to the most probable position of map, because the positional information that map data base comprises road, so matched position can be used for reorientating the position of vehicle, the amplitude of restraining error, thus system performance is improved.
In the utility model, map match is by the road network informational linkage in vehicle location track and numerical map, and determines that thus vehicle is with respect to the position of map.The application of map matching technology has two prerequisites, comprises high-precision link location information for the digital map mating that is:; The vehicle that is positioned just travels on road.When above-mentioned condition meets, just locator data and vehicle operating track can be compared with the link location information in numerical map, determine the most probable running section of vehicle and the most probable position of vehicle in this section.Therefore a complete map-matching algorithm comprises three main processing procedures, has both determined error band, chooses coupling section and has calculated correction result.
In sum, the utility model by research and develop a kind of based on GIS technology in real time, stable, two generations of the high precision Big Dipper and GP/INS combine vehicle-mounted navigation positioning system, realizing the compatibility of two generations of the vehicle-mounted Big Dipper and GPS navigation locating terminal uses and combines with INS, user can receive the Big Dipper two generations signal, can accept gps signal again, compatible use, automatically switches mutually, the precision and the reliability that have improved navigator fix, have many-sided advantages such as good technical feature and market.The utility model navigational system can reach technical indicator as shown in the table:

Claims (3)

1. the Big Dipper/the GPS based on GIS technology and INS combine a vehicle-mounted navigation positioning system, it is characterized in that: this combines vehicle-mounted navigation positioning system and consists of the Big Dipper two generations-GPS (Global Position System) (GPS), inertial navigation system (INS), Geographic Information System (GIS) and data fusion and control system four parts; Wherein, the Big Dipper two generations-GPS (Global Position System) comprises the Big Dipper two generations/GPS receiver and the interface circuit being connected with control system with data fusion thereof; Inertial navigation system comprises optical fibre gyro, acceleration transducer, pressure transducer, electronic compass, shaping circuit and the interface circuit being connected with control system with data fusion thereof; Data fusion and control system comprise processor and interface, are integrated with Kalman filtering module in processor; Geographic Information System comprises navigation map data storehouse and map-matching module.
2. the Big Dipper/GPS and the INS based on GIS technology according to claim 1 combines vehicle-mounted navigation positioning system, it is characterized in that: described pressure transducer is comprised of a piezoresistive transducer and an ADC device.
3. the Big Dipper/GPS and the INS based on GIS technology according to claim 1 combines vehicle-mounted navigation positioning system, it is characterized in that: described acceleration transducer is 3-axis acceleration sensor.
CN201420149258.3U 2014-03-28 2014-03-28 Beidou/GPS and INS combined vehicle-mounted navigation positioning system based on GIS technology Expired - Fee Related CN203869697U (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
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

Cited By (9)

* Cited by examiner, † Cited by third party
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

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