TWI382153B - A navigation method for adjusting accumulated errors - Google Patents

Description

Inertial navigation system map feedback correction method

The invention relates to a feedback correction method, in particular to an inertial navigation system map feedback correction method for integrating the data provided by the inertial navigation system with the map latitude and longitude information for error correction.

According to the satellite navigation system, which is one of the positioning systems frequently used in current vehicles, as shown in the first figure, the conventional satellite navigation system includes an input device 1a, a GPS receiving device 2a, a planar electronic map database 3a, A path selecting device 4a, a navigation software device 5a, a communication device 6a and a display device 7a.

The input device 1a is for providing a function selection, and the GPS receiving device 2a is configured to receive a satellite signal to locate a current location of the car, and provide the related information to the navigation software device 5a and the path selection device. 4a, and the planar electronic map database 3a has a flat electronic map and related coordinates, attributes and the like.

The path selecting means 4a can extract the portion required by the user from the huge data stored in the flat electronic map database 3a according to the instruction requirements of the input device 1a. Then, the path selecting means 4a decides the point and the end point together according to the instruction of the user, and searches for a guiding path which can take the least time and distance and can be from the starting point to the ending point.

The communication device 6a is capable of wireless data exchange with a row of control centers, thereby providing the driver with immediate road conditions and related information. Therefore, when the navigation software device 5a receives the above guiding path, the current location and After the related information such as the plane electronic map, a result image can be generated and transmitted to the display device 7a for display, thereby guiding the driver.

In addition to the satellite navigation system, another frequently used positioning system is an inertial positioning system, which is provided with an inertial measurement unit, which measures the position of the vehicle by the inertial measurement unit to provide driver positioning information; The current satellite navigation system and inertial positioning system have disadvantages: 1. The satellite navigation system is easily affected by the terrain. Once the satellite signal is blocked by the terrain, the satellite navigation system cannot provide the positioning function and lose the navigation function.

2. Although the inertial positioning system does not suffer from terrain damage, the inertial positioning system will generate cumulative errors, so that the accuracy of positioning is farther and farther, so it must be corrected frequently.

For example, Taiwan Patent Application No. 93110021, "Integrated Positioning System and Method for Vehicles," discloses an integrated positioning system and method for a vehicle that utilizes a Global Positioning System (GPS) to provide an initial vehicle position. Speed and direction for the positioning output of the inertial navigation system (INS) at the next moment, and when the global positioning system is repositioned, it is convenient to use the global positioning system positioning data to correct the positioning output of the inertial navigation system, thus correcting the inertia The cumulative error of the navigation system.

However, the above patent case has the following disadvantages: although the problem of cumulative error is solved, once the GPS signal is not received for a long time, the inertial navigation system will not be able to compare and correct the error.

The reason is that the inventors have felt that the above-mentioned deficiency can be improved, and proposes a present invention which is reasonable and effective in improving the above-mentioned deficiency.

The main object of the present invention is to provide a map feedback correction method for an inertial navigation system, which provides latitude and longitude information by an electronic map database to correct the cumulative error of the inertial navigation system.

In order to achieve the above object, the present invention provides a method for correcting map feedback of an inertial navigation system, the method comprising: establishing a path planning point information by using map information of an electronic map database in a navigation software module according to a starting point and an ending point; Providing a measurement information when the GPS signal receiving module receives the signal by using an inertial sensing unit; the measurement information is processed by a micro control processing unit (MCU) to generate an inertial navigation path information Providing the current latitude and longitude information on the path planning point information through the navigation software module; comparing the inertial navigation path point information with the current latitude and longitude information on the path planning point information, generating a correction value information; As a correction reference, the inertial navigation path point information after correction.

The invention has the following beneficial effects: 1. Correcting the next inertial navigation path point information by the correction value information, and instantly correcting the offset caused by the accumulated error of the inertial sensing unit.

2. It is not necessary to use the GPS signal to correct the error. The latitude and longitude information of the path planning point can be corrected by using the map data provided by the electronic map database.

3. Even if the GPS signal cannot be received for a long time, the latitude and longitude information of the route planning point information provided by the navigation software module is provided. The information of the inertial navigation path point can be corrected.

4, long time no GPS signal can still provide high-reliability driving navigation information.

5. Correcting the latitude and longitude information of the electronic map to increase the credibility of the inertial sensing unit.

6, the driver can enjoy accurate road navigation, no longer misjudge the route.

For a better understanding of the features and technical aspects of the present invention, reference should be made to the accompanying drawings.

Referring to the second figure, the second figure shows the system architecture of the map feedback correction method of the inertial navigation system of the present invention, and the system architecture includes: a micro inertia processing subsystem 1 and a navigation processing subsystem 2, The micro inertia processing subsystem 1 and the navigation processing subsystem 2 are electrically connected to each other. In addition, the micro-inertial processing subsystem 1 and the navigation processing subsystem 2 can also transmit and receive information in a wireless connection with each other, that is, the micro-inertial processing subsystem 1 and the navigation processing subsystem 2 are each provided with a transmission. Unit and receiving unit (not shown).

The micro-inertial processing unit 1 has a micro-control processing unit 11 (MCU), an inertial sensing unit 12 and a GPS signal receiving module 13 , wherein the micro-control processing unit 11 is electrically connected to the inertial sensing unit 12 and The GPS signal receiving module 13 processes the inertial sensing unit 12 and the G by the micro control processing unit 11 The data provided by the PS signal receiving module 13. The inertial sensing unit 12 is configured to measure the motion state of the vehicle, and transmit the measured data to the micro control processing unit 11 for processing.

The GPS signal receiving module 13 is configured to receive a GPS signal, thereby transmitting the received GPS signal into the micro control processing unit 11 for processing.

The navigation processing module 2 has a navigation software module 21 and an electronic map database 22, wherein the navigation software module 21 is electrically connected between the micro control processing unit 11 and the electronic map database 22, and the navigation The software module 21 and the micro control processing unit 11 perform bidirectional communication transmission of data.

The electronic map database 22 is a map database for providing a latitude and longitude information, and the electronic map database 22 is electrically connected to the navigation software module 21, whereby the electronic map database 22 transmits latitude and longitude information to the navigation software module. Group 21 treatment.

Referring to the third figure, according to the above system architecture, the present invention provides a method for map feedback correction of an inertial navigation system, the steps of which include (please refer to the second figure at the same time): (a) according to the starting point and the ending point, in the navigation software model In the group 21, a route planning point information is established according to the map information of the electronic map database 22.

(b) when the GPS signal receiving module 2 does not receive any GPS signal, the inertial sensing unit 12 provides a measurement information, and transmits the measurement information to the micro control processing unit. 11 integrated processing, and get an inertial navigation path point information.

(c) providing the current latitude and longitude information on the route planning point information by the navigation software module 21.

(d) According to the current latitude and longitude information on the path planning point information and the inertial navigation path point information, a corrected value information is generated by comparison.

(e) Using the correction value information to correct the inertial navigation path point information.

(f) The corrected inertial navigation path point information is processed to generate a row of vehicle navigation information, whereby the driver obtains navigation of the road direction.

To assist the skilled artisan in understanding and practicing the invention, details of the method of the invention are described in detail herein. First, the driver uses the map information of the electronic map database 22 to set a navigation path according to the start point and the end point in the navigation software module 21, and establishes the path planning point information, and uses the path to plan point information for vehicle navigation. And guiding the driver to the destination, wherein the navigation of the vehicle is completed by the GPS signal receiving module 13 and the inertial sensing unit 12 being matched with each other.

However, since the GPS signal is easily obscured by the terrain, the GPS signal receiving module 13 does not receive any GPS signal; once the GPS signal receiving module 13 fails to operate, the inertial sensing unit 12 is used. Uninterruptedly measuring the state of motion of the vehicle to generate the measurement information, and the measurement information is transmitted to the micro The inertia sensing unit 12 can be an accelerometer or a gyroscope, or a combination of the accelerometer and the gyroscope, and the inertial sensing unit 12 in this embodiment. For the accelerometer and the gyroscope, the measurement information refers to the vehicle acceleration measurement value measured by the accelerometer and the vehicle rotation angle measurement value measured by the gyroscope.

After receiving the measurement information, the micro control processing unit 11 generates an inertial navigation path point information through integration processing, wherein the inertial navigation path point information is affected by the measurement information, because the inertial sensing unit 12 There is a cumulative error, so that the measurement information provided by the inertial sensing unit 12 is affected by the cumulative error, so that the inertial navigation path information generated by the micro control processing unit 11 is continuously offset, away from the correct inertial navigation path information. (As shown in the fourth figure, A represents the correct inertial navigation path point information, while B represents the offset inertial navigation path point information).

In order to eliminate the influence of the accumulated error of the inertial sensing unit 12, the navigation software module 21 provides the current latitude and longitude information on the path planning point information to the micro control processing unit 11, and the micro The control processing unit 11 generates the correction value information according to the inertial navigation path point information and the current latitude and longitude information on the path planning point information.

Further, the micro control processing unit 11 corrects the following inertial navigation path point information by using the correction value information as a correction reference, thereby correcting the offset inertial navigation path point information, and making the inertial navigation path point information It is consistent with the information of the path planning point (as shown in the fifth figure, C represents the path planning point information, and D represents the corrected inertial navigation path point information).

After the calibration is completed, the micro control processing unit 11 transmits the corrected inertial navigation path point information to the navigation software module 21 for processing, and the navigation software module 21 finally generates the driving navigation information, thereby providing the driver with accurate Road direction navigation without offset. In addition, the driving information of the driving can be generated in the micro control processing unit 11, that is, the corrected inertial navigation path information is directly processed by the micro control processing unit 11 to generate the driving navigation information.

In addition, in this embodiment, the generation of the correction value information may also be performed in the navigation software module 21, that is, the navigation software module 21 has the current latitude and longitude information on the path planning point information, and the micro control The processing unit 11 transmits the information of the inertial navigation path point to the navigation software module 21, so that the navigation software module 21 compares the information about the inertial navigation path point with the current latitude and longitude information on the path planning point information. The correction value information; then, the navigation software module 21 returns the correction value information to the micro control processing unit 11 for processing, and the micro control processing unit 11 uses the correction value information as a correction reference, after the correction Inertial navigation path point information, thereby correcting the offset inertial navigation path point information, so that the inertial navigation path point information is consistent with the path planning point information.

Therefore, the method of the present invention has the following features and functions: 1. Using the latitude and longitude information provided by the electronic map database for calibration Positive, the offset caused by the accumulated error is solved, so there is no need to use the GPS signal for error correction.

2. It can instantly correct and eliminate the offset caused by the accumulated error of the inertial sensing unit, and the reaction speed is fast.

3. Even if the GPS signal cannot be received for a long time, the information of the inertial navigation path point can be corrected by the latitude and longitude information of the path planning point provided by the navigation software module.

4. Under the influence of terrain and without a GPS signal for a long time, the driver can still enjoy the highly reliable driving navigation information.

5. There is no longer a situation where the navigation information does not coincide with the actual road, and the driver enjoys accurate road navigation.

6. Correcting the latitude and longitude information of the electronic map to increase the credibility of the inertial sensing unit.

The above is only the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Therefore, the equivalents of the present invention and the equivalents of the drawings are all included in the present invention. Within the scope of protection, it is given to Chen Ming.

(known)

1a‧‧‧Input device

2a‧‧‧GPS receiver

3a‧‧‧Plane electronic map database

4a‧‧‧Path selection device

5a‧‧‧Navigation software device

6a‧‧‧Communication device

7a‧‧‧Display device

(this invention)

1‧‧‧Micro Inertial Processing Subsystem

11‧‧‧Micro Control Processing Unit

12‧‧‧Inertial Sensing Unit

13‧‧‧GPS signal receiving module

2‧‧‧Navigation Processing Subsystem

21‧‧‧Navigation software module

22‧‧‧Electronic map database

The first figure is a schematic diagram of the architecture of a conventional navigation system.

The second figure is a system architecture diagram of the map feedback correction method of the inertial navigation system of the present invention.

The third figure is a flow chart of the steps of the map feedback correction method of the inertial navigation system of the present invention.

The fourth figure is a schematic diagram of the inertial navigation path point information before correction according to the present invention.

The fifth figure is a schematic diagram of the corrected inertial navigation path point information of the present invention.

Claims (9)

An inertial navigation system map feedback correction method, the method comprising: establishing a path planning point information by using a map information of an electronic map database in a navigation software module according to a starting point and an ending point; by using an inertial sensing unit, Providing a measurement information when a GPS signal receiving module receives no signal; the measurement information is processed by a micro control processing unit (MCU) to generate an inertial navigation path point information; the navigation software module is provided by the navigation software module The current latitude and longitude information on the path planning point information; comparing the inertial navigation path point information with the current latitude and longitude information on the path planning point information, generating a correction value information; using the correction value information as a correction reference, and correcting the inertial navigation Path point information. The inertial navigation system map feedback correction method according to claim 1, wherein the measurement information is generated by the inertial sensing unit measuring the motion state of the vehicle. The inertial navigation system map feedback correction method according to claim 2, wherein the inertial sensing unit is an accelerometer or a gyroscope, or is a combination of the accelerometer and the gyroscope. Inertial navigation system as described in claim 3 a graph feedback correction method, wherein measuring a vehicle motion state is performed by using the accelerometer and the gyroscope, and the measurement information refers to a vehicle acceleration measurement value measured by the accelerometer, and measuring the gyroscope The measured value of the angle of rotation of the vehicle. The inertial navigation system map feedback correction method according to claim 1, wherein the correction value information is generated by the micro control processing unit for the inertial navigation path point information and the current latitude and longitude information on the path planning point information. Compare processing results. The inertial navigation system map feedback correction method according to claim 1, wherein the correction value information is generated by the navigation software module for the inertial navigation path point information and the current latitude and longitude information on the path planning point information. Compare processing results. The method for correcting the map feedback of the inertial navigation system according to claim 1, wherein the corrected inertial navigation path information is processed in the navigation software module, and a row of navigation information is generated to provide a driver's road direction. navigation. The inertial navigation system map feedback correction method according to claim 1, wherein the corrected inertial navigation path point information is processed in the micro control processing unit, and a row of vehicle navigation information is generated to provide a driver's road direction. navigation. The method for correcting map feedback of an inertial navigation system according to claim 1, wherein the electronic map database is a map database providing latitude and longitude information.