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GPS/DR combined navigation method and device

A technology of joint navigation and data acquisition, applied in directions such as road network navigators, can solve the problems of signal occlusion, large time accumulation error of direction sensors, and cannot be used alone or for a long time, and achieves the effect of improving accuracy and effectiveness.

Active Publication Date: 2011-05-04
QIMING INFORMATION TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a GPS / DR integrated navigation method, which overcomes the defect that the GPS positioning method cannot normally locate due to signal occlusion, and also solves the problem that in the DR positioning technology, due to the large error accumulated by the direction sensor over time, it cannot be used alone, Problems of using for a long time

Method used

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  • GPS/DR combined navigation method and device
  • GPS/DR combined navigation method and device

Examples

Experimental program
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Effect test

Embodiment 1

[0020] according to figure 1 As shown, the workflow of the GPS / DR integrated navigation system can be divided into the following five main steps:

[0021] (1) receive the positioning data of satellite by GPS receiving system 4;

[0022] (2) Estimate the turning angle of the vehicle through the gyroscope 2;

[0023] (3) Estimate the road surface gradient by the acceleration sensor 3;

[0024] (4) Estimate the traveling distance of the vehicle through the vehicle speed pulse 1;

[0025] (5) Data collection MCU5 sends the above information to the navigation main control CPU 6 to screen and filter all the data, and calculate the specific position of the vehicle.

Embodiment 2

[0027] according to figure 2 Shown, device of the present invention is by vehicle speed pulse 1, gyroscope 2 (Murata company MEV50A), acceleration sensor 3 (KIONIX company KXPA4), GPS receiving system 4 (U-BLOX company LEA-4H), data acquisition MCU5 (MC9S08AW60 single-chip microcomputer) , navigation main control CPU 6 (adopting Renesas navigation platform SH7770), the analog signal output end of gyroscope 2 and acceleration sensor 3 is connected to the sampling channel of A / D converter 7, through high-precision A / D converter 7 will The analog signal output by the gyroscope 2 and the acceleration sensor 3 is converted into a 12-bit digital signal; the digital signal output end of the A / D converter 7 is connected to the SPI port of the data acquisition MCU 5, and the data acquisition MCU 5 is connected to the A / D converter 7 The digital signal of the vehicle speed is collected in real time; the vehicle speed pulse 1 is connected to the pulse capture IO port of the data acquisi...

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Abstract

The invention provides a GPS / DR combined navigation method and a device. A data acquisition MCU acquires GPS data and analyzes the GPS data according to an NMEA 0183 protocol; data of an acceleration sensor and a gyroscope are sampled and then transmitted to a navigation main control CPU; the navigation main control CPU stores two positioning mechanisms of combined positioning and DR dead reckoning of the GPS and the DR; and the navigation main control CPU selects a specific positioning mechanism according to the signal strength of the GPS. According to position and speed information suppliedby a GPS receiving system, the method and the device correct and compensate errors of a DR system in real time, overcome the defect that a GPS positioning method cannot normally conduct positioning because signals are shielded, and also solve the problem the a direction sensor cannot be solely and long used due to large accumulated error along with time in the DR positioning technique.

Description

technical field [0001] The invention relates to a GPS / DR combined navigation method. The invention also discloses a device and belongs to the technical field of motor vehicle positioning indication. Background technique: [0002] With the rise of car sales and the increase of people's travel frequency, the demand for GPS car navigation system is increasing day by day. At present, the horizontal positioning accuracy of GPS has reached 3-5m, fully meeting the requirements of vehicle positioning accuracy. However, due to the GPS signal blocking problem often occurs in high-rise buildings in the city or when passing through an overpass, the GPS cannot be positioned normally. [0003] Vehicle positioning and orientation navigation system refers to a device that is loaded on wheeled and tracked vehicles and can independently provide orientation reference and position information for vehicles. Dead reckoning (abbreviation: DR) is a commonly used vehicle positioning technology, bu...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/28
Inventor 赵孝国渠军李掌宇王宇白杨
Owner QIMING INFORMATION TECH
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