CN105300395A - Navigation and positioning method and device - Google Patents
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Abstract
The invention relates to the technical field of electronic navigation, in particular to a navigation and positioning method and device which are used for solving the problems that the positioning accuracy is low and even positioning failure occurs caused by the fact a GPS receiver of a vehicle in prior art can not normally receive a satellite signal. The navigation and positioning method provided the embodiment of the invention comprises the following steps: obtaining a current vehicle running speed detected by an OBD (on-board diagnostic) system; according to the obtained current vehicle running speed and the time interval of current time and former navigation and positioning time, determining a running distance of the vehicle in the time interval; obtaining the current vehicle running direction; according to the current vehicle running direction and the determined running distance, determining displacement information of the vehicle in the time interval; according to the displacement information, and the vehicle position information obtained by former positioning, determining current vehicle navigation position prediction information.
Description
Technical Field
The invention relates to the technical field of electronic navigation, in particular to a navigation positioning method and a navigation positioning device.
Background
The Global Positioning System (GPS) is the second generation satellite navigation system in the united states. Because the navigation positioning technology of the GPS can provide high-precision, low-cost positioning and navigation information for users in real time in the global range, the GPS system has become the most widely applied and most practical global navigation positioning system in the world at present.
At present, the GPS navigation positioning technology is also a navigation positioning technology commonly used in vehicle driving. At any time, any target on the earth, which is provided with a GPS receiver, can know the longitude and latitude coordinates, the running speed and the like of the target through a GPS positioning system, so that the vehicle can also know the position, the running speed and the running direction of the vehicle by arranging the vehicle-mounted GPS receiver on the vehicle. However, the positioning accuracy of the vehicle-mounted GPS receiver is generally affected by the satellite signal condition of the GPS system and the road environment; for example, when the vehicle travels in a tunnel, near a high-rise building, or the like, the GPS satellite signal cannot be normally received. Therefore, under the current urban traffic conditions of more and more buildings and bridge culverts, the positioning error or positioning failure caused by the shielding or shielding of the satellite signals of the GPS system becomes more and more serious, and becomes a bottleneck for further providing high-quality positioning navigation service in the future.
In summary, during the driving process of the vehicle, the vehicle-mounted GPS receiver often fails to receive the GPS satellite signal normally, which results in low positioning accuracy and even failure of positioning.
Disclosure of Invention
The embodiment of the invention provides a navigation positioning method and a navigation positioning device, which are used for solving the problems that a GPS receiver of a vehicle in the prior art often cannot normally receive satellite signals, so that the positioning precision is low, and even the positioning fails.
The navigation positioning method provided by the embodiment of the invention comprises the following steps:
acquiring the current running speed of a vehicle detected by an on-board diagnostic system (OBD);
determining the running distance of the vehicle in the time interval according to the acquired current running speed of the vehicle and the time interval between the current time and the time of the previous navigation positioning;
acquiring the current driving direction of the vehicle;
determining displacement information of the vehicle in the time interval according to the current driving direction of the vehicle and the determined driving distance;
and determining the current dead reckoning position information of the vehicle according to the displacement information and the position information of the vehicle obtained by the previous positioning.
Optionally, after determining the current dead reckoning position information of the vehicle, the method further includes:
and acquiring the current GPS position information and the current GPS speed information of the vehicle, and if the current GPS position information and the current GPS speed information of the vehicle are acquired, correcting the determined dead reckoning position information according to the GPS position information and the GPS speed information to determine the current combined navigation position information of the vehicle.
Optionally, the determining, according to the GPS position information and the GPS speed information, the dead reckoning position information by correcting the determined dead reckoning position information, and determining the current combined navigation position information of the vehicle includes:
inputting the acquired GPS position information, GPS speed information, dead reckoning position information, the current running speed of the vehicle and the current running direction of the vehicle into a Kalman kalman filter established by taking a measurement equation and a system error equation as a model;
and correcting the dead reckoning position information according to the error information aiming at the dead reckoning position information and output by the established kalman filter, and determining the corrected combined navigation position information.
Optionally, the acquiring the current running speed of the vehicle detected by the on-board diagnostic system OBD includes:
sending a request message for acquiring the current running speed of the vehicle to an automobile diagnosis terminal;
and receiving the current running speed of the vehicle from the OBD, which is acquired by the automobile diagnosis terminal according to the request message.
Optionally, the obtaining the current driving direction of the vehicle specifically includes:
determining the angular increment of the vehicle in the time interval according to the angular speed of the vehicle in the time interval measured by the vehicle-mounted gyroscope;
and determining the current driving direction of the vehicle according to the determined angle increment and the driving direction of the vehicle stored after the previous navigation positioning.
Optionally, determining an angular increment of the vehicle in the time interval according to the angular velocity of the vehicle in the time interval measured by the vehicle-mounted gyroscope includes:
measuring each angular velocity of the vehicle in the time interval according to a preset measuring period by a vehicle-mounted gyroscope, wherein the time interval is greater than the measuring period;
determining the product of the angular speed measured in each measurement period in the time interval and the duration of the measurement period as the angular increment in each measurement period, and determining the sum of the angular increments of the vehicle in each measurement period as the angular increment of the vehicle in the time interval; or averaging the angular speeds of the vehicle measured in each measuring period, and determining the product of the average value and the time interval as the angular increment of the vehicle in the time interval.
Optionally, determining displacement information of the vehicle in the time interval according to the current driving direction of the vehicle and the determined driving distance, including:
determining the longitude displacement of the driving distance on a longitude coordinate axis and the latitude displacement on a latitude coordinate axis in a geographic coordinate system according to the current driving direction of the vehicle and the driving distance;
determining the current dead reckoning position information of the vehicle according to the displacement information and the position information of the vehicle obtained by previous positioning, specifically comprising:
determining a sum of the longitude coordinate and the longitude displacement in the position information of the vehicle obtained by the previous positioning as the longitude coordinate of the current dead reckoning position information, and determining a sum of the latitude coordinate and the latitude displacement in the position information of the vehicle obtained by the previous positioning as the latitude coordinate of the dead reckoning position information.
The embodiment of the invention provides a navigation positioning device, which comprises:
the vehicle-mounted diagnosis system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the current running speed of a vehicle detected by a vehicle-mounted diagnosis system OBD;
the first determining module is used for determining the running distance of the vehicle in the time interval according to the current running speed of the vehicle acquired by the first acquiring module and the time interval between the current time and the time of the previous navigation positioning;
the second acquisition module is used for acquiring the current driving direction of the vehicle;
the second determining module is used for determining the displacement information of the vehicle in the time interval according to the current driving direction of the vehicle acquired by the second acquiring module and the determined driving distance;
and the third determining module is used for determining the current dead reckoning position information of the vehicle according to the displacement information and the position information of the vehicle obtained by the previous positioning.
Another embodiment of the present invention provides a navigation positioning apparatus, including: an automotive diagnostic terminal and processor; wherein,
the automobile diagnosis terminal is used for acquiring the current running speed of the automobile detected by the on-board diagnosis system OBD;
the processor is used for determining the running distance of the vehicle in the time interval according to the current running speed of the vehicle obtained by the automobile diagnosis terminal and the time interval between the current time and the time of the previous navigation positioning; acquiring the current driving direction of the vehicle; determining displacement information of the vehicle in the time interval according to the current driving direction of the vehicle and the determined driving distance; and determining the current dead reckoning position information of the vehicle according to the displacement information and the position information of the vehicle obtained by the previous positioning.
According to the embodiment of the invention, the speed information of the vehicle is acquired through the OBD to carry out dead reckoning, so that the position of the vehicle can be determined through dead reckoning when a GPS receiver on the vehicle cannot normally receive satellite signals.
Drawings
Fig. 1 is a flowchart of a navigation positioning method according to an embodiment of the present invention;
FIG. 1A is a diagram illustrating offset information for calculating a distance traveled according to an embodiment of the present invention;
FIG. 2 is a flowchart of a navigation positioning method according to a second embodiment of the present invention;
FIG. 3 is a schematic diagram of various signal trends for navigation and positioning corresponding to the embodiment;
FIG. 4 is a schematic structural diagram of a navigation positioning apparatus according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of a navigation and positioning device according to a fourth embodiment of the present invention.
Detailed Description
According to the embodiment of the invention, the current running speed of the vehicle is obtained through an On-board diagnostic (OBD) system, the running displacement information of the vehicle in the time interval between the current time and the time of the previous navigation positioning is determined according to the current running speed and the current running direction of the vehicle, and the current dead reckoning position information of the vehicle is determined by combining the position information of the vehicle obtained by the previous navigation positioning. The navigation and positioning method through dead reckoning can ensure that the position information of the vehicle can still be determined when the GPS receiver on the vehicle cannot normally receive the satellite signal.
In the embodiment of the invention, the OBD is used for acquiring the running speed of the vehicle, and a special vehicle speed measuring device is not required to be installed for navigation positioning, so that the inconvenience caused by operations such as wire breaking and the like on the vehicle is avoided. In specific implementation, the OBD interface can be used to supply power to the device for navigation and positioning according to the embodiment of the present invention.
In an optional embodiment of the present invention, in order to further improve the accuracy of the position information obtained by dead reckoning, after the GPS position information and the GPS speed information are acquired, the dead reckoning position information is corrected by using the GPS position information and the GPS speed information, so as to obtain combined navigation position information with high accuracy.
The embodiments of the present invention will be described in further detail with reference to the drawings attached hereto.
As shown in fig. 1, a flowchart of a navigation positioning method provided in an embodiment of the present invention includes the following steps:
s101: acquiring the current running speed of the vehicle detected by the OBD;
in a specific implementation, each vehicle on which the OBD is installed has a data connection port (DLC), that is, an OBD interface, and an OBD connector of the automotive diagnostic terminal can be inserted into the DLC to acquire vehicle speed information transmitted to the bus by the OBD.
Specifically, acquiring the current running speed of the vehicle detected by the OBD comprises the following steps:
sending a request message for acquiring the current running speed of the vehicle to an automobile diagnosis terminal;
and receiving the current running speed of the vehicle from the OBD, which is acquired by the automobile diagnosis terminal according to the request message.
In the specific implementation process, if a special vehicle speed measuring device (such as an odometer, an accelerometer and the like specially used for providing vehicle speed for a navigation positioning system) is installed for navigation positioning, the vehicle needs to be additionally installed, wired and broken, so that the vehicle body structure is damaged, and the implementation complexity is increased. According to the embodiment of the invention, the current running speed of the vehicle detected by the vehicle OBD is acquired through the automobile diagnosis terminal, and a special vehicle speed measuring device does not need to be installed for navigation positioning. In a specific implementation process, the OBD can be used for acquiring the running speed of the vehicle, and an OBD interface can be used for supplying power to the device for navigation and positioning in the embodiment of the invention. In the specific implementation process, the automobile diagnosis terminal can also be set to automatically acquire the current running speed of the vehicle detected by the vehicle OBD according to the set period for navigation and positioning.
S102: determining the running distance of the vehicle in the time interval according to the acquired current running speed of the vehicle and the time interval between the current time and the time of the previous navigation positioning;
in this step, after the current running speed of the vehicle is obtained, the obtained current running speed of the vehicle may be corrected by a digital filtering method, and the corrected current running speed of the vehicle is time-integrated, that is, the corrected current running speed of the vehicle is multiplied by the time interval, so as to obtain the running distance of the vehicle in the time interval.
In a specific implementation process, the current running speed of the vehicle can be periodically acquired for navigation positioning, and the time interval is the period for navigation positioning.
S103: and acquiring the current driving direction of the vehicle.
In a specific implementation, the current driving direction of the vehicle in S103 may be obtained according to the following steps:
determining the angular increment of the vehicle in the time interval according to the angular speed of the vehicle in the time interval measured by a vehicle-mounted gyroscope on the vehicle;
and determining the current driving direction of the vehicle according to the determined angle increment and the driving direction of the vehicle stored after the previous navigation positioning.
In the specific implementation process, the angular velocity of the vehicle can be measured through the vehicle-mounted gyroscope, the measured angular velocity is subjected to zero correction firstly, and then the angular velocity after the zero correction is further corrected in a digital filtering mode. In practical implementation, the period for performing the dead reckoning navigation positioning is generally 100ms, so the time interval is the dead reckoning navigation positioning period. Since the cycle in which the vehicle-mounted gyroscope measures the angular velocity is generally 10ms once, a plurality of angular velocities measured by the vehicle-mounted gyroscope may be obtained within the time interval, and when determining the angular increment of the vehicle within the time interval, the angular increment of the vehicle within the time interval may be determined based on the measurement cycle of the vehicle-mounted gyroscope and the plurality of measured angular velocities. The determination of the angular increment of the vehicle in the time interval according to the angular velocity of the vehicle in the time interval measured by the vehicle-mounted gyroscope may specifically be obtained by:
mode 1: and determining the angular increment of the vehicle in each measuring period according to each angular speed of the vehicle in the time interval measured by the vehicle-mounted gyroscope according to the measuring period, and determining the sum of the angular increments of the vehicle in each measuring period as the angular increment of the vehicle in the time interval.
In the specific implementation process, the frequency of the output angular velocity of the vehicle-mounted gyroscope and the frequency of the positioning navigation can be kept consistent or inconsistent. Generally, the frequency of the angular velocity output by the vehicle-mounted gyroscope is greater than the frequency of the positioning navigation, and at this time, in one navigation positioning period (i.e., the aforementioned time interval), a plurality of angular velocities are output by the vehicle-mounted gyroscope, and each angular velocity may be subjected to time integration, that is, each angular velocity is multiplied by the measurement period of the vehicle-mounted gyroscope to obtain an angular increment corresponding to each angular velocity, and the angular increments corresponding to each angular velocity are added and summed to obtain the angular increment of the vehicle in the time interval.
For example, if n angular velocities (w, respectively) measured by the vehicle-mounted gyroscope are obtained within the time interval1、w2、……、wn) Can be calculated according to the formula θ ═ w1t+w2t+…+wnt, determining an angular increment θ of the vehicle over the time interval; wherein t is the measurement period of the vehicle-mounted gyroscope, wit represents angular velocity wiThe product of t.
Mode 2: measuring each angular velocity of the vehicle in the time interval according to a preset measuring period by a vehicle-mounted gyroscope; and averaging the angular speeds of the vehicle measured in each measuring period, and determining the product of the average value and the time interval as the angular increment of the vehicle in the time interval.
If n angular velocities (w respectively) measured by the vehicle-mounted gyroscope are obtained in the time interval1、w2、……、wn) According to the formulaDetermining an angular increment θ of the vehicle over the time interval, where T is the time interval.
And finally, obtaining the current driving direction of the vehicle according to the angle increment of the vehicle in the time interval and the driving direction of the vehicle stored after the previous navigation positioning. For example, the driving direction of the vehicle saved after the previous navigation positioning is 30 ° north and east under the geographic coordinate system, the obtained angular increment of the vehicle in the time interval is 30 ° clockwise under the geographic coordinate system, and the current driving direction of the vehicle is determined to be 60 ° north and east.
S104: determining displacement information of the vehicle in the time interval according to the current driving direction of the vehicle and the determined driving distance;
in the step, the displacement information of the vehicle in the time interval is determined according to the following steps in combination with the step S104: determining the longitude displacement of the driving distance on a longitude coordinate axis and the latitude displacement on a latitude coordinate axis in a geographic coordinate system according to the current driving direction of the vehicle and the driving distance; in the geographic coordinate system, the earth equator is taken as the east-west line (corresponding to the x-axis), the original meridian is taken as the north-south line (corresponding to the y-axis), and the intersection point of the equator and the original meridian is taken as the origin 0.
S105: and determining the current dead reckoning position information of the vehicle according to the displacement information and the position information of the vehicle obtained by the previous positioning.
S105 is specifically realized as follows: determining a sum of the longitude coordinate and the longitude displacement in the position information of the vehicle obtained by the previous positioning as the longitude coordinate of the current dead reckoning position information, and determining a sum of the latitude coordinate and the latitude displacement in the position information of the vehicle obtained by the previous positioning as the latitude coordinate of the dead reckoning position information.
As shown in fig. 1A, assuming that longitude and latitude coordinates of a position point a of the vehicle obtained by the previous positioning are (x1, y1), a traveling direction of the vehicle at the previous time is 30 ° north, a current position point of the vehicle is B, a current traveling direction of the vehicle is 60 ° north, and a traveling distance in a time interval is L, the traveling distance in the time interval can be assumed to be a straight distance due to the short time interval, and a longitude displacement amount of the traveling distance L on a coordinate axis of latitude (y axis) in a geographic coordinate system is Δ y Lcos60, a longitude displacement amount of the traveling distance L on a coordinate axis of latitude (x axis) in the geographic coordinate system is Δ x lsn 60, and longitude and latitude coordinates of the position point B are (x1+ lsn 60 °, y1+ Lcos60 °).
In order to further improve the accuracy of the position information obtained by dead reckoning, the dead reckoning position information may be corrected by using GPS information, and the following is specifically described:
in a specific implementation, in order to further improve the accuracy of positioning, after the step S105, the method may further include:
and acquiring the current GPS position information and the current GPS speed information of the vehicle, and if the current GPS position information and the current GPS speed information of the vehicle are acquired, correcting the determined dead reckoning position information according to the GPS position information and the GPS speed information to determine the current combined navigation position information of the vehicle.
In this embodiment, the position information obtained by the dead reckoning, the current traveling direction of the vehicle, and the current traveling speed of the vehicle are corrected using the GPS position information and the GPS speed information obtained by the GPS navigation positioning. It should be noted that the frequency of the navigation and positioning by dead reckoning mainly depends on the frequency of acquiring the vehicle speed. The frequency of the navigation positioning by the dead reckoning may be 10Hz, 50Hz, 100Hz, or the like, and the frequency of the GPS system outputting the GPS information (including the GPS position information and the GPS speed information) is low (typically 1 Hz). Therefore, the above-described integrated navigation computation is not performed every time a result of dead reckoning is determined, and only a result of dead reckoning among results of dead reckoning may be used for integrated navigation computation with GPS information. For example, if the current GPS information of the vehicle is obtained simultaneously with the 10 th dead reckoning, the 10 th dead reckoning position information, the current traveling direction of the vehicle, and the current traveling speed of the vehicle are corrected using the GPS information.
The process of correcting the dead reckoning position information by using the GPS information output by the GPS system specifically comprises the following steps:
inputting the acquired GPS position information, GPS speed information, dead reckoning position information, current vehicle running speed and current vehicle running direction into a Kalman kalman filter established by taking a measurement equation and a system error equation as models;
and correcting the dead reckoning position information according to the error information aiming at the dead reckoning position information and output by the established kalman filter, and determining the corrected combined navigation position information.
In the specific implementation process, a kalman filter with a measurement equation and a system error equation as models is established. Inputting the obtained GPS position information, the GPS speed information, the dead reckoning position information obtained during dead reckoning and the vehicle running speed into a measurement equation of a kalman filter, and inputting the dead reckoning position information obtained during dead reckoning, the current running direction of the vehicle and the current running direction of the vehicle into a system error equation of the kalman filter. In this way, the kalman filter performs filtering fusion on the input information to determine error information respectively aiming at the dead reckoning position information, the current running direction of the vehicle and the current running direction of the vehicle, corrects the dead reckoning result (including the dead reckoning position information, the current speed information of the vehicle and the current running direction of the vehicle) by using the determined error information to obtain corrected combined navigation position information, combined navigation speed information and combined navigation direction information, and takes the corrected position, speed and direction as the actual position, speed and direction of the vehicle after the current navigation positioning.
The following further describes the flow of the navigation positioning method according to an embodiment of the present invention with a specific embodiment.
Fig. 2 is a flowchart of a navigation positioning method according to a second embodiment of the present invention, and fig. 3 is a schematic diagram of various signal trends for navigation positioning corresponding to the second embodiment; the method flow of the second embodiment comprises the following steps:
s201: the method comprises the steps of obtaining the current running speed of a vehicle detected by the OBD, correcting the obtained current running speed of the vehicle in a digital filtering mode, and multiplying the corrected speed and the current time by the time interval of the time of the previous navigation positioning to obtain the running distance of the vehicle in the time interval.
S202: and determining the angular increment of the vehicle in the time interval according to the angular speed of the vehicle in the time interval measured by the vehicle-mounted gyroscope, and determining the current driving direction of the vehicle according to the determined angular increment and the driving direction of the vehicle stored after the previous navigation positioning.
S203: and determining displacement information of the vehicle in the time interval according to the running distance determined in the S201 and the current running direction of the vehicle determined in the S202.
S204: and determining the current dead reckoning position information of the vehicle according to the determined displacement information of the vehicle and the position information of the vehicle obtained by the previous positioning.
S205: after receiving GPS position information and GPS speed information output by a GPS system, inputting the received GPS position information, GPS speed information, dead reckoning position information, the current running speed of the vehicle and the current running direction of the vehicle into a kalman filter established by taking a measurement equation and a system error equation as models.
S206: correcting the dead reckoning position information according to the error information aiming at the dead reckoning position information and output by the kalman filter, and determining combined navigation position information; correcting the current running speed of the vehicle according to the error information aiming at the current running speed of the vehicle output by the kalman filter, and determining the combined navigation speed information; and correcting the current driving direction of the vehicle according to the error information aiming at the current driving direction of the vehicle output by the kalman filter, and determining the combined navigation direction information.
Based on the same inventive concept, the embodiment of the present invention further provides a navigation positioning apparatus corresponding to the navigation positioning method, and as the principle of the apparatus for solving the problem is similar to the navigation positioning method of the embodiment of the present invention, the implementation of the apparatus can refer to the implementation of the method, and repeated details are not repeated.
As shown in fig. 4, a schematic structural diagram of a navigation positioning apparatus according to a third embodiment of the present invention includes:
a first obtaining module 41, configured to obtain a current running speed of the vehicle detected by an on-board diagnostic system OBD;
a first determining module 42, configured to determine a driving distance of the vehicle within a time interval according to the current driving speed of the vehicle acquired by the first acquiring module 41 and the time interval between the current time and the time of the previous navigation positioning;
a second obtaining module 43, configured to obtain a current driving direction of the vehicle;
a second determining module 44, configured to determine, according to the current driving direction of the vehicle obtained by the second obtaining module 43 and the determined driving distance, displacement information of the vehicle in the time interval;
and a third determining module 45, configured to determine current dead reckoning position information of the vehicle according to the displacement information and the position information of the vehicle obtained in the previous positioning.
Optionally, the apparatus further comprises:
a third obtaining module 46, configured to obtain current GPS position information and GPS speed information of the vehicle;
a fourth determining module 47, configured to, if the third obtaining module 46 obtains the current GPS location information and the GPS speed information of the vehicle, correct the determined dead reckoning location information according to the GPS location information and the GPS speed information, and determine the current combined navigation location information of the vehicle.
Optionally, the fourth determining module 47 is specifically configured to: inputting the acquired GPS position information, GPS speed information, dead reckoning position information, the current running speed of the vehicle and the current running direction of the vehicle into a Kalman kalman filter established by taking a measurement equation and a system error equation as a model; and correcting the dead reckoning position information according to the error information aiming at the dead reckoning position information and output by the established kalman filter, and determining the corrected combined navigation position information.
Optionally, the first obtaining module 41 is specifically configured to: sending a request message for acquiring the current running speed of the vehicle to an automobile diagnosis terminal; and receiving the current running speed of the vehicle from the OBD, which is acquired by the automobile diagnosis terminal according to the request message.
Optionally, the second obtaining module 43 is specifically configured to: determining the angular increment of the vehicle in the time interval according to the angular speed of the vehicle in the time interval measured by the vehicle-mounted gyroscope; and determining the current driving direction of the vehicle according to the determined angle increment and the driving direction of the vehicle stored after the previous navigation positioning.
Optionally, the second obtaining module 43 determines an angular increment of the vehicle in the time interval, and is specifically configured to: measuring each angular velocity of the vehicle in the time interval according to a preset measuring period by a vehicle-mounted gyroscope, wherein the time interval is greater than the measuring period; determining the product of the angular speed measured in each measurement period in a time interval and the duration of the measurement period as the angular increment in each measurement period, and determining the sum of the angular increments of the vehicle in each measurement period as the angular increment of the vehicle in the time interval; or averaging the angular speeds of the vehicle measured in each measuring period, and determining the product of the average value and the time interval as the angular increment of the vehicle in the time interval.
Optionally, the second determining module 44 is specifically configured to: determining the longitude displacement of the driving distance on a longitude coordinate axis and the latitude displacement on a latitude coordinate axis in a geographic coordinate system according to the current driving direction of the vehicle and the driving distance;
the third determining module 45 is specifically configured to: determining a sum of the longitude coordinate and the longitude displacement in the position information of the vehicle obtained by the previous positioning as the longitude coordinate of the current dead reckoning position information, and determining a sum of the latitude coordinate and the latitude displacement in the position information of the vehicle obtained by the previous positioning as the latitude coordinate of the dead reckoning position information.
As shown in fig. 5, a schematic structural diagram of a navigation positioning apparatus according to a fourth embodiment of the present invention includes: an automotive diagnostic terminal 51 and a processor 52; wherein,
the automobile diagnosis terminal 51 is configured to obtain a current driving speed of the vehicle detected by the on-board diagnosis system OBD;
the processor 52 is configured to determine a driving distance of the vehicle within a time interval according to the current driving speed of the vehicle obtained by the automobile diagnosis terminal 51 and the time interval between the current time and the time of the previous navigation positioning; acquiring the current driving direction of the vehicle; determining displacement information of the vehicle in the time interval according to the current driving direction of the vehicle and the determined driving distance; and determining the current dead reckoning position information of the vehicle according to the displacement information and the position information of the vehicle obtained by the previous positioning.
Optionally, the apparatus further comprises:
a global positioning system GPS receiver 53 for receiving GPS signals, determining current GPS position information and GPS velocity information of the vehicle based on the received GPS signals, and transmitting the determined GPS position information and GPS velocity information to the processor;
the processor 52 is further configured to correct the determined dead reckoning location information according to the GPS location information and the GPS speed information to determine a current combined navigation location information of the vehicle.
Optionally, the processor 52 corrects the determined dead reckoning position information according to the GPS position information and the GPS speed information, and determines the current combined navigation position information of the vehicle, which is specifically configured to: inputting the acquired GPS position information, GPS speed information, dead reckoning position information, the current running speed of the vehicle and the current running direction of the vehicle into a Kalman kalman filter established by taking a measurement equation and a system error equation as a model; and correcting the dead reckoning position information according to the error information aiming at the dead reckoning position information and output by the established kalman filter, and determining the corrected combined navigation position information.
Optionally, the processor 52 obtains a current running speed of the vehicle detected by the on-board diagnostic system OBD, and is specifically configured to: sending a request message for acquiring the current running speed of the vehicle to an automobile diagnosis terminal; and receiving the current running speed of the vehicle from the OBD, which is acquired by the automobile diagnosis terminal according to the request message.
Optionally, the apparatus further comprises:
an in-vehicle gyroscope 54 for measuring the angular velocity of vehicle travel and transmitting the measured angular velocity of vehicle travel to the processor;
the processor 52 obtains the current driving direction of the vehicle, and is specifically configured to: determining the angular increment of the vehicle in the time interval according to the angular speed of the vehicle in the time interval; and determining the current driving direction of the vehicle according to the determined angle increment and the driving direction of the vehicle stored after the previous navigation positioning.
Optionally, the processor 52 determines that the angular increment of the vehicle in the time interval is specifically used for: measuring each angular velocity of the vehicle in the time interval according to a preset measuring period by a vehicle-mounted gyroscope, wherein the time interval is greater than the measuring period; determining the product of the angular speed measured in each measurement period in a time interval and the duration of the measurement period as the angular increment in each measurement period, and determining the sum of the angular increments of the vehicle in each measurement period as the angular increment of the vehicle in the time interval; or averaging the angular speeds of the vehicle measured in each measuring period, and determining the product of the average value and the time interval as the angular increment of the vehicle in the time interval.
Optionally, the processor 52 determines displacement information of the vehicle in the time interval according to the current driving direction of the vehicle and the determined driving distance; determining the current dead reckoning position information of the vehicle according to the displacement information and the position information of the vehicle obtained by the previous positioning, and specifically: determining the longitude displacement of the driving distance on a longitude coordinate axis and the latitude displacement on a latitude coordinate axis in a geographic coordinate system according to the current driving direction of the vehicle and the driving distance; determining a sum of the longitude coordinate and the longitude displacement in the position information of the vehicle obtained by the previous positioning as the longitude coordinate of the current dead reckoning position information, and determining a sum of the latitude coordinate and the latitude displacement in the position information of the vehicle obtained by the previous positioning as the latitude coordinate of the dead reckoning position information.
In the above navigation positioning device, the processor 52 may specifically include two functional units, namely a Dead Reckoning (DR) module and a DR/GPS combined navigation module; the DR module is configured to determine dead reckoning position information of the vehicle according to a current running speed of the vehicle provided by the automobile diagnosis terminal 51 and an angular speed provided by the vehicle-mounted gyroscope 54, and the DR/GPS combined navigation module is configured to determine error information respectively corresponding to the dead reckoning position information, the current running speed of the vehicle, and the current running direction of the vehicle according to the GPS speed information and the GPS position information provided by the GPS receiver 53, and correct a dead reckoning result according to the determined error information to obtain combined navigation position information, combined navigation speed information, and combined navigation direction information.
The automobile diagnosis terminal 51 may specifically include: the system comprises an OBD connector, a data control unit, an analysis control unit and a wireless communication control unit, wherein the OBD connector is connected with a DLC of a vehicle, the data control unit is used for acquiring speed information of the vehicle, the analysis control unit is used for realizing handshaking with an automobile bus protocol and data analysis, and the wireless communication control unit is used for accessing a DR module and realizing information interaction. The wireless communication control unit may communicate with the DR module based on various communication network systems such as bluetooth, wireless compatibility authentication (WIFI), ZigBee (ZigBee), Ultra Wideband (UWB), infrared data standard protocol (IrDA), home radio frequency (HomeRF), infrared transmission technology, and the like.
Based on the above functional units, the working process of the automobile diagnosis terminal 51 is as follows: the wireless communication control unit receives a request message for acquiring speed information sent by a DR module of the processor, and then informs the request message to an analysis control unit, the analysis control unit sends a speed information request instruction to a data control unit, the data control unit acquires a speed signal transmitted to a bus by a wheel speed sensor of a vehicle through an OBD connector inserted into a data connection port (DLC) of the vehicle and transmits the acquired speed signal back to the analysis control unit, and the analysis control unit analyzes the current running speed of the vehicle according to the acquired speed signal and sends the analyzed current running speed of the vehicle to the DR module through a wireless communication control unit.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (21)
1. A navigation positioning method is characterized by comprising the following steps:
acquiring the current running speed of a vehicle detected by an on-board diagnostic system (OBD);
determining the running distance of the vehicle in the time interval according to the acquired current running speed of the vehicle and the time interval between the current time and the time of the previous navigation positioning;
acquiring the current driving direction of the vehicle;
determining displacement information of the vehicle in the time interval according to the current driving direction of the vehicle and the determined driving distance;
and determining the current dead reckoning position information of the vehicle according to the displacement information and the position information of the vehicle obtained by the previous positioning.
2. The method of claim 1, wherein after determining the current dead reckoning location information for the vehicle, further comprising:
and acquiring the current GPS position information and the current GPS speed information of the vehicle, and if the current GPS position information and the current GPS speed information of the vehicle are acquired, correcting the determined dead reckoning position information according to the GPS position information and the GPS speed information to determine the current combined navigation position information of the vehicle.
3. The method of claim 2, wherein said determining the current combined navigational position information for the vehicle by correcting the determined dead reckoning position information based on the GPS position information and GPS velocity information comprises:
inputting the acquired GPS position information, GPS speed information, dead reckoning position information, the current running speed of the vehicle and the current running direction of the vehicle into a Kalman kalman filter established by taking a measurement equation and a system error equation as a model;
and correcting the dead reckoning position information according to the error information aiming at the dead reckoning position information and output by the established kalman filter, and determining the corrected combined navigation position information.
4. The method according to any one of claims 1 to 3, wherein the acquiring of the current running speed of the vehicle detected by the on-board diagnostic system (OBD) comprises:
sending a request message for acquiring the current running speed of the vehicle to an automobile diagnosis terminal;
and receiving the current running speed of the vehicle from the OBD, which is acquired by the automobile diagnosis terminal according to the request message.
5. The method according to any one of claims 1 to 3, wherein the obtaining of the current driving direction of the vehicle specifically comprises:
determining the angular increment of the vehicle in the time interval according to the angular speed of the vehicle in the time interval measured by the vehicle-mounted gyroscope;
and determining the current driving direction of the vehicle according to the determined angle increment and the driving direction of the vehicle stored after the previous navigation positioning.
6. The method of claim 5, wherein determining the angular increment of the vehicle over the time interval based on the angular velocity of the vehicle over the time interval measured by an on-board gyroscope comprises:
measuring each angular velocity of the vehicle in the time interval according to a preset measuring period by a vehicle-mounted gyroscope, wherein the time interval is greater than the measuring period;
determining the product of the angular speed measured in each measurement period in the time interval and the duration of the measurement period as the angular increment in each measurement period, and determining the sum of the angular increments of the vehicle in each measurement period as the angular increment of the vehicle in the time interval; or averaging the angular speeds of the vehicle measured in each measuring period, and determining the product of the average value and the time interval as the angular increment of the vehicle in the time interval.
7. The method according to any one of claims 1 to 3, wherein determining displacement information of the vehicle within the time interval based on the current driving direction of the vehicle and the determined driving distance comprises:
determining the longitude displacement of the driving distance on a longitude coordinate axis and the latitude displacement on a latitude coordinate axis in a geographic coordinate system according to the current driving direction of the vehicle and the driving distance;
determining the current dead reckoning position information of the vehicle according to the displacement information and the position information of the vehicle obtained by previous positioning, specifically comprising:
determining a sum of the longitude coordinate and the longitude displacement in the position information of the vehicle obtained by the previous positioning as the longitude coordinate of the current dead reckoning position information, and determining a sum of the latitude coordinate and the latitude displacement in the position information of the vehicle obtained by the previous positioning as the latitude coordinate of the dead reckoning position information.
8. A navigation positioning device, comprising:
the vehicle-mounted diagnosis system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the current running speed of a vehicle detected by a vehicle-mounted diagnosis system OBD;
the first determining module is used for determining the running distance of the vehicle in the time interval according to the current running speed of the vehicle acquired by the first acquiring module and the time interval between the current time and the time of the previous navigation positioning;
the second acquisition module is used for acquiring the current driving direction of the vehicle;
the second determining module is used for determining the displacement information of the vehicle in the time interval according to the current driving direction of the vehicle acquired by the second acquiring module and the determined driving distance;
and the third determining module is used for determining the current dead reckoning position information of the vehicle according to the displacement information and the position information of the vehicle obtained by the previous positioning.
9. The apparatus of claim 8, wherein the apparatus further comprises:
the third acquisition module is used for acquiring the current GPS position information and the current GPS speed information of the vehicle;
and the fourth determining module is used for correcting the determined dead reckoning position information according to the GPS position information and the GPS speed information if the third acquiring module acquires the current GPS position information and the GPS speed information of the vehicle, so as to determine the current combined navigation position information of the vehicle.
10. The apparatus of claim 9, wherein the fourth determination module is specifically configured to: inputting the acquired GPS position information, GPS speed information, dead reckoning position information, the current running speed of the vehicle and the current running direction of the vehicle into a Kalman kalman filter established by taking a measurement equation and a system error equation as a model; and correcting the dead reckoning position information according to the error information aiming at the dead reckoning position information and output by the established kalman filter, and determining the corrected combined navigation position information.
11. The apparatus of any one of claims 8 to 10, wherein the first obtaining module is specifically configured to: sending a request message for acquiring the current running speed of the vehicle to an automobile diagnosis terminal; and receiving the current running speed of the vehicle from the OBD, which is acquired by the automobile diagnosis terminal according to the request message.
12. The apparatus according to any one of claims 8 to 10, wherein the second obtaining module is specifically configured to: determining the angular increment of the vehicle in the time interval according to the angular speed of the vehicle in the time interval measured by the vehicle-mounted gyroscope; and determining the current driving direction of the vehicle according to the determined angle increment and the driving direction of the vehicle stored after the previous navigation positioning.
13. The apparatus of claim 12, wherein the second obtaining module determines an angular increment of the vehicle over the time interval, and is specifically configured to: measuring each angular velocity of the vehicle in the time interval according to a preset measuring period by a vehicle-mounted gyroscope, wherein the time interval is greater than the measuring period; determining the product of the angular speed measured in each measurement period in the time interval and the duration of the measurement period as the angular increment in each measurement period, and determining the sum of the angular increments of the vehicle in each measurement period as the angular increment of the vehicle in the time interval; or averaging the angular speeds of the vehicle measured in each measuring period, and determining the product of the average value and the time interval as the angular increment of the vehicle in the time interval.
14. The apparatus according to any one of claims 8 to 10, wherein the second determining module is specifically configured to: determining the longitude displacement of the driving distance on a longitude coordinate axis and the latitude displacement on a latitude coordinate axis in a geographic coordinate system according to the current driving direction of the vehicle and the driving distance;
the third determining module is specifically configured to: determining a sum of the longitude coordinate and the longitude displacement in the position information of the vehicle obtained by the previous positioning as the longitude coordinate of the current dead reckoning position information, and determining a sum of the latitude coordinate and the latitude displacement in the position information of the vehicle obtained by the previous positioning as the latitude coordinate of the dead reckoning position information.
15. A navigational positioning device, comprising: an automotive diagnostic terminal and processor; wherein,
the automobile diagnosis terminal is used for acquiring the current running speed of the automobile detected by the on-board diagnosis system OBD;
the processor is used for determining the running distance of the vehicle in the time interval according to the current running speed of the vehicle obtained by the automobile diagnosis terminal and the time interval between the current time and the time of the previous navigation positioning; acquiring the current driving direction of the vehicle; determining displacement information of the vehicle in the time interval according to the current driving direction of the vehicle and the determined driving distance; and determining the current dead reckoning position information of the vehicle according to the displacement information and the position information of the vehicle obtained by the previous positioning.
16. The apparatus of claim 15, wherein the apparatus further comprises:
a Global Positioning System (GPS) receiver for receiving GPS signals, determining current GPS position information and GPS speed information of the vehicle according to the received GPS signals, and transmitting the determined GPS position information and GPS speed information to the processor;
the processor is further configured to correct the determined dead reckoning position information according to the GPS position information and the GPS speed information, and determine current combined navigation position information of the vehicle.
17. The apparatus of claim 16, wherein the processor corrects the determined dead reckoning location information based on the GPS location information and GPS velocity information to determine a current combined navigational location information for the vehicle, and is further configured to: inputting the acquired GPS position information, GPS speed information, dead reckoning position information, the current running speed of the vehicle and the current running direction of the vehicle into a Kalman kalman filter established by taking a measurement equation and a system error equation as a model; and correcting the dead reckoning position information according to the error information aiming at the dead reckoning position information and output by the established kalman filter, and determining the corrected combined navigation position information.
18. The device according to any one of claims 15 to 17, wherein the processor obtains a current driving speed of the vehicle detected by the on-board diagnostics system OBD, and is specifically configured to: sending a request message for acquiring the current running speed of the vehicle to an automobile diagnosis terminal; and receiving the current running speed of the vehicle from the OBD, which is acquired by the automobile diagnosis terminal according to the request message.
19. The apparatus of any of claims 15 to 17, further comprising:
the vehicle-mounted gyroscope is used for measuring the angular speed of vehicle running and transmitting the measured angular speed of vehicle running to the processor;
the processor obtains the current driving direction of the vehicle, and is specifically configured to: determining the angular increment of the vehicle in the time interval according to the angular speed of the vehicle in the time interval; and determining the current driving direction of the vehicle according to the determined angle increment and the driving direction of the vehicle stored after the previous navigation positioning.
20. The apparatus of claim 19, wherein the processor determines the angular increment of the vehicle over the time interval is specifically for: measuring each angular velocity of the vehicle in the time interval according to a preset measuring period by a vehicle-mounted gyroscope, wherein the time interval is greater than the measuring period; determining the product of the angular speed measured in each measurement period in the time interval and the duration of the measurement period as the angular increment in each measurement period, and determining the sum of the angular increments of the vehicle in each measurement period as the angular increment of the vehicle in the time interval; or averaging the angular speeds of the vehicle measured in each measuring period, and determining the product of the average value and the time interval as the angular increment of the vehicle in the time interval.
21. The apparatus according to any one of claims 15 to 17, wherein the processor determines displacement information of the vehicle during the time interval based on a current driving direction of the vehicle and the determined driving distance; determining the current dead reckoning position information of the vehicle according to the displacement information and the position information of the vehicle obtained by the previous positioning, and specifically:
determining the longitude displacement of the driving distance on a longitude coordinate axis and the latitude displacement on a latitude coordinate axis in a geographic coordinate system according to the current driving direction of the vehicle and the driving distance; determining a sum of the longitude coordinate and the longitude displacement in the position information of the vehicle obtained by the previous positioning as the longitude coordinate of the current dead reckoning position information, and determining a sum of the latitude coordinate and the latitude displacement in the position information of the vehicle obtained by the previous positioning as the latitude coordinate of the dead reckoning position information.
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