CN203869697U - Beidou/GPS and INS combined vehicle-mounted navigation positioning system based on GIS technology - Google Patents

Abstract

The utility model relates to a GIS technology-based Beidou/GPS and INS combined vehicle-mounted navigation and positioning system, which consists of four parts, namely a Beidou second generation-global satellite navigation system, an inertial navigation system, a geographic information system and 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 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, the user can accept the two take place ofs of big dipper signal, can accept the GPS signal again, compatible use, automatic switch-over of each other has improved navigation positioning's precision and reliability.

Description

Beidou/GPS and INS combined vehicle navigation and positioning system based on GIS technology

Technical field:

The utility model relates to the technical field of vehicle navigation, in particular to a combined vehicle navigation and positioning system based on GIS technology of Beidou/GPS and INS.

Background technique:

The global satellite navigation system began in the 1970s with GPS in the United States. Its application is becoming more and more extensive, and it is very important to the country's economy and national defense. The European Union predicted more than 10 years ago that if satellite navigation is interrupted for one day, the economic loss will exceed 1 billion euros. If the loss is evaluated now, the amount may be doubled. For political and military purposes, intentionally shutting down or reducing the accuracy of navigation and positioning in an area will cause chaos and losses that will be incalculable. Secondly, the GPS system in the United States has developed to this day, and its annual output value has reached tens of billions of dollars, and it is expected to reach 400 billion dollars by 2020. Satellite navigation is not only an important national infrastructure, which plays a major role in national defense security and economic construction, but also satellite navigation itself is a high-tech product. Therefore, following the United States, Russia, the European Union, China, Japan, India, etc. are also competing to vigorously develop their own satellite navigation systems, and even Thailand and other slightly powerful countries plan to build their own satellite navigation systems.

At present, there are four major global satellite navigation systems in the world, namely: the American GPS, the Russian "GLONASS" system, the Chinese "Beidou" system, and the European Union's "Galileo" system. in,

American GPS: It is the earliest established and most used global satellite navigation and positioning system in the world. At present, its annual output value has reached tens of billions of dollars, and it is expected to reach 400 billion dollars by 2020. At present, GPS accounts for more than 90% of the Chinese market .

Russia's "GLONASS" system: it is a global satellite navigation system built by the Ministry of Defense of the former Soviet Union in the early 1980s. It is the second global satellite navigation system for both military and civilian use after GPS. At present, Russia is stepping up its restoration. Construction of the GLONASS system, but due to shortage of funds, lack of human resources, political pressure and other reasons, the construction of "GLONASS" is intermittent and the future is unpredictable.

European "Galileo" system: It was launched in 1999 in cooperation between ESA and the European Union. The civil signal accuracy of this system can reach up to 1 meter. At present, the Galileo system is under construction and has not yet provided formal services.

China's "Beidou" system: comprehensive development began in 1994. According to the plan, the Beidou satellite navigation system will be implemented in three steps:

The first step is to set up a satellite navigation test system. In 2000, my country built a test system consisting of two Beidou navigation test satellites. Compared with similar foreign systems, the Beidou test system has the advantages of less investment, quick set-up, especially communication functions, and is especially suitable for navigation and communication systems. combined users;

The second step is to complete the launch of 14 satellites in 2012 to form a regional positioning system that can navigate autonomously. The regional system will provide land, sea and air navigation and positioning services for users in China and surrounding areas, provide positioning and orbit determination means for aerospace users, and meet the needs of navigation and positioning information exchange, etc.;

The third step is to build a global navigation system consisting of 5 geostationary orbit satellites and 30 non-geostationary orbit satellites around 2020.

The development trend of satellite navigation technology is mainly manifested in three aspects: first, the coexistence of multiple systems of satellite navigation, which improves the availability of the system and expands the application field; Combined application of communication base station positioning, gyroscope, dead reckoning technology, etc.; the third is the combination of satellite navigation and wireless communication and other high technologies, such as GPS receiver embedded in cellular wireless phones, portable PCs, PDAs and watches, etc. Security, communication, consumption, etc. Electronic products have fundamentally promoted the overall development of IT technology.

With the development of various satellite navigation systems, it has become a trend that each satellite navigation system is compatible with each other and combined with other navigation technologies. China has always been committed to promoting the compatibility and sharing of the global satellite navigation system with the "Beidou" satellite navigation system, the American GPS, the Russian "Glonass" system, and the European "Galileo" system, so as to provide more reliable and higher performance for global users. Positioning and navigation timing service.

Utility model content:

The purpose of the utility model is to provide a Beidou/GPS and INS combined vehicle navigation and positioning system based on GIS technology.

The technical solution adopted by the utility model to realize its purpose is: a kind of Beidou/GPS and INS combined vehicle navigation and positioning system based on GIS technology, this combination vehicle navigation and positioning system is composed of Beidou second generation-global satellite navigation system (GPS), inertial navigation System (INS), geographic information system (GIS) and data fusion and control system are composed of four parts; among them, the Beidou 2nd generation-global satellite navigation system includes Beidou 2nd generation/GPS receiver and its interface with the data fusion and control system Circuit; inertial navigation system includes fiber optic gyroscope, acceleration sensor, pressure sensor, electronic compass, shaping circuit and its interface circuit connected with data fusion and control system; data fusion and control system includes processor and interface, and the processor integrates Karl Mann filtering module; geographic information system includes navigation map database and 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 is the research and development of the application terminal compatible with Beidou II and GPS/INS. Through the research and development of a real-time, stable, high-precision Beidou II and GP/INS combined vehicle navigation and positioning system based on GIS technology, the vehicle-mounted Beidou II can be realized. Compatible use of BDS and GPS navigation and positioning terminals and combined with INS, users can receive both Beidou 2nd generation signals and GPS signals, compatible use, automatic switching between each other, improving the accuracy and reliability of navigation and positioning, and has a good Technical performance and market advantages.

Description of drawings:

Fig. 1 is the overall composition block diagram of the vehicle navigation positioning system of the present utility model;

Fig. 2 is the information processing block diagram of the combination of Beidou II/GPS and INS in the utility model;

Fig. 3 is a logical block diagram of the map matching method of the map matching module in the present invention.

Detailed ways:

Below in conjunction with specific embodiment and accompanying drawing, the utility model is further described.

As shown in Figures 1-3, the Beidou/GPS and INS combined vehicle navigation and positioning system based on GIS technology described in the utility model, the combined vehicle navigation and positioning system is composed of the second generation of Beidou-global satellite navigation system (GPS), inertial The navigation system (INS), the geographic information system (GIS) and the data fusion and control system are composed of four parts; among them, the Beidou 2nd generation-global satellite navigation system includes the Beidou 2nd generation/GPS receiver and its connection with the data fusion and control system Interface circuit; the inertial navigation system includes a fiber optic gyroscope, an acceleration sensor, a pressure sensor, an electronic compass, a shaping circuit and an interface circuit connected to the data fusion and control system; the data fusion and control system includes a processor and an interface, and the processor integrates a Kalman filter module; geographic information system includes navigation map database and 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 II/GPS system is as follows: the position of the satellite is known, the relative position and time between the satellite and the user are measured by the high-precision GPS/BeiDou module, and the most reliable position of the user is obtained by using the navigation algorithm.

The inertial positioning and navigation system includes: fiber optic gyroscope, acceleration sensor, pressure sensor, and electronic compass.

The pressure sensor module is used to obtain the altitude of the current location. The pressure sensor consists of a piezoresistive sensor and an ADC device. It provides pressure and temperature data with a word length of 16 bits. Through high-precision calibration of the sensor, 10 unique coefficients are obtained and stored in the chip, so high-precision air pressure and temperature data can be easily obtained, thereby obtaining high-precision altitude.

The fiber optic gyroscope is used to obtain accurate azimuth angles.

Using a three-axis acceleration sensor, it can measure the 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 alone on the vehicle, it is impossible to make the straight line where the measurement axis Za of the acceleration sensor is located perpendicular to the horizontal plane, let alone make the a-axis face the direction of travel of the vehicle. Usually, there is a certain offset angle between the actual placement position and the ideal position, the XY plane is assumed to be a plane parallel to the horizontal plane, and the line where the z-axis is located 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 a certain angle with the X, Y, and Z axes. Therefore, it is not possible to perform displacement calculation on only one measurement axis, but to perform displacement calculation on three measurement axes (Xa, Ya, Za) at the same time.

Due to the effect of gravity and the angle between the measurement axis (Xa, Ya, Za) and the ideal state axis (X, Y, Z), the gravity acceleration value will also be decomposed and displayed on the three measurement axes. We need to first record the three-axis acceleration value at the last GPS positioning of the vehicle as the measurement reference, calculate the difference between the measured value and the base value at each measurement moment, and use the three-axis difference as the formula for the speed and displacement calculations. Finally, the magnitude of the displacement is obtained through vector sum calculation.

As shown in Figure 2, the utility model uses the fiber optic gyro strapdown inertial navigation system as the core, and is assisted by the Beidou 2nd generation/GPS antenna receiver and the vehicle body motion characteristic constraints, and estimates the measurement error of the fiber optic gyro SINS through the Kalman filter , and it is corrected by the speed and attitude matching mode combined navigation and attitude determination method. The data collected by Beidou II/GPS, gyroscope and odometer are processed in the central controller, and the Kalman filtering method is used, combined with the dead reckoning (DR) method, and the principle of information distribution is used to realize the optimal synthesis of multi-sensor information , and make the whole system have a certain fault tolerance, so as to obtain the overall optimal performance.

In view of the problem that the two subsystems of the Beidou II/GPS-INS integrated navigation system use different clock frequency standards, if their data are to be registered at the same time, they must first be unified into a common time reference system . Since Kalman filtering is generally done by computer, it is advisable to take the local time used by the computer as the common time reference system for the two subsystems to process data. In addition, after the two subsystems complete the measurement and update the data, they need to transmit the data to the computer through the serial port. After the computer receives the data, it must first perform preprocessing on it (such as integrating the attitude angular rate output by the INS to obtain the carrier Attitude angle information) will start the filtering operation; because data transmission and preprocessing will take time, when the GPS/INS combined system performs data synchronization, the time corresponding to the data that needs to be synchronized is its update time, not the computer. The moment of its filtering.

By introducing the altitude information obtained by the pressure sensor and the Beidou II/GPS altitude information into the altitude channel, an effective fusion scheme can suppress the divergence of the altitude channel; introduce the Beidou II/GPS longitude, latitude, and ground speed information into the inertial navigation The horizontal channels of the system are combined through Kalman filter to effectively eliminate the accumulated error of inertial navigation.

As shown in Figure 3, the map matching and positioning logic method of the present utility model, after the system receives the sensor data, uses the digital map information to determine the maximum possible position of the vehicle relative to the map through the pattern recognition and matching process, because the map database contains road information. Position information, so matching positions can be used to relocate the vehicle's position, limiting the magnitude of error and thus improving system performance.

The map matching in the utility model is to link the vehicle positioning trajectory with the road network information in the digital map, and thereby determine the position of the vehicle relative to the map. There are two prerequisites for the application of map matching technology, namely: the digital map used for matching contains high-precision road location information; and the positioned vehicle is driving on the road. When the above conditions are satisfied, the positioning data and vehicle trajectory can be compared with the road position information in the digital map to determine the most likely driving section of the vehicle and the maximum possible position of the vehicle in this section. Therefore, a complete map matching algorithm includes three main processes, which are to determine the error area, select the matching road section and calculate the correction result.

In summary, the utility model realizes the compatible use of the vehicle-mounted Beidou II and GPS navigation and positioning terminals by developing a real-time, stable, high-precision Beidou II and GP/INS combined vehicle navigation and positioning system based on GIS technology and INS combination, users can receive both Beidou 2nd generation signals and GPS signals, compatible use, automatic switching between each other, improving the accuracy and reliability of navigation and positioning, and has many advantages such as good technical performance and market. The navigation system of the utility model can reach the technical indicators shown in the following table:

Claims (3)

1. A combination of Beidou/GPS and INS vehicle navigation and positioning system based on GIS technology, characterized in that: the combination vehicle navigation and positioning system is composed of Beidou second generation-global satellite navigation system (GPS), inertial navigation system (INS), geographical The information system (GIS) and the data fusion and control system are composed of four parts; among them, the Beidou 2nd generation-global satellite navigation system includes the Beidou 2nd generation/GPS receiver and its interface circuit connected with the data fusion and control system; the inertial navigation system includes Fiber optic gyroscope, acceleration sensor, pressure sensor, electronic compass, shaping circuit and the interface circuit connected with the data fusion and control system; the data fusion and control system includes a processor and interface, and the Kalman filter module is integrated in the processor; geographic information The system includes a navigation map database and a map matching module. 2. The Beidou/GPS and INS combined vehicle navigation and positioning system based on GIS technology according to claim 1, wherein the pressure sensor is composed of a piezoresistive sensor and an ADC device. 3. The Beidou/GPS and INS combined vehicle navigation and positioning system based on GIS technology according to claim 1, characterized in that: the acceleration sensor is a three-axis acceleration sensor.