WO2022104777A1

WO2022104777A1 - Gnss integrated navigation-based adapter, positioning system, and positioning processing method

Info

Publication number: WO2022104777A1
Application number: PCT/CN2020/130822
Authority: WO
Inventors: 钱思维
Original assignee: 深圳元戎启行科技有限公司
Priority date: 2020-11-23
Filing date: 2020-11-23
Publication date: 2022-05-27
Also published as: CN115023623A

Abstract

A GNSS integrated navigation-based adapter (100), a positioning system, a positioning processing method, a positioning processing device, and a computer-readable storage medium. The GNSS integrated navigation-based adapter (100) is employed to serve as a bridge for connecting GNSS integrated navigation devices (200) and a smart mobile device. On the one hand, by means of a unified data interface (102) and a data format conversion, a control chip (104) is allowed to process in a unified manner data information of the different GNSS integrated navigation devices (200) into a standardized data type, thus allowing the smart mobile device to be compatible with the different GNSS integrated navigation devices (200). On the other hand, the GNSS integrated navigation-based adapter (100) provides the effect of separating the GNSS integrated navigation devices (200) from a smart mobile device controller (300), thus increasing the reliability of the system.

Description

Adapter, positioning system and positioning processing method based on GNSS integrated navigation

technical field

The present application relates to the field of unmanned driving technology, and in particular, to an adapter, a positioning system and a positioning processing method based on GNSS integrated navigation.

Background technique

With the development of unmanned technology, more and more unmanned devices have been put into application. The basis of driverless technology is positioning. Positioning plays a key role in unmanned path planning and driving control. Therefore, the accuracy of positioning is crucial.

In unmanned driving technology, positioning is usually achieved using the Global Navigation Satellite System (GNSS, Global Navigation Satellite System). and space-based radio navigation and positioning systems for time information. By integrating other navigation systems, such as inertial navigation, GSNN equipment provides precise navigation parameters such as attitude angle and speed for unmanned equipment. GSNN equipment integrates other navigation systems, that is, GNSS integrated navigation.

For unmanned equipment, it is necessary to install GNSS integrated navigation equipment, connect with the unmanned controller, and send the measured positioning information to the unmanned controller in real time. At present, there are many types of GNSS equipment hardware interfaces, including network port, serial port, USB, CAN, etc. The data definitions of GNSS equipment of each manufacturer are also different. When the GNSS integrated navigation equipment fails, it is often limited to a specific type of GNSS. equipment, resulting in low reliability.

SUMMARY OF THE INVENTION

According to various embodiments of the present application, a GNSS-based integrated navigation adapter, a positioning system, a positioning processing method, a positioning processing apparatus, and a computer storage medium are provided.

An adapter based on GNSS integrated navigation, including:

Data interface for accessing GNSS integrated navigation equipment,

A control chip connected to the data interface, the control chip sends a control command to the GNSS integrated navigation device through the data interface, and the control command is used to instruct the GNSS integrated navigation device to return positioning information, and the control The chip converts the positioning information into a standard data format and sends it to the smart mobile device controller, so that the smart mobile device controller performs smart action control based on the converted positioning information.

A positioning system based on GNSS integrated navigation, comprising:

GNSS integrated navigation equipment;

An adapter for GNSS integrated navigation provided with a data interface and a control chip, the adapter is connected to a GNSS integrated navigation device through the data interface, the GNSS integrated navigation device communicates with the control chip, and the control chip passes the data through the data interface. The interface sends a control command to the GNSS integrated navigation device, the control command is used to instruct the GNSS integrated navigation device to return positioning information, and the control chip converts the positioning information into a standard data format and sends it to the smart mobile device controller;

The intelligent mobile device controller in communication with the control chip is configured to receive the positioning information converted into a standard data format sent by the control chip, and perform intelligent motion control based on the converted positioning information.

A positioning processing method based on GNSS integrated navigation, the method comprises:

Access to GNSS integrated navigation equipment;

Sending a control instruction to the GNSS integrated navigation device, where the control instruction is used to instruct the GNSS integrated navigation device to return positioning information;

receiving the positioning information returned by the GNSS integrated navigation device;

The positioning information is converted into a standard data format and sent to a smart mobile device, so that the smart mobile device performs smart action control based on the converted positioning information.

A positioning processing device based on GNSS integrated navigation, comprising:

Access module, used to access GNSS integrated navigation equipment;

a control sending module, configured to send a control instruction to the GNSS integrated navigation device, where the control instruction is used to instruct the GNSS integrated navigation device to return positioning information;

a positioning receiving module, configured to receive the positioning information returned by the GNSS integrated navigation device;

A positioning sending module, configured to convert the positioning information into a standard data format and send it to an intelligent mobile device, so that the intelligent mobile device performs intelligent action control based on the converted positioning information.

A computer-readable storage medium storing a computer program, when executed by a processor, the computer program causes the processor to perform the following steps:

Access to GNSS integrated navigation equipment;

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below. Other features, objects and advantages of the present application will become apparent from the description, drawings and claims.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that are used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

1 is a schematic structural diagram of an adapter based on GNSS combined navigation according to an embodiment;

2 is a schematic structural diagram of an adapter based on GNSS combined navigation according to another embodiment;

3 is a schematic structural diagram of a positioning system based on GNSS integrated navigation in one embodiment;

4 is a schematic structural diagram of a positioning system based on GNSS integrated navigation in another embodiment;

5 is a schematic flowchart of a positioning processing method based on GNSS integrated navigation in one embodiment;

FIG. 6 is a schematic structural diagram of a positioning apparatus based on GNSS integrated navigation in one embodiment.

Detailed ways

The present application will be further described in detail below with reference to the accompanying drawings and embodiments.

FIG. 1 is a schematic structural diagram of an adapter based on GNSS combined navigation in one embodiment. As shown in FIG. 1, the adapter 100 based on GNSS integrated navigation includes:

The data interface 102 is used to access the GNSS integrated navigation device 200 .

A control chip 104 connected to the data interface, the control chip 104 sends a control command to the GNSS integrated navigation device 200 through the data interface, and the control command is used to instruct the GNSS integrated navigation device 200 to return positioning information , the control chip 104 converts the positioning information into a standard data format and sends it to the smart mobile device controller 300 , so that the smart mobile device controller 300 performs smart action control based on the converted positioning information.

Among them, the GNSS integrated navigation device is a precision GNSS receiver installed on the intelligent mobile device, which integrates the gyroscope and accelerometer of the inertial navigation. The attitude, etc. and the errors of the inertial devices are re-adjusted and corrected to improve the accuracy and reliability of the positioning. Among them, intelligent mobile devices include but are not limited to unmanned vehicles, drones, and intelligent driving robots.

The intelligent driving controller 300 runs an intelligent driving control algorithm, and performs intelligent driving control on the intelligent driving device based on the obtained positioning information.

The GNSS integrated navigation device 200 can be accessed through the data interface 102 of the GNSS integrated navigation-based adapter 100 . The data interface 102 is connected to the control chip 104, the control chip 104 runs the GNSS integrated navigation system hardware device driver, and sends a control instruction to the GNSS integrated navigation device 200 through the data interface 102, and the control instruction is used to indicate the GNSS integrated navigation system. The integrated navigation device 200 returns positioning information. That is, the control chip 104 drives the GNSS integrated navigation device 200 to perform positioning, and the GNSS integrated navigation device 200 sends positioning information to the control chip 104 through the data interface 102 .

Specifically, the control chip converts the positioning information into a standard data format and sends it to the intelligent mobile device controller, so that the intelligent mobile device controller performs intelligent action control based on the converted positioning information.

Compared with the solution in which the GNSS integrated navigation device is directly connected with the intelligent mobile device, the adapter 100 of the GNSS integrated navigation is used as a bridge for the connection between the two, and the positioning information received by the GNSS integrated navigation device is processed into a standard data format. It can be connected to different types of GNSS integrated navigation devices, without hardware interface adaptation in the intelligent mobile device controller, and can adapt to various types of GNSS devices.

The above-mentioned adapter based on GNSS integrated navigation is provided with a data interface and a control chip, and is connected to the GNSS integrated navigation device through the data interface. The control chip can realize the control of the GNSS integrated navigation device, obtain positioning information, and convert the positioning information into a standard The data format is sent to the smart mobile device controller, so that the smart mobile device controller performs smart action control based on the converted positioning information. The adapter of GNSS integrated navigation is used as the bridge connecting the GNSS integrated navigation device and the intelligent mobile device. On the one hand, through the unified data interface and data format conversion, the control chip can uniformly process the data information of different GNSS integrated navigation devices into standardized data type, so that the intelligent mobile device can be compatible with different GNSS integrated navigation devices. On the other hand, the adapter of GNSS integrated navigation plays the role of isolating the GNSS integrated navigation device and the intelligent mobile device controller, which improves the reliability of the system.

As shown in FIG. 2 , the GNSS-based integrated navigation adapter 100 further includes a wireless communication module 106 connected to the control chip 104 for communicating with the RTK server 400 , and the control chip 104 communicates with the RTK server 400 , Obtain the differential data of the RTK server 400; the control chip 102 sends the differential data to the GNSS integrated navigation device 200, and the differential data is used to realize positioning.

In practical applications, there are errors in conventional satellite positioning signals. By combining the RTK (real-time dynamic positioning) extended function, the large positioning error of the GNSS receiver can be reduced from about ±1 meter to about ±2 cm.

Specifically, the GNSS-based integrated navigation adapter 100 is further provided with a wireless communication module 106 , which acquires differential data of the RTK server 400 by communicating with the RTK server 400 . The control chip 104 sends differential data to the GNSS integrated navigation device 200, and the GNSS integrated navigation device 200 can reduce the large positioning error of the GNSS receiver from about ±1 meter to about ±2 cm according to the differential data, so as to achieve precise positioning.

In another embodiment, the adapter 102 based on GNSS integrated navigation includes at least two types of the data interfaces, so that the hardware interface differences of different GNSS devices are unified, and the automatic driving system is developed with high efficiency.

Specifically, the data interface includes at least any two of RS422 interface, RS232 interface, CAN interface, Ethernet interface and USB interface. Therefore, the adapter 102 based on GNSS integrated navigation can be suitable for GNSS integrated navigation devices with at least any two different types of interfaces. In practical applications, the data interfaces may include RS422 interfaces, RS232 interfaces, CAN interfaces, Ethernet interfaces and USB interfaces, and the GNSS integrated navigation-based adapter 102 can be suitable for GNSS integrated navigation devices with these types of interfaces.

Specifically, after acquiring the positioning information of the GNSS integrated navigation device received through the corresponding data interface, the control chip 104 converts the positioning information into a standard data format and sends it to the smart mobile device controller, so that the smart mobile device controller can access the and identify various types of GNSS integrated navigation equipment.

As shown in Figure 3, a positioning system of GNSS integrated navigation is provided, which is characterized in that, it includes:

GNSS integrated navigation equipment 200;

A GNSS integrated navigation adapter 100 provided with a data interface 102 and a control chip 104, the adapter 100 is connected to the GNSS integrated navigation device 200 through the data interface 102, and the GNSS integrated navigation device 200 communicates with the control chip 104, The control chip 104 sends a control command to the GNSS integrated navigation device 200 through the data interface 102, and the control command is used to instruct the GNSS integrated navigation device 200 to return positioning information, and the control chip 104 sends the positioning information to the integrated navigation device 200. The information is converted into a standard data format and sent to the smart mobile device controller 300 .

The intelligent mobile device controller 300 in communication with the control chip 104 is configured to receive the positioning information converted into a standard data format sent by the control chip 104, and perform intelligent mobile control based on the converted positioning information.

Specifically, the control chip converts the positioning information into a standard data format and sends it to the smart mobile device controller, so that the smart mobile device controller performs smart action control based on the converted positioning information.

The above-mentioned positioning system based on GNSS integrated navigation is provided with a data interface and a control chip based on GNSS integrated navigation, and is connected to the GNSS integrated navigation device through the data interface, and the control chip can realize the control of the GNSS integrated navigation device, obtain positioning information, and The positioning information is converted into a standard data format and sent to the smart mobile device controller, so that the smart mobile device controller performs smart action control based on the converted positioning information. The adapter of GNSS integrated navigation is used as the bridge connecting the GNSS integrated navigation device and the intelligent mobile device. On the one hand, through the unified data interface and data format conversion, the control chip can uniformly process the data information of different GNSS integrated navigation devices into standardized data type, so that the intelligent mobile device can be compatible with different GNSS integrated navigation devices. On the other hand, the adapter of GNSS integrated navigation plays the role of isolating the GNSS integrated navigation device and the intelligent mobile device controller, which improves the reliability of the system.

In another embodiment, as shown in FIG. 4 , the adapter 100 further includes: a wireless communication module 106 connected to the control chip. The positioning system further includes: an RTK server 400 that communicates with the control chip 104 through the wireless communication module 106, and the control chip 104 obtains differential data of the RTK server 400 by communicating with the RTK server 400; The control chip 104 sends differential data to the GNSS integrated navigation device 200, and the differential data is used to realize positioning.

Specifically, the GNSS-based integrated navigation adapter 100 is further provided with a wireless communication module 106 , which acquires differential data of the RTK server 400 by communicating with the RTK server 400 . The control chip 104 sends differential data to the GNSS integrated navigation device 200, and the GNSS integrated navigation device 200 can reduce the large positioning error of the GNSS receiver from about ±1 meter to about ±2 cm according to the differential data to achieve precise positioning.

As shown in FIG. 5 , a positioning processing method based on GNSS integrated navigation is provided, which is applied to the control chip of the adapter based on GNSS integrated navigation as shown in FIGS. 1 to 4 . Specifically, the method includes:

Step 502, access the GNSS integrated navigation device.

Step 504: Send a control instruction to the GNSS integrated navigation device, where the control instruction is used to instruct the GNSS integrated navigation device to return positioning information.

Step 506: Receive the positioning information returned by the GNSS integrated navigation device.

Step 508: Convert the positioning information into a standard data format and send it to the smart mobile device, so that the smart mobile device performs smart action control based on the converted positioning information.

The above-mentioned positioning processing method based on GNSS integrated navigation, by accessing the GNSS integrated navigation device, the control chip can realize the control of the GNSS integrated navigation device, obtain positioning information, and convert the positioning information into a standard data format and send it to the intelligent mobile device for control. The controller enables the intelligent mobile device controller to perform intelligent mobile control based on the converted positioning information. The adapter of GNSS integrated navigation is used as the bridge connecting the GNSS integrated navigation device and the intelligent mobile device. On the one hand, through the unified data interface and data format conversion, the control chip can uniformly process the data information of different GNSS integrated navigation devices into standardized data type, so that the intelligent mobile device can be compatible with different GNSS integrated navigation devices. On the other hand, the adapter of GNSS integrated navigation plays the role of isolating the GNSS integrated navigation device and the intelligent mobile device controller, which improves the reliability of the system.

In another embodiment, the positioning processing method based on GNSS integrated navigation further includes: communicating with an RTK server to obtain differential data of the RTK server; sending differential data to the GNSS integrated navigation device, where the differential data is used for achieve positioning.

Wherein, the data interface includes at least any two of RS422 interface, RS232 interface, CAN interface, Ethernet interface and USB interface. Therefore, the adapter 102 based on GNSS integrated navigation can be suitable for GNSS integrated navigation devices with at least any two different types of interfaces. In practical applications, the data interfaces may include RS422 interfaces, RS232 interfaces, CAN interfaces, Ethernet interfaces and USB interfaces, and the GNSS integrated navigation-based adapter 102 can be suitable for GNSS integrated navigation devices with these types of interfaces.

It should be understood that, although the steps in the flowcharts of the above embodiments are sequentially displayed in accordance with the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order in the execution of these steps, and these steps may be performed in other orders. Moreover, at least a part of the steps of the above implementation names may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but may be executed at different times. The order of execution is also not necessarily sequential, but may be performed alternately or alternately with other steps or sub-steps of other steps or at least a portion of a phase.

As shown in Figure 6, a positioning processing device based on GNSS integrated navigation is provided, including:

an access module 602, configured to access a GNSS integrated navigation device;

a control sending module 604, configured to send a control instruction to the GNSS integrated navigation device, where the control instruction is used to instruct the GNSS integrated navigation device to return positioning information;

a positioning receiving module 606, configured to receive the positioning information returned by the GNSS integrated navigation device;

The positioning sending module 608 is configured to convert the positioning information into a standard data format and send it to the smart mobile device, so that the smart mobile device performs smart action control based on the converted positioning information.

The above-mentioned positioning processing device based on GNSS integrated navigation, by accessing the GNSS integrated navigation device, the control chip can realize the control of the GNSS integrated navigation device, obtain the positioning information, and convert the positioning information into a standard data format and send it to the intelligent mobile device for control. The controller enables the intelligent mobile device controller to perform intelligent mobile control based on the converted positioning information. The adapter of GNSS integrated navigation is used as the bridge connecting the GNSS integrated navigation device and the intelligent mobile device. On the one hand, through the unified data interface and data format conversion, the control chip can uniformly process the data information of different GNSS integrated navigation devices into standardized data type, so that the intelligent mobile device can be compatible with different GNSS integrated navigation devices. On the other hand, the adapter of GNSS integrated navigation plays the role of isolating the GNSS integrated navigation device and the intelligent mobile device controller, which improves the reliability of the system.

In another embodiment, the positioning processing apparatus based on GNSS integrated navigation further includes:

The communication module is used for communicating with the RTK server to obtain differential data of the RTK server.

A differential information sending module, configured to send differential data to the GNSS integrated navigation device, where the differential data is used to realize positioning.

For the specific limitation of the positioning processing apparatus based on the GNSS integrated navigation, reference may be made to the definition of the positioning processing method based on the GNSS integrated navigation above, which will not be repeated here. Each module in the above-mentioned GNSS integrated navigation-based positioning processing device may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

The present application also provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, causes the processor to perform the following steps:

Access to GNSS integrated navigation equipment;

In one embodiment, the computer program further implements the following steps when executed by the processor:

Communicate with the RTK server to obtain differential data of the RTK server;

Differential data is sent to the GNSS integrated navigation device, and the differential data is used to achieve positioning.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium , when the program is executed, it may include the flow of the above-mentioned method embodiments. Wherein, any reference to memory, storage, database or other medium used in the various embodiments provided in this application may include non-volatile and/or volatile memory. Nonvolatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Road (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features It is considered to be the range described in this specification.

The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are relatively specific and detailed, but should not be construed as a limitation on the scope of the patent of the present application. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the appended claims.

Claims

An adapter based on GNSS combined navigation, characterized in that it includes:

Data interface for accessing GNSS integrated navigation equipment,

A control chip connected to the data interface, the control chip sends a control command to the GNSS integrated navigation device through the data interface, and the control command is used to instruct the GNSS integrated navigation device to return positioning information, and the control The chip converts the positioning information into a standard data format and sends it to the smart mobile device controller, so that the smart mobile device controller performs smart action control based on the converted positioning information.
The adapter based on GNSS integrated navigation according to claim 1, wherein the adapter further comprises:

The wireless communication module connected with the control chip is used to communicate with the RTK server, and the control chip obtains the differential data of the RTK server by communicating with the RTK server; the control chip communicates with the GNSS integrated navigation device Differential data is sent, and the differential data is used to achieve positioning.
The adapter based on GNSS integrated navigation according to claim 1, wherein the adapter includes at least two types of the data interfaces.
The GNSS-based integrated navigation adapter according to claim 3, wherein the data interface comprises at least any two of an RS422 interface, an RS232 interface, a CAN interface, an Ethernet interface and a USB interface.
A positioning system based on GNSS integrated navigation, comprising:

GNSS integrated navigation equipment;

An adapter for GNSS integrated navigation provided with a data interface and a control chip, the adapter is connected to a GNSS integrated navigation device through the data interface, the GNSS integrated navigation device communicates with the control chip, and the control chip passes the data through the data interface. The interface sends a control command to the GNSS integrated navigation device, the control command is used to instruct the GNSS integrated navigation device to return positioning information, and the control chip converts the positioning information into a standard data format and sends it to the smart mobile device controller;

The intelligent mobile device controller in communication with the control chip is configured to receive the positioning information converted into a standard data format sent by the control chip, and perform intelligent motion control based on the converted positioning information.
The positioning system based on GNSS integrated navigation according to claim 5, is characterized in that, described adapter also comprises: the wireless communication module that is connected with described control chip;

The positioning system further includes: an RTK server that communicates with the control chip through the wireless communication module, and the control chip obtains differential data of the RTK server by communicating with the RTK server; The GNSS integrated navigation device sends differential data, and the differential data is used to achieve positioning.
The positioning system based on GNSS integrated navigation according to claim 5, wherein the adapter includes at least two types of the data interfaces.
The positioning system based on GNSS integrated navigation according to claim 7, wherein the data interface includes at least any two of RS422 interface, RS232 interface, CAN interface, Ethernet interface and USB interface.
A positioning processing method based on GNSS integrated navigation, characterized in that the method comprises:

Access to GNSS integrated navigation equipment;

Sending a control instruction to the GNSS integrated navigation device, where the control instruction is used to instruct the GNSS integrated navigation device to return positioning information;

receiving the positioning information returned by the GNSS integrated navigation device;

The positioning information is converted into a standard data format and sent to a smart mobile device, so that the smart mobile device performs smart action control based on the converted positioning information.
The positioning processing method based on GNSS integrated navigation according to claim 9, wherein the method further comprises:

Communicate with the RTK server to obtain differential data of the RTK server;

Differential data is sent to the GNSS integrated navigation device, and the differential data is used to achieve positioning.
A positioning processing device based on GNSS integrated navigation, comprising:

Access module, used to access GNSS integrated navigation equipment;

a control sending module, configured to send a control instruction to the GNSS integrated navigation device, where the control instruction is used to instruct the GNSS integrated navigation device to return positioning information;

a positioning receiving module, configured to receive the positioning information returned by the GNSS integrated navigation device;

The positioning sending module is configured to convert the positioning information into a standard data format and send it to the intelligent mobile device, so that the intelligent mobile device performs intelligent action control based on the converted positioning information.
A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of the method according to any one of claims 9 to 10.