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Integrated navigation method, system and vehicle

A combined navigation and vehicle technology, applied in the field of map navigation, can solve problems such as inaccurate navigation routes and large satellite positioning errors, and achieve the effect of improving navigation accuracy, improving accuracy and robustness, and precise route navigation functions

Active Publication Date: 2021-07-13
GUANGZHOU XIAOPENG MOTORS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the invention discloses a combined navigation method, system and vehicle, which can solve the problems of large satellite positioning errors and inaccurate navigation routes when the car travels to the elevated section, thereby improving the navigation accuracy of the car

Method used

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  • Integrated navigation method, system and vehicle
  • Integrated navigation method, system and vehicle
  • Integrated navigation method, system and vehicle

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Embodiment 1

[0096] see figure 1 , figure 1 It is a schematic flowchart of a combined navigation method disclosed in the embodiment of the present invention. Such as figure 1 As shown, the integrated navigation method is applied to an integrated navigation system, and may specifically include the following steps.

[0097] 101. The integrated navigation system acquires the vertical angular velocity of the vehicle, the first vehicle speed information of the vehicle, and the satellite positioning information of the vehicle during the driving process of the vehicle.

[0098] In the embodiment of the present invention, the integrated navigation system can obtain angular velocity information and acceleration information of the vehicle through an inertial measurement unit, wherein the inertial measurement unit can include a gyroscope and an accelerometer, which is not specifically limited. It can be understood that since the vertical angular velocity of the vehicle is related to its heading an...

Embodiment 2

[0125] see figure 2 , figure 2 It is a schematic flowchart of another integrated navigation method disclosed in the embodiment of the present invention. Such as figure 2 As shown, the combined navigation method may include the following steps.

[0126] 201. The integrated navigation system acquires the vertical angular velocity of the vehicle and the first vehicle speed information of the vehicle during the driving process of the vehicle.

[0127] 202 . The integrated navigation system judges whether the vehicle can receive satellite signals, if yes, execute steps 206 to 210 ; if not, execute steps 203 to 205 .

[0128] 203. The integrated navigation system performs an integral operation on the vertical angular rate of the vehicle to obtain the third heading angle information of the vehicle.

[0129] 204. The integrated navigation system calculates the third position information of the vehicle according to the first vehicle speed information.

[0130] 205. The integrat...

Embodiment 3

[0196] See 3, image 3 It is a structural schematic diagram of an integrated navigation system disclosed in an embodiment of the present invention. Such as image 3 As shown, the integrated navigation system may include an acquisition unit 301, a fusion unit 302, a monitoring unit 303, a direction determination unit 304, and a first matching unit 305, wherein:

[0197] An acquisition unit 301, configured to acquire the vertical angular rate of the vehicle, the first vehicle speed information of the vehicle, and the satellite positioning information of the vehicle during the running of the vehicle;

[0198] A fusion unit 302, configured to perform Kalman filter fusion on the satellite positioning information, the vertical angular rate, and the first vehicle speed information, so as to obtain the first position information of the vehicle and the first heading angle information of the vehicle;

[0199] The monitoring unit 303 is configured to monitor the inclination information...

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Abstract

An integrated navigation method, system and vehicle, the method comprising: during the driving process of the vehicle, acquiring the vehicle's vertical angular velocity, first vehicle speed information and satellite positioning information for Kalman filter fusion, and obtaining the vehicle's first - position information and first course angle information; when the vehicle is identified to drive to the gate area of ​​the target elevated gate according to the first position information and the first course angle information, the inclination information of the vehicle is monitored in real time; if the inclination information of the vehicle is consistent with the target Match the inclination data of the elevated vehicle to determine the elevated driving direction of the vehicle; perform map matching on the first position information, the first course angle information, and the inclination angle information of the vehicle according to the elevated driving direction of the vehicle, so as to be on the first road line in the map Label the vehicle position and / or vehicle angle. The implementation of the embodiments of the present invention can solve the problems of large satellite positioning errors and inaccurate navigation routes when the car travels to the elevated road section, thereby improving the navigation accuracy of the car.

Description

technical field [0001] The invention relates to the technical field of map navigation, in particular to an integrated navigation method, system and vehicle. Background technique [0002] With the development of navigation technology, most smart cars are now equipped with car navigation. At present, the mainstream car navigation is mainly based on GPS (Global Positioning System, Global Positioning System). By receiving the satellite data returned by GPS satellites, the car position information is calculated, and then the car position information is matched with the electronic map data. The specific position of the car in the electronic map can be determined, so as to realize the real-time positioning and route navigation of the car. [0003] However, it has been found in practice that when the car is driving on an elevated section, it is difficult for the car navigation to effectively identify the movement of the car up and down the elevated road, which increases the satelli...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S19/47G01C21/30
Inventor 王佩生刘凡凡田靓孙屹吴吉邓小烽
Owner GUANGZHOU XIAOPENG MOTORS TECH CO LTD