Vehicle navigation method, system, device and readable storage medium

Abstract

The present invention discloses a vehicle navigation method, a system, a device, and a readable storage medium. The method comprises steps of determining whether a GPS satellite signal reaches an effective strength; if not, determining whether a vehicle is moving; if not, establishing a first system according to the state information of the vehicle and conducting zero-velocity correct to assist positioning and navigation of the vehicle; if so, establishing a second system model according to the state information and constraint conditions and conducting zero-velocity correct to assist positioning and navigation of the vehicle; wherein the state information includes position information, speed Information, attitude information, three-dimensional lever arm information, an accelerometer zero-bias error and a gyroscope drift error; the constraint conditions specifically comprise that a lateral velocity and a normal velocity perpendicular to the ground for the vehicle are both zero. The method of the invention obtains the state information without using an additional sensor, and conducts zero-velocity correct without stopping the vehicle when the GPS signal is out of lock for a long time, thereby achieving a reliable and effective positioning and navigation in both motion and stationary states.

Description

technical field [0001] The invention relates to the field of vehicle navigation systems, in particular to a vehicle navigation method, system, device and readable storage medium. Background technique [0002] At present, the method of vehicle navigation is usually to carry out INS / GPS integrated navigation according to the good complementarity between the satellite navigation system and the inertial navigation system. Integrated navigation can give full play to the advantages of the two systems, use GPS (Global Position System, Global Positioning System) to suppress the cumulative error of INS, and at the same time make the system have INS (Inertial Navigation System, inertial navigation system) stability, high data output rate and GPS system high precision. For the INS / GPS system, under normal working conditions, the Kalman filter algorithm can be used to process the data obtained by the INS solution and the output of the high-precision GPS receiver to obtain the optimal s...

AI Technical Summary

Problems solved by technology

For the INS / GPS system, under normal working conditions, the Kalman filter algorithm can be used to process the data obtained by the INS solution and the output of the high-precision GPS receiver to obtain the optimal state error estimate, and then to correct the inertial navigation system. position and speed output, but the accuracy of the long-term operation of the system depends more on the acquisition of GPS observation information. When the satellite navigation signal is weak in mountainous areas, cities and other complex road conditions, it is interrupted intermittently, and even the GPS signal cannot be covered and fails to achieve data. During fusion, the accuracy of the navigation system will drop rapidly due to the accumulation of INS errors over time and cannot be corrected, and zero-speed correction technology must be relied on to suppress inertial navigation errors

[0003] However, the traditional zero-speed correction technology can only provide constraint auxiliary information when the vehicle is stationary, and is not suitable for dynamic scenes. It requires the vehicle to stop at regular intervals. Frequent parking will easily cause the vehicle’s maneuverability to decline, and the vehicle High-frequency jitter can easily lead to misjudgment of the vehicle's motion state

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