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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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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beidou
gps
navigation
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data fusion
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杜明德
叶少峰
向洈
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DONGGUAN COMPASS HANGSHENG COMMUNICATION TECHNOLOGY CO LTD
Dongguan Leading Communication Technology Co ltd
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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

基于GIS技术的北斗/GPS与INS组合车载导航定位系统Beidou/GPS and INS combined vehicle navigation and positioning system based on GIS technology

技术领域:Technical field:

本实用新型涉及车载导航技术领域,特指一种基于GIS技术的北斗/GPS与INS组合车载导航定位系统。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.

背景技术:Background technique:

全球卫星导航系统始于20世纪70年代美国GPS,其应用日益广泛,对国家的经济、国防等至关重要。欧盟10多年前曾预测,卫星导航中断一天,经济损失将超过10亿欧元,现在再评估这种损失的话,数额可能要翻几番,如果过分依赖国外机构提供的卫星导航服务,一旦对方出于政治、军事目的,有意在一个区域内关闭或者降低导航定位精度,造成的混乱,损失将难以估量。其次,美国的GPS系统发展到今天,年产值已达几百亿美元,预计到2020年将达到4000亿美元。卫星导航不仅是国家重要基础设施,对国防安全和经济建设具有重大作用,而且卫星导航本身是一个高技术产物。因此,继美国之后,俄罗斯、欧盟、中国、日本、印度等也都竞相大力发展自己的卫星导航系统,甚至泰国等稍有实力的国家都计划建设自己的卫星导航系统。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.

目前,世界主要有四大全球卫星导航系统,分别是:美国GPS、俄罗斯“格洛纳斯”系统、中国“北斗”系统、欧盟“伽利略”系统。其中,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,

美国GPS:是世界上最早建立、使用最多的全球卫星导航定位系统,目前,其年产值已达几百亿美元,预计到2020年将达到4000亿美元,目前GPS占了中国九成以上的市场。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 .

俄罗斯“格洛纳斯”系统:是前苏联国防部于20世纪80年代初开始建设的全球卫星导航系统,是继GPS之后第二个军民两用的全球卫星导航系统,目前,俄罗斯正在加紧恢复建设格洛纳斯系统,但因资金短缺、人才资源不足、政治压力等原因,“格洛纳斯”建设断断续续,前景难料。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.

欧洲“伽利略”系统:是欧空局与欧盟在1999年合作启动的,该系统民用信号精度最高可达1米,目前,伽利略系统正在建设,还没有提供正式的服务。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.

中国“北斗”系统:于1994年开始全面研制,根据规划,北斗卫星导航系统分三步实施:China's "Beidou" system: comprehensive development began in 1994. According to the plan, the Beidou satellite navigation system will be implemented in three steps:

第一步,组建卫星导航试验系统。我国2000年建成了由2颗北斗导航试验卫星组成的试验系统,与国外同类系统相比,北斗试验系统的优点是投资少,组建快,尤其是具有通信功能,特别适用于需把导航与通信相结合的用户;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;

第二步,在2012年完成14颗卫星发射任务,组成区域性、可以自主导航的定位系统。区域系统将为中国及周边地区的用户提供陆、海、空导航定位服务,为航天用户提供定位和轨道测定手段,满足导航定位信息交换的需要等;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.;

第三步,在2020年左右,建成由5颗静止轨道卫星和30颗非静止轨道卫星组成的、覆盖全球的全球导航系统。The third step is to build a global navigation system consisting of 5 geostationary orbit satellites and 30 non-geostationary orbit satellites around 2020.

卫星导航技术的发展趋势主要表现在三个方面:一是卫星导航的多系统并存,使系统可用性得以提高,应用领域将更广阔;二是多元组合导航技术正在得到推广应用,主要有GPS与移动通信基站定位、陀螺、航位推算技术等组合应用;三是卫星导航与无线通信等其他高技术结合,如GPS接收机嵌入到蜂窝无线电话、便携式PC、PDA和手表等安全、通信、消费等电子类产品中,从根本上促进了IT技术的整体发展。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.

随着各种卫星导航系统的发展,各卫星导航系统相互兼容并、与其他导航技术组合成为趋势。中国始终致力于“北斗”卫星导航系统与美国的GPS、俄罗斯“格洛纳斯”系统、欧洲“伽利略”系统一起来推动全球卫星导航系统的兼容共用,为全球用户提供更加可靠、更高性能的定位导航授时服务。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.

实用新型内容:Utility model content:

本实用新型的目的在于提供一种基于GIS技术的北斗/GPS与INS组合车载导航定位系统。The purpose of the utility model is to provide a Beidou/GPS and INS combined vehicle navigation and positioning system based on GIS technology.

本实用新型实现其目的采用的技术方案是:一种基于GIS技术的北斗/GPS与INS组合车载导航定位系统,该组合车载导航定位系统由北斗二代-全球卫星导航系统(GPS)、惯性导航系统(INS)、地理信息系统(GIS)和数据融合与控制系统四部分构成;其中,北斗二代-全球卫星导航系统包括北斗二代/GPS接收机及其与数据融合与控制系统连接的接口电路;惯性导航系统包括光纤陀螺、加速度传感器、压力传感器、电子罗盘、整形电路及其与数据融合与控制系统连接的接口电路;数据融合与控制系统包括处理器及接口,处理器中集成有卡尔曼滤波模块;地理信息系统包括导航地图数据库以及地图匹配模块。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.

其中,所述压力传感器由一个压阻式传感器和一个ADC器件组成。所述加速度传感器为三轴加速度传感器。Wherein, the pressure sensor is composed of a piezoresistive sensor and an ADC device. The acceleration sensor is a three-axis acceleration sensor.

本实用新型是对北斗二代和GPS/INS兼容的应用终端的研发,通过研发一种基于GIS技术的实时、稳定、高精度北斗二代与GP/INS组合车载导航定位系统,实现车载北斗二代和GPS导航定位终端的兼容使用并且与INS组合,用户既能接受到北斗二代信号,又能接受GPS信号,兼容使用,互相自动切换,提高了导航定位的精度和可靠性,具有良好的技术性能和市场等多方面优势。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.

附图说明:Description of drawings:

图1是本实用新型车载导航定位系统的总体构成框图;Fig. 1 is the overall composition block diagram of the vehicle navigation positioning system of the present utility model;

图2是本实用新型中北斗二代/GPS与INS组合的信息处理框图;Fig. 2 is the information processing block diagram of the combination of Beidou II/GPS and INS in the utility model;

图3是本实用新型中地图匹配模块的地图匹配方法逻辑框图。Fig. 3 is a logical block diagram of the map matching method of the map matching module in the present invention.

具体实施方式:Detailed ways:

下面结合具体实施例和附图对本实用新型进一步说明。Below in conjunction with specific embodiment and accompanying drawing, the utility model is further described.

如图1-图3所示,本实用新型所述的基于GIS技术的北斗/GPS与INS组合车载导航定位系统,该组合车载导航定位系统由北斗二代-全球卫星导航系统(GPS)、惯性导航系统(INS)、地理信息系统(GIS)和数据融合与控制系统四部分构成;其中,北斗二代-全球卫星导航系统包括北斗二代/GPS接收机及其与数据融合与控制系统连接的接口电路;惯性导航系统包括光纤陀螺、加速度传感器、压力传感器、电子罗盘、整形电路及其与数据融合与控制系统连接的接口电路;数据融合与控制系统包括处理器及接口,处理器中集成有卡尔曼滤波模块;地理信息系统包括导航地图数据库以及地图匹配模块。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.

其中,所述压力传感器由一个压阻式传感器和一个ADC器件组成。所述加速度传感器为三轴加速度传感器。Wherein, the pressure sensor is composed of a piezoresistive sensor and an ADC device. The acceleration sensor is a three-axis acceleration sensor.

北斗二代/GPS系统的定位过程为:已知卫星的位置,采用高精度的GPS/北斗模块测量得到卫星和用户之间的相对位置、时间,用导航算法解算得到用户最可信赖位置。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.

惯性定位导航系统包括:光纤陀螺、加速度传感器、压力传感器、电子罗盘。The inertial positioning and navigation system includes: fiber optic gyroscope, acceleration sensor, pressure sensor, and electronic compass.

采用压力传感器模块来获取当前位置的海拔高度。该压力传感器由一个压阻式传感器和一个ADC器件组成。它能提供了16位字长的气压和温度数据。通过对传感器高精度校准,获得10个独特的系数并存储于芯片中,因此高精度的气压和温度数据能够轻易获取,从而获取高精度的海拔高度。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.

采用光纤陀螺仪陀螺仪得出精确的方位角角度。The fiber optic gyroscope is used to obtain accurate azimuth angles.

采用三轴加速度传感器,它可以分别测量三个轴(Xa、Ya、Za)的加速度值,并且带符号输出表示测量值的方向。由于在车辆上单独使用加速度传感器,恰好使加速度传感器的测量轴Za所在直线垂直于水平面是不可能的,更无法做a轴正对车辆的行进方向。通常情况下,实际摆放位置与理想位置有一定的偏移角度,XY平面假设为平行于水平面的平面,z轴所在直线正好垂直于水平面。而实际放置加速度传感器时,加速度传感器的三个测量轴(Xa、Ya、Za)通常与X、Y、Z轴形成一定的角。所以就不能只对一个测量轴进行位移计算,而要对三个测量轴(Xa、Ya、Za)同时进行位移计算。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.

由于重力的作用和测量轴(Xa、Ya、Za)与理想状态轴(X、Y、Z)的夹角,重力加速度值也会在分解表现在三个测量轴上。我们需要先记录下车辆GPS最后一次定位时的三轴加速度值作为测量基准,在每个测量时刻算出测量值与基值之间的差值,并将三轴的差值分别代人公式进行速度和位移计算。最后通过矢量和计算,得到位移的大小。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.

结合图2所示,本实用新型通过光纤陀螺捷联惯导系统为核心,以北斗二代/GPS天线接收机和车体运动特性约束为辅助,通过Kalman滤波器估计出光纤陀螺SINS的测量误差,并对其进行校正的速度姿态匹配模式组合导航定姿方法。将北斗二代/GPS与陀螺和里程仪采集的数据在中心控制器进行处理,利用Kalman滤波地推算法,结合航位推算(DR)法,利用信息分配原理,实现多传感器信息的最优综合,并且使整个系统具有一定的容错能力,从而能够获得整体上最优的性能。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.

针对北斗二代/GPS-INS组合导航系统的两个子系统各自使用不同的时钟频率标准的问题,若要将它们的数据在同一时刻配准,必须先将其统一到一个公共的时间参照系中。由于卡尔曼滤波一般都是通过计算机来完成,所以不妨以计算机所使用的当地时间作为两个子系统处理数据的公共时间参照系。另外,两个子系统在完成测量并更新数据后要通过串口把数据传输到计算机,计算机在接收到数据后,还要先对其进行预处理(如对INS输出的姿态角速率进行积分才能得到载体姿态角的信息)才会开始滤波运算;由于数据传输和预处理都要花费时间,GPS/INS组合系统在作数据同步时,需要同步的数据所对应的时刻是其更新时刻,而不是计算机对其进行滤波的时刻。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.

通过把压力器获得的高度信息和和北斗二代/GPS高度信息引入高度通道中,采取有效的融合方案可抑制高度通道的发散;将北斗二代/GPS经度、纬度、地速信息引入惯导系统水平通道通过卡尔曼滤波进行组合,有效消除惯导的积累误差。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.

如图3所示本实用新型的地图匹配定位逻辑方法,系统接收到传感器数据后,利用数字地图信息,通过模式识别和匹配过程来确定车辆相对于地图的最大可能位置,因为地图数据库包含道路的位置信息,所以匹配位置可用于重新定位车辆的位置,限制误差的幅度,从而使系统性能得到改善。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.

本实用新型中地图匹配是是将车辆定位轨迹与数字地图中的道路网络信息联系起来,并由此确定车辆相对于地图的位置。地图匹配技术的应用有两个前提,即:用于匹配的数字化地图包含高精度的道路位置信息;被定位车辆正在道路上行驶。当上述条件满足时,就可以把定位数据和车辆运行轨迹同数字地图中的道路位置信息相比较,确定出车辆最可能的行驶路段以及车辆在该路段中的最大可能位置。因此一个完整的地图匹配算法包括三个主要的处理过程,既确定误差区域、选取匹配路段和计算修正结果。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.

综上所述,本实用新型通过研发一种基于GIS技术的实时、稳定、高精度北斗二代与GP/INS组合车载导航定位系统,实现车载北斗二代和GPS导航定位终端的兼容使用并且与INS组合,用户既能接受到北斗二代信号,又能接受GPS信号,兼容使用,互相自动切换,提高了导航定位的精度和可靠性,具有良好的技术性能和市场等多方面优势。本实用新型导航系统可达到如下表所示技术指标: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)

1.一种基于GIS技术的北斗/GPS与INS组合车载导航定位系统,其特征在于:该组合车载导航定位系统由北斗二代-全球卫星导航系统(GPS)、惯性导航系统(INS)、地理信息系统(GIS)和数据融合与控制系统四部分构成;其中,北斗二代-全球卫星导航系统包括北斗二代/GPS接收机及其与数据融合与控制系统连接的接口电路;惯性导航系统包括光纤陀螺、加速度传感器、压力传感器、电子罗盘、整形电路及其与数据融合与控制系统连接的接口电路;数据融合与控制系统包括处理器及接口,处理器中集成有卡尔曼滤波模块;地理信息系统包括导航地图数据库以及地图匹配模块。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.根据权利要求1所述的基于GIS技术的北斗/GPS与INS组合车载导航定位系统,其特征在于:所述压力传感器由一个压阻式传感器和一个ADC器件组成。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.根据权利要求1所述的基于GIS技术的北斗/GPS与INS组合车载导航定位系统,其特征在于:所述加速度传感器为三轴加速度传感器。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.
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CN103900580A (en) * 2014-03-28 2014-07-02 东莞市领航通通信科技有限公司 Beidou/GPS and INS combined vehicle navigation and positioning system based on GIS 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
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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 Beidou/GPS and INS combined vehicle navigation and positioning system based on GIS 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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