Integrated navigation verification method and device, terminal equipment and readable medium

A combined navigation and verification method technology, which is applied in the field of combined navigation verification methods, terminal equipment and readable media, and devices, can solve the problems of high test cost and low test efficiency, and achieve high test cost and low test efficiency. Avoid the effects of physical constraints

Pending Publication Date: 2022-07-05
北斗星通智联科技有限责任公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In view of this, the embodiment of the present application provides a verification method, device, terminal device and readable medium for integrated navigation to solve the problems of low test efficiency and high test cost in the prior art

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  • Integrated navigation verification method and device, terminal equipment and readable medium
  • Integrated navigation verification method and device, terminal equipment and readable medium
  • Integrated navigation verification method and device, terminal equipment and readable medium

Examples

Experimental program
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Effect test

Embodiment 1

[0048] like figure 1 As shown, a combined navigation verification method includes the following steps:

[0049] Step S100: Perform an actual road test on the vehicle to obtain the actual measured data of the vehicle, add a timestamp to the measured data, record and store.

[0050] In this embodiment, in order to test the integrated navigation and positioning algorithm, a real vehicle physical test method that can be repeatedly verified is provided. First, the actual road test is performed on the vehicle, and the actual measured data during the driving process of the vehicle is recorded, and then the acquired The measured data is analyzed, and the corresponding time stamp information is added to the measured data, and the measured data is stored in the order of time stamps. The time stamp is the time information when the industrial computer receives the measured data during the actual road test, and the above measured data includes inertial navigation data, satellite navigation ...

Embodiment 2

[0077] like Figure 4 As shown, a combined navigation verification device proposed by an embodiment of the present application. The combined navigation verification device 10 includes:

[0078]The measured data module 11 performs an actual road test on the vehicle to obtain the measured data of the vehicle, records and stores the measured data with a time stamp;

[0079] The reference pose module 12 obtains the reference pose of the vehicle by performing an actual road test through a high-precision integrated inertial navigation system;

[0080] The measured pose module 13 calculates the measured pose of the vehicle through the combined navigation algorithm according to the measured data replayed in the order of the timestamps;

[0081] The judgment module 14 compares the measured pose and the reference pose, and judges whether the comparison result is within a preset threshold range;

[0082] The determination module 15 determines that the integrated navigation algorithm i...

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Abstract

The embodiment of the invention discloses an integrated navigation verification method and device, terminal equipment and a readable medium, and the integrated navigation verification method comprises the following steps: obtaining actual measurement data and reference data of a vehicle by carrying out a vehicle actual on-road test, adding timestamps to the actual measurement data and the reference data, and recording and storing; obtaining a reference pose of the vehicle for actual road test through a high-precision combined inertial navigation system; the method comprises the following steps: calculating an actually measured pose of a vehicle through an integrated navigation algorithm according to actually measured data played back according to a timestamp sequence, comparing the actually measured pose with a reference pose, and judging whether a comparison result is within a preset threshold range or not, so as to determine whether the integrated navigation algorithm is qualified or not. The original data can be played back for infinite times in the subsequent algorithm iteration development process, so that the physical condition limitation in the prior art is avoided, and the problems of low test efficiency and high test cost are solved.

Description

technical field [0001] The present invention relates to the technical field of navigation, and in particular, to a combined navigation verification method, device, terminal device and readable medium. Background technique [0002] With the continuous development of science and technology and the increasing market demand, a single navigation system can no longer meet people's needs. Combining several navigation systems on the carrier to form an integrated navigation system can better meet people's needs. There are three types of navigation and positioning algorithms: loose combination, tight combination and deep combination. The test of the integrated navigation and positioning algorithm generally requires a real vehicle road test. Every time the algorithm is modified, the car must be driven out for a test. However, the above test methods have problems such as physical condition limitations, low test efficiency and high test costs, which are not conducive to Validate combine...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20G01C21/34
CPCG01C21/165G01C21/20G01C21/343
Inventor 何建峰何天翼
Owner 北斗星通智联科技有限责任公司
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