TWI724686B - Positioning and orientation system and positioning and orientation method using high definition maps - Google Patents

Positioning and orientation system and positioning and orientation method using high definition maps Download PDF

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TWI724686B
TWI724686B TW108145857A TW108145857A TWI724686B TW I724686 B TWI724686 B TW I724686B TW 108145857 A TW108145857 A TW 108145857A TW 108145857 A TW108145857 A TW 108145857A TW I724686 B TWI724686 B TW I724686B
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vehicle
speed
positioning
difference
estimated
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TW108145857A
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TW202122752A (en
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徐珮晴
江凱偉
李育華
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國立成功大學
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Navigation (AREA)

Abstract

A positioning and orientation system and a positioning and orientation method using high definition maps are provided. In the positioning and orientation method, at first, the inertial navigation system is used to provide a filter predicted position, a filter predicted orientation, and a filter predicted velocity of a vehicle. Then, the global navigation satellite system, the high definition map system and the odometer are used to provide a first vehicle position, a first vehicle velocity, a second vehicle position, a vehicle orientation, and a second vehicle velocity. Then, the adders are used to calculate differences between the filter predicted position and the first vehicle position/the second vehicle position, differences between the filter predicted velocity and the first vehicle velocity/the second vehicle velocity, and a difference between the filter predicted orientation and the vehicle orientation. Thereafter, the positioning and orientation compensation module is used to utilize the above differences to compensate the filter predicted position/velocity/orientation.

Description

應用高精地圖之定位定向系統與定位定 向方法 Application of high-precision map positioning and orientation system and positioning Method

本發明是有關於一種應用高精地圖之定位定向系統與定位定向方法。 The invention relates to a positioning and orientation system and a positioning and orientation method using high-precision maps.

隨者電子技術的發展，車載導航裝置在人們的生活中越來越不可或缺。車載導航裝置可偵測車輛當下的位置，並根據使用者需求來提供相關服務，例如路徑規劃、駕駛輔助等。現行的車載導航裝置以整合式定位定向系統最廣為使用，此架構包含自主連續相對定位的慣性導航系統以及仰賴電波之絕對定位技術如全球導航衛星系統，然而衛星訊號傳遞在都市地區容易受到如建築物、車輛等障礙物產生遮蔽及反射干擾的現象，帶有誤差的衛星定位成果便會經由整合影響最後的定位定向效能。 With the development of electronic technology, car navigation devices are becoming more and more indispensable in people's lives. The car navigation device can detect the current location of the vehicle and provide related services based on user needs, such as route planning and driving assistance. The current car navigation devices are the most widely used integrated positioning and orientation systems. This architecture includes inertial navigation systems that rely on independent continuous relative positioning and absolute positioning technologies that rely on radio waves such as global navigation satellite systems. However, satellite signal transmission is vulnerable to such problems in urban areas. Obstacles such as buildings, vehicles, and other obstacles produce obscuration and reflection interference. The satellite positioning results with errors will affect the final positioning and orientation performance through integration.

因此，在基於量產及市場需求等硬體成本限制下，需要一種高精確度的定位定向系統與定位定向方法來降低慣性導航系統的定位誤差。 Therefore, under the hardware cost constraints based on mass production and market demand, a high-precision positioning and orientation system and positioning and orientation method are required to reduce the positioning error of the inertial navigation system.

本發明之實施例提出一種應用高精地圖之定位定向系統，其可降低車載導航裝置的定位誤差。此定位定向系統包含慣性導航系統、衛星導航系統、高精地圖系統、輪速計、第一加法器、第二加法器、第三加法器以及定位補償模組。慣性導航系統係用以推估車輛之位置、姿態及速度。衛星導航系統係用以提供車輛之第一車輛位置以及第一車輛速度。高精地圖系統係用以提供車輛於高精地圖上之第二車輛位置以及車輛姿態。輪速計係用以提供車輛之第二車輛速度。第一加法器係電性連接至慣性導航系統以及衛星導航系統，以計算推估位置與第一車輛位置之第一位置差值，以及計算推估速度與第一車輛速度之第一速度差值。第二加法器係電性連接至慣性導航系統以及高精地圖系統，以計算推估位置與第二車輛位置之第二位置差值，以及計算推估姿態與車輛姿態之姿態差值。第三加法器係電性連接至慣性導航系統以及輪速計，以計算推估速度與第二車輛速度之第二速度差值。定位補償模組係電性連接至慣性導航系統、第一加法器、第二加法器以及第三加法器，以根據第一位置差值、第二位置差值、第一速度差值、第二速度差值以及姿態差值來對車輛推估位置、推估姿態及推估速度進行補償，以獲得車輛之補償後位置、補償後姿態以及補償後速度。 The embodiment of the present invention proposes a positioning and orientation system using high-precision maps, which can reduce the positioning error of a car navigation device. The positioning and orientation system includes an inertial navigation system, a satellite navigation system, a high-precision map system, a wheel speedometer, a first adder, a second adder, a third adder, and a positioning compensation module. The inertial navigation system is used to estimate the position, attitude and speed of the vehicle. The satellite navigation system is used to provide the first vehicle position and the first vehicle speed of the vehicle. The high-precision map system is used to provide the second vehicle position and vehicle posture of the vehicle on the high-precision map. The wheel speedometer is used to provide the second vehicle speed of the vehicle. The first adder is electrically connected to the inertial navigation system and the satellite navigation system to calculate the first position difference between the estimated position and the first vehicle position, and calculate the first speed difference between the estimated speed and the first vehicle speed . The second adder is electrically connected to the inertial navigation system and the high-precision map system to calculate the second position difference between the estimated position and the second vehicle position, and calculate the posture difference between the estimated posture and the vehicle posture. The third adder is electrically connected to the inertial navigation system and the wheel speed meter to calculate the second speed difference between the estimated speed and the second vehicle speed. The positioning compensation module is electrically connected to the inertial navigation system, the first adder, the second adder, and the third adder, so as to respond to the first position difference, the second position difference, the first speed difference, and the second The speed difference and the posture difference are used to compensate the estimated position, estimated posture, and estimated speed of the vehicle to obtain the compensated position, posture and speed of the vehicle.

在一些實施例中，前述之定位定向系統更包含衛星定位優化模組，其係電性連接於衛星導航系統、高精地 圖系統以及第一加法器之間，以根據高精地圖來優化衛星導航系統所提供之第一車輛位置以及第一車輛速度。 In some embodiments, the aforementioned positioning and orientation system further includes a satellite positioning optimization module, which is electrically connected to the satellite navigation system and high-precision Between the map system and the first adder to optimize the first vehicle position and the first vehicle speed provided by the satellite navigation system according to the high-precision map.

在一些實施例中，高精地圖系統更用以進行一高精地圖搜尋步驟，以根據車輛之補償後位置、補償後姿態以及補償後速度來於該高精地圖上進行搜尋，以獲得車輛於高精地圖上之車輛位置與車輛姿態，並據此來更新前述之第二車輛位置以及車輛姿態。 In some embodiments, the high-precision map system is further used to perform a high-precision map search step to search the high-precision map according to the compensated position, posture, and speed of the vehicle to obtain the vehicle's status The vehicle position and vehicle posture on the high-precision map are used to update the aforementioned second vehicle position and vehicle posture.

在一些實施例中，前述之定位定向系統更包含零速更新模組，其係電性連接於輪速計與定位補償模組之間，以於第二車輛速度為0時，來輸出零速更新訊號至定位補償模組，以告知定位補償模組車輛目前為靜止狀態。 In some embodiments, the aforementioned positioning and orientation system further includes a zero-speed update module, which is electrically connected between the wheel speedometer and the positioning compensation module to output the zero-speed when the second vehicle speed is zero. Update the signal to the positioning compensation module to inform the positioning compensation module that the vehicle is currently stationary.

在一些實施例中，慣性導航系統包含加速度計以及陀螺儀。 In some embodiments, the inertial navigation system includes an accelerometer and a gyroscope.

本發明之實施例亦提出一種應用高精地圖之定位定向方法，其可降低車載導航裝置的定位誤差。在此定位方法中，首先利用慣性導航系統來推估車輛之位置、姿態以及速度。然後，利用衛星導航系統來提供第一車輛位置以及第一車輛速度。接著，利用高精地圖系統來提供車輛於高精地圖上之第二車輛位置以及車輛姿態。然後，利用輪速計來提供第二車輛速度。接著，計算推估位置與第一車輛位置之第一位置差值，以及計算推估速度與該第一車輛速度之第一速度差值。然後，計算推估位置與第二車輛位置之第二位置差值，以及計算推估姿態與車輛姿態之姿態差值。接著，計算推估速度與第二車輛速度之第二速度差值。然後，利用定 位補償模組來根據第一位置差值、第二位置差值、第一速度差值、第二速度差值以及姿態差值來對車輛推估位置、推估姿態及推估速度進行補償，以獲得車輛之補償後位置、補償後姿態以及補償後速度。 The embodiment of the present invention also proposes a positioning and orientation method using high-precision maps, which can reduce the positioning error of the car navigation device. In this positioning method, the inertial navigation system is first used to estimate the position, attitude and speed of the vehicle. Then, the satellite navigation system is used to provide the first vehicle position and the first vehicle speed. Then, the high-precision map system is used to provide the second vehicle position and vehicle posture of the vehicle on the high-precision map. Then, the wheel speedometer is used to provide the second vehicle speed. Then, the first position difference between the estimated position and the first vehicle position is calculated, and the first speed difference between the estimated speed and the first vehicle speed is calculated. Then, the second position difference between the estimated position and the second vehicle position is calculated, and the posture difference between the estimated position and the vehicle posture is calculated. Then, the second speed difference between the estimated speed and the second vehicle speed is calculated. Then, use the The position compensation module compensates for the estimated position, estimated attitude and estimated speed of the vehicle according to the first position difference, the second position difference, the first speed difference, the second speed difference and the attitude difference. To obtain the compensated position, posture, and speed of the vehicle.

在一些實施例中，前述之定位方法更包含：根據該高精地圖來優化該衛星導航系統所提供之該第一車輛位置以及該第一車輛速度。 In some embodiments, the aforementioned positioning method further includes: optimizing the first vehicle position and the first vehicle speed provided by the satellite navigation system according to the high-precision map.

在一些實施例中，前述之定位方法更包含：利用高精地圖系統來進行高精地圖搜尋步驟，以根據車輛之補償後位置、補償後姿態以及補償後速度來於高精地圖上進行搜尋，以獲得對應至車輛於高精地圖上之車輛位置與車輛姿態，並據此來更新前述之第二車輛位置以及車輛姿態。 In some embodiments, the aforementioned positioning method further includes: using a high-precision map system to perform a high-precision map search step, so as to search on the high-precision map according to the compensated position, posture, and speed of the vehicle. To obtain the vehicle position and vehicle posture corresponding to the vehicle on the high-precision map, and update the aforementioned second vehicle position and vehicle posture accordingly.

在一些實施例中，前述之定位方法更包含：當於第二車輛速度為0時，利用零速更新模組來輸出零速更新訊號至定位補償模組，以告知定位補償模組車輛目前為靜止狀態。 In some embodiments, the aforementioned positioning method further includes: when the second vehicle speed is 0, using the zero-speed update module to output a zero-speed update signal to the positioning compensation module to inform the positioning compensation module that the vehicle is currently Stationary state.

在一些實施例中，慣性導航系統包含加速度計以及陀螺儀。 In some embodiments, the inertial navigation system includes an accelerometer and a gyroscope.

為讓本發明的上述特徵和優點能更明顯易懂，下文特舉實施例，並配合所附圖式作詳細說明如下。 In order to make the above-mentioned features and advantages of the present invention more comprehensible, the following specific embodiments are described in detail in conjunction with the accompanying drawings.

100‧‧‧定位定向系統 100‧‧‧Positioning and orientation system

110‧‧‧慣性導航系統 110‧‧‧Inertial Navigation System

110D‧‧‧慣性導航資料 110D‧‧‧Inertial navigation data

120‧‧‧衛星導航系統 120‧‧‧Satellite Navigation System

120D‧‧‧衛星導航資料 120D‧‧‧Satellite Navigation Data

130‧‧‧高精地圖系統 130‧‧‧High-precision map system

130D‧‧‧高精地圖資料 130D‧‧‧High-precision map data

140‧‧‧衛星定位優化模組 140‧‧‧Satellite positioning optimization module

140D‧‧‧優化後衛星導航資料 140D‧‧‧Optimized satellite navigation data

150‧‧‧輪速計 150‧‧‧Wheel Speedometer

150D‧‧‧車輛速度資料 150D‧‧‧vehicle speed data

160‧‧‧第一加法器 160‧‧‧First adder

170‧‧‧第二加法器 170‧‧‧Second Adder

180‧‧‧第三加法器 180‧‧‧Third adder

190‧‧‧定位補償模組 190‧‧‧Position Compensation Module

190D‧‧‧補償後車輛定位資料 190D‧‧‧Compensated vehicle positioning data

195‧‧‧零速更新模組 195‧‧‧Zero Speed Update Module

195D‧‧‧零速更新訊號 195D‧‧‧Zero speed update signal

200‧‧‧搜尋方法 200‧‧‧Search method

210~240‧‧‧步驟 210~240‧‧‧Step

300‧‧‧定位方法 300‧‧‧Positioning method

310~380‧‧‧步驟 310~380‧‧‧Step

[圖1]係繪示根據本發明實施例之應用高精地圖之定位定向系統的功能方塊示意圖。 [Fig. 1] is a functional block diagram of a positioning and orientation system using a high-precision map according to an embodiment of the present invention.

[圖2]係繪示根據本發明實施例之高精地圖系統之搜尋方法的流程示意圖。 [Fig. 2] is a schematic diagram showing the flow of the search method of the high-precision map system according to an embodiment of the present invention.

[圖3]係繪示根據本發明實施例之應用高精地圖之定位定向系統所對應定位方法的流程示意圖。 [Fig. 3] is a schematic flowchart of a positioning method corresponding to a positioning and orientation system using a high-precision map according to an embodiment of the present invention.

圖1係繪示根據本發明實施例之應用高精地圖之定位定向系統100的功能方塊示意圖。定位定向系統100包含慣性導航系統110、衛星導航系統120、高精地圖系統130、衛星定位優化模組140、輪速計150、第一加法器160、第二加法器170、第三加法器180以及定位補償模組190。高精地圖之定位定向系統100係運用衛星導航系統120、高精地圖系統130以及輪速計140所提供的車輛資訊來補償慣性導航系統110所提供的車輛資訊，以減少定位誤差。 FIG. 1 is a functional block diagram of a positioning and orientation system 100 using a high-precision map according to an embodiment of the present invention. The positioning and orientation system 100 includes an inertial navigation system 110, a satellite navigation system 120, a high-precision map system 130, a satellite positioning optimization module 140, a wheel speedometer 150, a first adder 160, a second adder 170, and a third adder 180 And the positioning compensation module 190. The positioning and orientation system 100 of the high-precision map uses the vehicle information provided by the satellite navigation system 120, the high-precision map system 130 and the wheel speedometer 140 to compensate the vehicle information provided by the inertial navigation system 110 to reduce positioning errors.

慣性導航系統110(Inertial Navigation System；INS)係用以提供車輛的慣性導航資料110D，其包含車輛推估位置、推估姿態及推估速度。在本實施例中，慣性導航系統110包含運算器和多個慣性感測元件(Inertial Measurement Unit；IMU)(例如，陀螺儀和加速度計)，其可持續地計算車輛的加速度、角速度以及其他定位定向資訊。透過將慣性感測元件所測量的移動資訊(例如，加速度和角速度)，累加至推估之資訊，透過計算可獲 得下一個時間的定位定向資訊。 The inertial navigation system 110 (Inertial Navigation System; INS) is used to provide the vehicle's inertial navigation data 110D, which includes the estimated position, estimated attitude, and estimated speed of the vehicle. In this embodiment, the inertial navigation system 110 includes an arithmetic unit and a plurality of inertial measurement units (IMUs) (for example, gyroscopes and accelerometers), which can continuously calculate the acceleration, angular velocity, and other positioning of the vehicle. Targeting information. By accumulating the movement information (for example, acceleration and angular velocity) measured by the inertial sensing element to the estimated information, it can be obtained through calculation Get the positioning and orientation information for the next time.

衛星導航系統120係用以透過衛星系統來提供車輛的衛星導航資料120D，其包含車輛的位置(以下稱為第一車輛位置)以及速度(以下稱為第一車輛速度)。在本實施例中，衛星導航系統120為全球導航衛星系統(Global Navigation Satellite System；GNSS)，但本發明之實施例並不受限於此。 The satellite navigation system 120 is used to provide satellite navigation data 120D of the vehicle through the satellite system, which includes the position of the vehicle (hereinafter referred to as the first vehicle position) and the speed (hereinafter referred to as the first vehicle speed). In this embodiment, the satellite navigation system 120 is a Global Navigation Satellite System (GNSS), but the embodiment of the present invention is not limited to this.

高精地圖系統130係儲存有高精地圖(High Definition Maps；HD maps)，且可根據高精地圖來提供車輛於高精地圖上的資料130D，其包含車輛的位置(以下稱為第二車輛位置)與姿態(以下稱為車輛姿態)。例如，利用道路上所有車道中心線之坐標位置提供車量的位置，以及根據車輛所在車道之坡度、車道之行駛方向等來提供車輛的姿態。在本實施例中，高精地圖包含以車道中心線之高精度(平面精度優於20公分、三維精度優於30公分)空間資訊及其拓樸關係，但本發明之實施例並不受限於此。 The high-precision map system 130 stores high-definition maps (HD maps), and can provide vehicle data 130D on the high-definition map according to the high-definition map, which includes the location of the vehicle (hereinafter referred to as the second vehicle Position) and posture (hereinafter referred to as vehicle posture). For example, the coordinate position of the center line of all lanes on the road is used to provide the position of the traffic volume, and the posture of the vehicle is provided according to the slope of the lane and the driving direction of the lane. In this embodiment, the high-precision map includes high-precision (planar accuracy better than 20 cm, three-dimensional accuracy better than 30 cm) spatial information and its topology based on the centerline of the lane, but the embodiment of the present invention is not limited Here.

在本發明之一些實施例中，採用衛星定位優化模組140來利用高精地圖優化衛星導航系統120所提供之衛星導航資料120D，以提供優化後的衛星導航資料140D。在本實施例中，衛星定位優化模組140係利用高精地圖所提供之資訊來判斷衛星導航系統120所提供之資訊是否合格。 In some embodiments of the present invention, the satellite positioning optimization module 140 is used to optimize the satellite navigation data 120D provided by the satellite navigation system 120 by using the high-precision map to provide the optimized satellite navigation data 140D. In this embodiment, the satellite positioning optimization module 140 uses the information provided by the high-precision map to determine whether the information provided by the satellite navigation system 120 is qualified.

例如，衛星定位優化模組140會計算第一車輛位置與第二車輛位置在平面上的距離差值，並判斷此平面距離差值是否大於一預設平面距離閥值。若此平面距離差值大 於預設平面距離閥值，則表示衛星定位資訊不合格，故刪除不合格的衛星定位資訊。若此平面距離差值小於或等於預設平面距離閥值，則保留合格的衛星定位資訊。 For example, the satellite positioning optimization module 140 calculates the distance difference between the first vehicle position and the second vehicle position on a plane, and determines whether the plane distance difference is greater than a preset plane distance threshold. If the distance difference between this plane is large In the preset plane distance threshold, it means that the satellite positioning information is unqualified, so the unqualified satellite positioning information is deleted. If the plane distance difference is less than or equal to the preset plane distance threshold, then the qualified satellite positioning information is retained.

在一些例子中，衛星定位優化模組140會計算第一車輛位置與第二車輛位置在高度上的距離差值，並判斷此高度距離差值是否大於一預設高度距離閥值。若此高度距離差值大於預設高度距離閥值，則表示衛星定位資訊不合格，故刪除不合格的衛星定位資訊。若此高度距離差值小於或等於預設高度距離閥值，則保留合格的衛星定位資訊。本發明判斷衛星定位資訊是否合格的方式並不受限於上述實施例。 In some examples, the satellite positioning optimization module 140 calculates the height difference between the first vehicle position and the second vehicle position, and determines whether the height distance difference is greater than a preset height distance threshold. If the altitude distance difference is greater than the preset altitude distance threshold, it means that the satellite positioning information is unqualified, so the unqualified satellite positioning information is deleted. If the altitude distance difference is less than or equal to the preset altitude distance threshold, the qualified satellite positioning information is retained. The method of the present invention for judging whether the satellite positioning information is qualified is not limited to the foregoing embodiment.

在一些例子中，衛星定位優化模組140以第二車輛位置計算到各個觀測衛星的幾何距離，並個別判斷這些幾何距離與已消除系統誤差之衛星導航系統120觀測量之差值，若差值大於一預設閥值則表示此筆衛星觀測量不合格，故刪除此筆不合格的衛星觀測量，再重新計算第一車輛位置。若最後剩下的衛星觀測量不足以計算定位資訊，或重新計算之第一車輛位置和第二車輛位置之間的位置差值大於另一預設閥值，則刪除此筆衛星定位資訊。本發明判斷衛星定位資訊是否合格的方式並不受限於上述實施例。 In some examples, the satellite positioning optimization module 140 uses the second vehicle position to calculate the geometric distance to each observation satellite, and individually determines the difference between these geometric distances and the satellite navigation system 120 observations that have eliminated system errors. If it is greater than a preset threshold value, it means that this satellite observation is unqualified, so this unqualified satellite observation is deleted, and the first vehicle position is recalculated. If the last remaining satellite observations are not enough to calculate the positioning information, or the recalculated position difference between the first vehicle position and the second vehicle position is greater than another preset threshold, then this piece of satellite positioning information is deleted. The method of the present invention for judging whether the satellite positioning information is qualified is not limited to the foregoing embodiment.

輪速計150係用以量測車輛之輪速，並據以提供車輛速度(以下稱為第二車輛速度)，其中輪速計150所提供的車輛速度資料150D包含車輛之輪速以及第二車輛速度。在本實施例中，輪速計140可為磁電式輪速感測器或或 霍爾式輪速感測器，但本發明之實施例並不受限於此。 The wheel speedometer 150 is used to measure the wheel speed of the vehicle and provide the vehicle speed (hereinafter referred to as the second vehicle speed) accordingly. The vehicle speed data 150D provided by the wheel speedometer 150 includes the wheel speed of the vehicle and the second vehicle speed. Vehicle speed. In this embodiment, the wheel speed meter 140 can be a magneto-electric wheel speed sensor or Hall-type wheel speed sensor, but the embodiment of the present invention is not limited to this.

第一加法器160係電性連接至慣性導航系統110以及衛星導航系統120，以計算慣性導航資料110D之推估位置與優化後衛星導航資料140D之第一車輛位置間的差值(以下稱為第一位置差值)，以及計算慣性導航資料110D之推估速度與優化後衛星導航資料140D之第一車輛速度間的差值(以下稱為第一速度差值)，並將第一位置差值以及第一速度差值傳送至定位補償模組190。在一些實施例中，第一加法器160也會將收到的慣性導航資料110D和優化後衛星導航資料140D傳送至定位補償模組190。 The first adder 160 is electrically connected to the inertial navigation system 110 and the satellite navigation system 120 to calculate the difference between the estimated position of the inertial navigation data 110D and the first vehicle position of the optimized satellite navigation data 140D (hereinafter referred to as The first position difference), and calculate the difference between the estimated speed of the inertial navigation data 110D and the first vehicle speed of the optimized satellite navigation data 140D (hereinafter referred to as the first speed difference), and calculate the first position difference The value and the first speed difference value are transmitted to the positioning compensation module 190. In some embodiments, the first adder 160 also transmits the received inertial navigation data 110D and the optimized satellite navigation data 140D to the positioning compensation module 190.

第二加法器170係電性連接至慣性導航系統110以及高精地圖系統130，以計算慣性導航資料110D之推估位置與高精地圖資料130D之第二車輛位置間的差值(以下稱為第二位置差值)，以及計算慣性導航資料110D之推估姿態與高精地圖資料130D之姿態間的差值，並將第二位置差值以及姿態差值傳送至定位補償模組190。在一些實施例中，第二加法器170也會將收到的慣性導航資料110D和高精地圖資料130D傳送至定位補償模組190。 The second adder 170 is electrically connected to the inertial navigation system 110 and the high-precision map system 130 to calculate the difference between the estimated position of the inertial navigation data 110D and the second vehicle position of the high-precision map data 130D (hereinafter referred to as The second position difference), and calculate the difference between the estimated attitude of the inertial navigation data 110D and the attitude of the high-precision map data 130D, and transmit the second position difference and attitude difference to the positioning compensation module 190. In some embodiments, the second adder 170 also transmits the received inertial navigation data 110D and high-precision map data 130D to the positioning compensation module 190.

第三加法器180係電性連接至慣性導航系統110以及輪速計150，以計算慣性導航資料110D之推估速度與車輛速度資料150D之第二車輛速度間的差值(以下稱為第二速度差值)，並將第二速度差值傳送至定位補償模組190。在一些實施例中，第三加法器180也會將收到的慣性導航資料110D和車輛速度資料150D傳送至定位補償模組 190。 The third adder 180 is electrically connected to the inertial navigation system 110 and the wheel speed meter 150 to calculate the difference between the estimated speed of the inertial navigation data 110D and the second vehicle speed of the vehicle speed data 150D (hereinafter referred to as the second Speed difference), and transmit the second speed difference to the positioning compensation module 190. In some embodiments, the third adder 180 also transmits the received inertial navigation data 110D and vehicle speed data 150D to the positioning compensation module 190.

定位補償模組190係電性連接至慣性導航系統110、第一加法器160、第二加法器170以及第三加法器180，以根據前述之第一位置差值、第二位置差值、第一速度差值、第二速度差值以及姿態差值來對慣性導航資料110D之推估位置、推估姿態及推估速度進行補償，以獲得補償後的車輛定位資料190D。補償後的車輛定位資料190D包含補償後位置、補償後姿態以及補償後速度。在本實施例中，定位補償模組190可為延伸型卡爾曼濾波器(Extended Kalman Filter；EKF)、適應型卡爾曼濾波器(Adaptive Kalman Filter；AKF)、無跡卡爾曼濾波器(Unscented Kalman filter；UKF)或粒子濾波器(Particle Filter；PF)，其可根據預設的補償機制來根據前述之第一位置差值、第二位置差值、第一速度差值、第二速度差值以及姿態差值來對慣性導航資料110D之推估位置、推估姿態及推估速度進行補償。例如，針對前述之第一位置差值、第二位置差值、第一速度差值、第二速度差值以及姿態差值分別設定不同的權重，再對慣性導航資料110D之推估位置、推估姿態及推估速度進行補償。然而，本發明之慣性導航資料110D的補償機制並不受限於上述實施例。 The positioning compensation module 190 is electrically connected to the inertial navigation system 110, the first adder 160, the second adder 170, and the third adder 180 so as to be based on the aforementioned first position difference, second position difference, and first A speed difference, a second speed difference, and an attitude difference are used to compensate the estimated position, estimated attitude, and estimated speed of the inertial navigation data 110D to obtain the compensated vehicle positioning data 190D. The compensated vehicle positioning data 190D includes the compensated position, the compensated attitude, and the compensated speed. In this embodiment, the positioning compensation module 190 may be an extended Kalman filter (EKF), an adaptive Kalman filter (AKF), and an unscented Kalman filter (Unscented Kalman Filter). filter; UKF) or particle filter (Particle Filter; PF), which can be based on the aforementioned first position difference, second position difference, first speed difference, and second speed difference according to a preset compensation mechanism And the attitude difference is used to compensate the estimated position, estimated attitude, and estimated speed of the inertial navigation data 110D. For example, set different weights for the aforementioned first position difference, second position difference, first speed difference, second speed difference, and attitude difference, and then estimate the position and push of the inertial navigation data 110D. Estimated attitude and estimated speed for compensation. However, the compensation mechanism of the inertial navigation data 110D of the present invention is not limited to the above-mentioned embodiment.

在本發明之一些實施例中，定位定向系統100更含零速更新模組195。零速更新模組195係電性連接於輪速計150與定位補償模組190之間，以於車輛速度資料150D之第二車輛速度為0時，輸出零速更新訊號195D至定位補償 模組190，以告知定位補償模組190車輛目前為靜止狀態。如此，定位補償模組190便會將補償後位置的值設定為與上一個時間點的補償後位置的值相同(即，車輛位置不變)。在本實施例中，零速更新模組195可為數位信號處理器(digital signal processor；DSP)、特殊應用集成電路(application specific integrated circuit；ASIC)或場式可編程閘陣列(field programmable gate array；FPGA)。然而，本發明之實施例並不受限於此。 In some embodiments of the present invention, the positioning and orientation system 100 further includes a zero-speed update module 195. The zero-speed update module 195 is electrically connected between the wheel speedometer 150 and the positioning compensation module 190 to output the zero-speed update signal 195D to the positioning compensation when the second vehicle speed of the vehicle speed data 150D is 0 The module 190 informs the positioning compensation module 190 that the vehicle is currently stationary. In this way, the positioning compensation module 190 sets the value of the compensated position to be the same as the value of the compensated position at the previous time point (ie, the vehicle position remains unchanged). In this embodiment, the zero-speed update module 195 may be a digital signal processor (DSP), an application specific integrated circuit (ASIC), or a field programmable gate array (field programmable gate array). ; FPGA). However, the embodiments of the present invention are not limited to this.

另外，高精地圖系統130會接收補償後的車輛定位資料190D以及慣性導航資料110D，以據此來產生下一個時間點所需的搜尋結果(即，高精地圖資料130D)。 In addition, the high-precision map system 130 receives the compensated vehicle positioning data 190D and the inertial navigation data 110D to generate the search results required at the next time point (ie, the high-precision map data 130D).

請參照圖2，其係繪示根據本發明實施例之高精地圖系統130之搜尋方法200的流程示意圖。在搜尋方法200中，首先進行步驟210，以根據上一個時間點的搜尋結果來決定車輛位於路口或車道上。若車輛位於車道上，則進行步驟221，以利用高精地圖來取得此車道的空間資訊。然後，進行步驟222，以根據目前的慣性導航資料110D來判斷車輛是否接近路口或具有航向變化。接著，若車輛接近路口，則進行步驟223，以取得即將面臨之路口空間資訊。若車輛有航向變化，則進行步驟224，以取得與當下車道位置同向之車道空間資訊。然後，進行步驟240，以根據補償後的車輛定位資料190D來取得幾何距離最短之地圖位置，以作為目前時間點的搜尋結果。例如，在前述之車道/路口中找到與補償後位置(車輛定位資料190D)之幾何距離最短的 地圖位置。另外，若步驟222判斷出車輛未接近路口，也未具有航向變化，則直接進行步驟240。 Please refer to FIG. 2, which is a schematic flowchart of a search method 200 of the high-precision map system 130 according to an embodiment of the present invention. In the search method 200, step 210 is first performed to determine whether the vehicle is located at the intersection or lane according to the search result at the previous time point. If the vehicle is located on the lane, step 221 is performed to obtain the spatial information of the lane by using the high-precision map. Then, step 222 is performed to determine whether the vehicle is approaching the intersection or has a heading change based on the current inertial navigation data 110D. Then, if the vehicle is approaching the intersection, step 223 is performed to obtain the spatial information of the intersection that is about to be faced. If the vehicle has a heading change, proceed to step 224 to obtain lane space information in the same direction as the current lane position. Then, step 240 is performed to obtain the map position with the shortest geometric distance according to the compensated vehicle positioning data 190D, as the search result at the current time point. For example, find the shortest geometric distance from the compensated position (vehicle positioning data 190D) in the aforementioned lane/intersection Map location. In addition, if it is determined in step 222 that the vehicle is not approaching the intersection and there is no heading change, then step 240 is directly performed.

請回到步驟210，若車輛位於路口，則進行步驟231，以利用高精地圖來取得此路口的空間資訊。接著，進行步驟232，以根據前述之路口空間資訊來取得即將面臨之車道空間的資訊。然後，再進行前述之步驟240。然而，本發明之實施例並不受限於此。 Please go back to step 210, if the vehicle is located at the intersection, proceed to step 231 to obtain the spatial information of the intersection by using the high-precision map. Then, step 232 is performed to obtain the information of the lane space that is about to be faced based on the aforementioned road crossing space information. Then, the aforementioned step 240 is performed. However, the embodiments of the present invention are not limited to this.

請參照圖3，其係繪示根據本發明實施例之高精地圖之定位定向系統100所對應之定位方法300的流程示意圖。在定位方法300中，首先進行步驟310，以利用慣性導航系統110來推估車輛之位置、姿態及速度。然後，進行步驟320，以利用衛星導航系統120來提供車輛之第一車輛位置以及第一車輛速度。接著，進行步驟330，以利用高精地圖系統130來提供車輛於高精地圖上之第二車輛位置以及車輛姿態。然後，進行步驟340，以利用輪速計150來提供車輛之第二車輛速度。接著，進行步驟350，以計算前述推估位置與第一車輛位置之第一位置差值，以及計算前述推估速度與第一車輛速度之第一速度差值，其中步驟350可利用第一加法器160來進行。然後，進行步驟360，以計算前述推估位置與第二車輛位置之第二位置差值，以及計算前述推估姿態與車輛姿態之姿態差值，其中步驟360可利用第二加法器170來進行。接著，進行步驟370，以計算前述推估速度與第二車輛速度之第二速度差值，其中步驟370可利用第三加法器180來進行。然後，進行步驟380，以利用定位補 償模組190來根據第一位置差值、第二位置差值、第一速度差值、第二速度差值以及姿態差值來對車輛推估位置、推估姿態及推估速度進行補償，以獲得車輛之補償後位置、補償後姿態以及補償後速度。 Please refer to FIG. 3, which is a schematic flowchart of a positioning method 300 corresponding to the positioning and positioning system 100 of a high-precision map according to an embodiment of the present invention. In the positioning method 300, step 310 is first performed to use the inertial navigation system 110 to estimate the position, attitude, and speed of the vehicle. Then, step 320 is performed to use the satellite navigation system 120 to provide the first vehicle position and the first vehicle speed of the vehicle. Then, step 330 is performed to use the high-precision map system 130 to provide the second vehicle position and the vehicle attitude of the vehicle on the high-precision map. Then, step 340 is performed to use the wheel speed meter 150 to provide the second vehicle speed of the vehicle. Next, proceed to step 350 to calculate the first position difference between the estimated position and the first vehicle position, and to calculate the first speed difference between the estimated speed and the first vehicle speed, where the first addition can be used in step 350器160 to proceed. Then, step 360 is performed to calculate the second position difference between the estimated position and the second vehicle position, and to calculate the posture difference between the estimated posture and the vehicle posture, where step 360 can be performed by the second adder 170 . Then, step 370 is performed to calculate the second speed difference between the aforementioned estimated speed and the second vehicle speed, where step 370 can be performed by the third adder 180. Then, proceed to step 380 to use positioning compensation The compensation module 190 compensates the estimated position, estimated attitude, and estimated speed of the vehicle according to the first position difference, the second position difference, the first speed difference, the second speed difference, and the attitude difference. To obtain the compensated position, posture, and speed of the vehicle.

值得一提的是，定位方法300之步驟順序並不受限於上述實施例。在合適的狀況下，上述步驟的順序可以改變，以達到補償慣性導航系統110所提供之車輛資訊的目的。 It is worth mentioning that the sequence of the steps of the positioning method 300 is not limited to the foregoing embodiment. Under suitable conditions, the sequence of the above steps can be changed to achieve the purpose of compensating for the vehicle information provided by the inertial navigation system 110.

雖然本發明已以實施例揭露如上，然其並非用以限定本發明，任何所屬技術領域中具有通常知識者，在不脫離本發明的精神和範圍內，當可作些許的更動與潤飾，故本發明的保護範圍當視後附的申請專利範圍所界定者為準。 Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention. Anyone with ordinary knowledge in the relevant technical field can make some changes and modifications without departing from the spirit and scope of the present invention. The scope of protection of the present invention shall be determined by the scope of the attached patent application.

100‧‧‧定位定向系統 100‧‧‧Positioning and orientation system

110‧‧‧慣性導航系統 110‧‧‧Inertial Navigation System

110D‧‧‧慣性導航資料 110D‧‧‧Inertial navigation data

120‧‧‧衛星導航系統 120‧‧‧Satellite Navigation System

120D‧‧‧衛星導航資料 120D‧‧‧Satellite Navigation Data

130‧‧‧高精地圖系統 130‧‧‧High-precision map system

130D‧‧‧高精地圖資料 130D‧‧‧High-precision map data

140‧‧‧衛星定位優化模組 140‧‧‧Satellite positioning optimization module

140D‧‧‧優化後衛星導航資料 140D‧‧‧Optimized satellite navigation data

150‧‧‧輪速計 150‧‧‧Wheel Speedometer

150D‧‧‧車輛速度資料 150D‧‧‧vehicle speed data

160‧‧‧第一加法器 160‧‧‧First adder

170‧‧‧第二加法器 170‧‧‧Second Adder

180‧‧‧第三加法器 180‧‧‧Third adder

190‧‧‧定位補償模組 190‧‧‧Position Compensation Module

190D‧‧‧補償後車輛定位資料 190D‧‧‧Compensated vehicle positioning data

195‧‧‧零速更新模組 195‧‧‧Zero Speed Update Module

195D‧‧‧零速更新訊號 195D‧‧‧Zero speed update signal

Claims (10)

一種應用高精地圖之定位定向系統，包含： A positioning and orientation system using high-precision maps, including: 一慣性導航系統，用以提供一車輛之一推估位置、一推估姿態以及一推估速度； An inertial navigation system to provide an estimated position, an estimated attitude, and an estimated speed of a vehicle; 一衛星導航系統，用以提供該車輛之一第一車輛位置以及一第一車輛速度； A satellite navigation system for providing a first vehicle position and a first vehicle speed of the vehicle; 一高精地圖系統，用以提供該車輛於一高精地圖上之一第二車輛位置以及一車輛姿態； A high-precision map system for providing a second vehicle position and a vehicle attitude of the vehicle on a high-precision map; 一輪速計，用以提供該車輛之一第二車輛速度； A speedometer for providing a second vehicle speed of the vehicle; 一第一加法器，電性連接至該慣性導航系統以及該衛星導航系統，以計算該推估位置與該第一車輛位置之一第一位置差值，以及計算該推估速度與該第一車輛速度之一第一速度差值； A first adder, electrically connected to the inertial navigation system and the satellite navigation system, to calculate a first position difference between the estimated position and the first vehicle position, and to calculate the estimated speed and the first One of the first speed difference of the vehicle speed; 一第二加法器，電性連接至該慣性導航系統以及該高精地圖系統，以計算該推估位置與該第二車輛位置之一第二位置差值，以及計算該推估姿態與該車輛姿態之一姿態差值； A second adder, electrically connected to the inertial navigation system and the high-precision map system, to calculate a second position difference between the estimated position and the second vehicle position, and to calculate the estimated posture and the vehicle One of the attitude difference; 一第三加法器，電性連接至該慣性導航系統以及該輪速計，以計算該推估速度與該第二車輛速度之一第二速度差值；以及 A third adder electrically connected to the inertial navigation system and the wheel speedometer to calculate a second speed difference between the estimated speed and the second vehicle speed; and 一定位補償模組，電性連接至該慣性導航系統、該第一加法器、該第二加法器以及該第三加法器，以根據該第一位置差值、該第二位置差值、該第一速度差值、該第二 速度差值以及該姿態差值來對該車輛之該推估位置、該推估姿態以及該推估速度進行補償，以獲得該車輛之一補償後位置、一補償後姿態以及一補償後速度。 A positioning compensation module electrically connected to the inertial navigation system, the first adder, the second adder, and the third adder, so as to be based on the first position difference, the second position difference, the The first speed difference, the second The speed difference and the posture difference are used to compensate the estimated position, the estimated posture, and the estimated speed of the vehicle to obtain a compensated position, a compensated posture, and a compensated speed of the vehicle. 如申請專利範圍第1項所述之應用高精地圖之定位定向系統，更包含： The positioning and orientation system using high-precision maps as described in item 1 of the scope of patent application, further includes: 一衛星定位優化模組，電性連接於該衛星導航系統、該高精地圖系統以及該第一加法器之間，以根據該高精地圖來優化該衛星導航系統所提供之該第一車輛位置以及該第一車輛速度。 A satellite positioning optimization module electrically connected between the satellite navigation system, the high-precision map system, and the first adder to optimize the first vehicle position provided by the satellite navigation system according to the high-precision map And the first vehicle speed. 如申請專利範圍第1項所述之應用高精地圖之定位定向系統，其中該高精地圖系統更用以進行一高精地圖搜尋步驟，以根據該車輛之該補償後位置、該補償後姿態以及該補償後速度來於該高精地圖上進行搜尋，以獲得該車輛於該高精地圖上之車輛位置與車輛姿態，並據以更新該第二車輛位置以及該車輛姿態。 For example, the positioning and orientation system using high-precision map as described in item 1 of the scope of patent application, wherein the high-precision map system is further used to perform a high-precision map search step according to the compensated position and posture of the vehicle And the compensated speed is searched on the high-precision map to obtain the vehicle position and the vehicle posture of the vehicle on the high-precision map, and update the second vehicle position and the vehicle posture accordingly. 如申請專利範圍第1項所述之應用高精地圖之定位定向系統，更包含： The positioning and orientation system using high-precision maps as described in item 1 of the scope of patent application, further includes: 一零速更新模組，電性連接於該輪速計與該定位補償模組之間，以於該第二車輛速度為0時，來輸出一零速更新訊號至該定位補償模組，以告知該定位補償模組該車輛目前為靜止狀態。 A zero-speed update module is electrically connected between the wheel speedometer and the positioning compensation module to output a zero-speed update signal to the positioning compensation module when the second vehicle speed is zero. Inform the positioning compensation module that the vehicle is currently stationary. 如申請專利範圍第1項所述之應用高精地圖之定位定向系統，其中該慣性導航系統包含一加速度計以及一陀螺儀。 The positioning and orientation system using high-precision maps as described in item 1 of the scope of patent application, wherein the inertial navigation system includes an accelerometer and a gyroscope. 一種應用高精地圖之定位定向方法，包含： A positioning and orientation method using high-precision maps, including: 利用一慣性導航系統來提供一車輛之一推估位置、一推估姿態以及一推估速度； Use an inertial navigation system to provide an estimated position, an estimated attitude, and an estimated speed of a vehicle; 利用一衛星導航系統來提供該車輛之一第一車輛位置以及一第一車輛速度； Using a satellite navigation system to provide a first vehicle position and a first vehicle speed of the vehicle; 利用一高精地圖系統來提供該車輛於一高精地圖上之一第二車輛位置以及一車輛姿態； Using a high-precision map system to provide a second vehicle position and a vehicle attitude of the vehicle on a high-precision map; 利用一輪速計來提供該車輛之一第二車輛速度； Use a wheel speedometer to provide a second vehicle speed of the vehicle; 計算該推估位置與該第一車輛位置之一第一位置差值，以及計算該推估速度與該第一車輛速度之一第一速度差值； Calculating a first position difference between the estimated position and the first vehicle position, and calculating a first speed difference between the estimated speed and the first vehicle speed; 計算該推估位置與該第二車輛位置之一第二位置差值，以及計算該推估姿態與該車輛姿態之一姿態差值； Calculating a second position difference between the estimated position and the second vehicle position, and calculating an attitude difference between the estimated position and the vehicle position; 計算該推估速度與該第二車輛速度之一第二速度差值；以及 Calculating a second speed difference between the estimated speed and the second vehicle speed; and 利用一定位補償模組來根據該第一位置差值、該第二位置差值、該第一速度差值、該第二速度差值以及該姿態差值來對該車輛之該推估位置、該推估姿態以及該推估速度進行補償，以獲得該車輛之一補償後位置、一補償後姿 態以及一補償後速度。 A positioning compensation module is used to estimate the estimated position of the vehicle based on the first position difference, the second position difference, the first speed difference, the second speed difference, and the attitude difference. The estimated posture and estimated speed are compensated to obtain a compensated position and a compensated posture of the vehicle State and a compensated speed. 如申請專利範圍第6項所述之應用高精地圖之定位定向方法，更包含： As described in item 6 of the scope of patent application, the positioning and orientation method using high-precision map includes: 根據該高精地圖來優化該衛星導航系統所提供之該第一車輛位置以及該第一車輛速度。 According to the high-precision map, the first vehicle position and the first vehicle speed provided by the satellite navigation system are optimized. 如申請專利範圍第6項所述之應用高精地圖之定位定向方法，更包含： As described in item 6 of the scope of patent application, the positioning and orientation method using high-precision map includes: 利用該高精地圖系統來進行一高精地圖搜尋步驟，以根據該車輛之該補償後位置、該補償後姿態以及該補償後速度來於該高精地圖上進行搜尋，以獲得對應至該車輛於該高精地圖上之車輛位置與車輛姿態，並據以更新該第二車輛位置以及該車輛姿態。 Use the high-precision map system to perform a high-precision map search step to search on the high-precision map according to the compensated position, the posture and the compensated speed of the vehicle to obtain the corresponding vehicle The vehicle position and vehicle posture on the high-precision map are updated, and the second vehicle position and the vehicle posture are updated accordingly. 如申請專利範圍第6項所述之應用高精地圖之定位定向方法，更包含： As described in item 6 of the scope of patent application, the positioning and orientation method using high-precision map includes: 當於該第二車輛速度為0時，利用一零速更新模組來輸出一零速更新訊號至該定位補償模組，以告知該定位補償模組該車輛目前為靜止狀態。 When the second vehicle speed is 0, a zero-speed update module is used to output a zero-speed update signal to the positioning compensation module to inform the positioning compensation module that the vehicle is currently stationary. 如申請專利範圍第6項所述之應用高精地圖之定位定向方法，其中該慣性導航系統包含一加速度計以及一陀螺儀。 As described in item 6 of the scope of patent application, the positioning and orientation method using high-precision maps, wherein the inertial navigation system includes an accelerometer and a gyroscope.
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