Combined lane-level navigation method adopting novel data transmission path

Abstract

The invention discloses a combined lane-level navigation method adopting a novel data transmission path. The method specifically comprises the following steps: S1, integrating a high-precision positioning module on vehicle-mounted terminal equipment to form a mobile station; s2, a high-precision positioning module receives a satellite positioning signal, calculates position data, time and motion state data of the mobile station, and is used for providing positioning information at any time; s3, a data communication link is established between the mobile phone terminal and the mobile station through a short-distance wireless communication mode such as Bluetooth or Wi-Fi, and the mobile station sends satellite positioning data to the mobile phone terminal; s4, the mobile phone terminal establishes a data communication link with the CORS server through long-distance passing modes such as 4G or 5G, and sends the satellite positioning data of the mobile station to the CORS server; according to the invention, only two sets of communication links such as satellite communication and short-distance wireless communication are integrated in the mobile station, and the functions of high-precision positioning and lane-level navigation can also be realized. The equipment cost is reduced and the communication cost is saved by reducing the number of remote wireless communication modules.

Description

Technical Field

[0001] The present invention belongs to the technical field of lane navigation, and more specifically, relates to a combined lane-level navigation method using a novel data transmission path. Background Art

[0002] With complex urban traffic conditions and the increasing number of cars, navigation has become an indispensable tool for modern people to travel. With the development and advancement of high-precision positioning technology, high-precision maps and lane-level navigation can bring users a better experience.

[0003] To meet lane-level navigation requirements, the accuracy of satellite navigation positioning must be stable within 1 meter. However, the current smartphones use satellite carrier phase differential technology to receive GNSS signals. With the current FPC antenna of mobile phones, it is impossible to achieve a stable differential solution. Especially in complex urban road environments, the proportion of fixed solutions is even lower, and it is even more impossible to meet the accuracy requirements of lane-level navigation. If it is changed to a ceramic antenna, the volume is too large and cannot meet the appearance design requirements of the mobile phone.

[0004] In order to solve the above problems, patent CN116659536A discloses a combined new high-performance lane-level navigation method: a high-precision positioning module is integrated on the vehicle-mounted terminal device to form a mobile station; the high-precision positioning module receives the satellite positioning signal, calculates the position data, time and motion status data of the mobile station itself, and is used to provide positioning information at any time; a base station with known three-dimensional coordinates is established on the ground, and the satellite positioning coordinate data is obtained. The "correction number" result after comparing the satellite positioning coordinate data with its own precise coordinate data is sent to the mobile station through a wireless communication link; without changing the current appearance and usage experience of the mobile phone, the invention relies on a high-precision positioning electronic terminal, uses Bluetooth and mobile phones to establish short-distance communication, and then uses the Beidou ground-based system to achieve wide-area real-time meter-level, decimeter-level, and centimeter-level positioning accuracy.

[0005] In the lane-level navigation method disclosed in the above-mentioned patent CN116659536A, three sets of communication links are integrated in the mobile station on the vehicle-mounted terminal device: the first link communicates with the satellite through the dual-frequency terminal antenna to receive satellite navigation messages; the second link communicates with the ground base station through long-distance wireless communication technologies such as 4G / 5G to receive positioning differential data; the third link communicates with the mobile terminal through short-distance wireless communication technologies such as Bluetooth or Wi-Fi to send high-precision positioning information, but the equipment cost is high and the communication fee is high.

[0006] To this end, the present invention provides a combined lane-level navigation method using a new data transmission path. Summary of the invention

[0007] In view of the above problems existing in the prior art, the purpose of the present invention is to provide a combined lane-level navigation method using a new data transmission path, in which only two communication links, namely satellite communication and short-range wireless communication, are integrated in the mobile station, and the functions of high-precision positioning and lane-level navigation can also be realized. By reducing the long-range wireless communication module, the equipment cost is reduced and the communication fee is saved.

[0008] The purpose of the present invention can be achieved by the following technical solutions:

[0009] A combined lane-level navigation method using a novel data transmission path specifically comprises the following steps:

[0010] S1: Integrate a high-precision positioning module on the vehicle-mounted terminal device to form a mobile station;

[0011] S2: The high-precision positioning module receives satellite positioning signals and calculates the mobile station's own location data, time and motion status data to provide positioning information at any time;

[0012] S3: The mobile terminal and the mobile station establish a data communication link through a short-range wireless communication method such as Bluetooth or Wi-Fi, and the mobile station sends the satellite positioning data to the mobile terminal;

[0013] S4: The mobile terminal establishes a data communication link with the CORS server through a long-distance communication method such as 4G or 5G, and sends the satellite positioning data of the mobile station to the CORS server;

[0014] S5: Establish multiple base stations with known three-dimensional coordinates on the ground to obtain satellite positioning coordinate data. The CORS server selects one or more base stations that are close to the mobile station, compares the satellite positioning coordinate data of the base station with its own precise coordinate data, and sends the "correction number" result to the mobile terminal through a wireless communication link.

[0015] As a further preferred technical solution of the present invention, the following steps are also included:

[0016] S6: Through the short-range wireless data communication link established in S3, the mobile terminal forwards the “correction number” result of the ground reference station to the mobile station;

[0017] S7: Based on the base station data and its own data, the mobile station corrects the spatial error, tropospheric ionospheric error, etc. according to the differential data to obtain centimeter-level high-precision positioning;

[0018] S8: The mobile terminal obtains the corrected positioning data sent by the mobile station through the established short-range wireless data communication link, and outputs the high-precision positioning data through the map navigation APP interface;

[0019] S9: After the mobile terminal receives the high-precision location information, it combines the accurate map data built into the map navigation APP to display the high-precision lane-level navigation positioning results.

[0020] As a further preferred technical solution of the present invention, the following steps are also included:

[0021] S6: Data calculation is performed on the mobile terminal. Based on the base station data and the mobile station data, the spatial error, tropospheric ionospheric error, etc. are corrected according to the differential data to obtain centimeter-level high-precision positioning;

[0022] S7: After the mobile terminal obtains high-precision location information through calculation, it outputs high-precision positioning data through the map navigation APP interface;

[0023] S8: The mobile terminal combines the accurate map data built into the map navigation APP to display high-precision lane-level navigation positioning results.

[0024] As a further preferred technical solution of the present invention, the high-precision positioning module adopts RTK technology to obtain GNSS data. The high-precision positioning module is composed of a high-precision positioning module chip, a high-precision positioning antenna and a short-range wireless communication module.

[0025] As a further preferred technical solution of the present invention, the location data of the mobile station includes longitude information, latitude information and altitude information; the time and motion status data of the mobile station includes speed information and heading information.

[0026] As a further preferred technical solution of the present invention, the short-range wireless communication includes one of a Bluetooth or Wi-Fi communication link.

[0027] As a further preferred technical solution of the present invention, the long-distance wireless communication includes one of 4G or 5G communication.

[0028] As a further preferred technical solution of the present invention, the base station is set up at a reference point with known coordinates and continuously receives all visible GNSS satellite signals. The base station sends the survey station coordinates, pseudorange observation values, carrier phase observation values, satellite tracking status and base station working status to the mobile phone terminal through a long-distance wireless communication link, which then forwards it to the high-precision positioning module of the mobile station through a short-distance wireless communication link.

[0029] As a further preferred technical solution of the present invention, the high-precision positioning module of the mobile station, while receiving the navigation satellite signal, forwards the ground-based differential data transmitted by the receiving base station through the mobile terminal, and calculates the three-dimensional coordinates of the mobile station and its accuracy in real time based on the principle of relative positioning.

[0030] As described above, the combined lane-level navigation method using a novel data transmission path provided by the present invention has the following beneficial effects:

[0031] 1. The mobile station integrates only two communication links, namely satellite communication and short-range wireless communication, and can also achieve high-precision positioning and lane-level navigation functions. By reducing the long-range wireless communication module, the equipment cost is reduced and the communication fee is saved;

[0032] 2. Compared with the mobile phone satellite navigation positioning method, the present invention is more feasible in terms of implementation path. The vehicle-mounted positioning terminal is connected to the mobile phone APP map via Bluetooth, and high-precision road-level positioning navigation is achieved without changing the appearance and experience of the mobile phone, which expands the use scenarios of the vehicle-mounted positioning terminal. At the same time, the sub-meter lane navigation provided by the mobile phone navigation application can be obtained, and the value of the latest lane-level navigation function and continuous high-precision map upgrades of the mobile phone can be better experienced;

[0033] 3. By combining wireless communication links with Beidou RTK positioning technology, relying on core technologies such as computer technology, geographic information technology, mobile positioning technology, communication technology, and network technology, the positioning accuracy and reliability are further improved, and the problems of frequency reuse, signal interference, and low ranging accuracy in high-precision positioning of the communication network are solved, so that accurate positioning and lane-level navigation can be achieved;

[0034] 4. When the driver needs to change lanes, such as when approaching a turning intersection or a highway ramp, lane-level navigation will provide more detailed lane-level action guidance. In scenarios such as highways and elevated exits, when a lane is congested due to a traffic accident, lane-level navigation will identify it in advance and inform the user to avoid it, providing lane guidance that is significantly better than ordinary navigation.

[0035] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0037] Figure 1 It is one of the schematic block diagrams of the combined novel high-performance lane-level navigation method of the present invention;

[0038] Figure 2 This is the second schematic block diagram of the combined novel high-performance lane-level navigation method of the present invention. DETAILED DESCRIPTION

[0039] The following is a description of the implementation of the present invention by means of specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0040] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions that the present invention can be implemented, so they have no substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects that the present invention can produce and the purposes that can be achieved. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. The change or adjustment of the relative relationship should also be regarded as the scope of the implementation of the present invention without substantial changes in the technical content. The specific structure can be described with reference to the drawings of the patent application.

[0041] See also Figure 1 As shown, an embodiment of the present invention is provided, which is called Embodiment 1 and specifically includes the following steps:

[0042] S1: Integrate a high-precision positioning module on the vehicle-mounted terminal device to form a mobile station;

[0043] S2: The high-precision positioning module receives satellite positioning signals and calculates the mobile station's own location data, time and motion status data to provide positioning information at any time;

[0044] S3: The mobile terminal and the mobile station establish a data communication link through a short-range wireless communication method such as Bluetooth or Wi-Fi, and the mobile station sends the satellite positioning data to the mobile terminal;

[0045] S4: The mobile terminal establishes a data communication link with the CORS server through a long-distance communication method such as 4G or 5G, and sends the satellite positioning data of the mobile station to the CORS server;

[0046] S5: Establish multiple base stations with known three-dimensional coordinates on the ground to obtain satellite positioning coordinate data. The CORS server selects one or more base stations that are close to the mobile station, compares the satellite positioning coordinate data of the base station with its own precise coordinate data, and sends the "correction number" result to the mobile terminal through a wireless communication link;

[0047] S6: Through the short-range wireless data communication link established in S3, the mobile terminal forwards the “correction number” result of the ground reference station to the mobile station;

[0048] S7: Based on the base station data and its own data, the mobile station corrects the spatial error, tropospheric ionospheric error, etc. according to the differential data to obtain centimeter-level high-precision positioning;

[0049] S8: The mobile terminal obtains the corrected positioning data sent by the mobile station through the established short-range wireless data communication link, and outputs the high-precision positioning data through the map navigation APP interface;

[0050] S9: After the mobile terminal receives the high-precision location information, it combines the accurate map data built into the map navigation APP to display the high-precision lane-level navigation positioning results.

[0051] Among them, the mobile station includes a high-precision positioning module. The high-precision positioning module adopts RTK technology to obtain GNSS data. The high-precision positioning module is composed of a high-precision positioning module chip, a high-precision positioning antenna and a Bluetooth module. The high-precision positioning module is integrated into a vehicle-mounted terminal or other mobile vehicle-mounted products to form a mobile station.

[0052] The base station is set up at a reference point with known coordinates and continuously receives all visible GNSS satellite signals. After receiving the satellite positioning coordinate data uploaded by the mobile terminal, the CORS server selects one or more base stations that are close to the mobile station, and sends the ground-based differential data including the coordinates of the measuring station, pseudo-range observations, carrier phase observations, satellite tracking status and receiver working status to the mobile terminal through a long-distance wireless data link, which is then forwarded to the mobile station through the Bluetooth data link. The high-precision positioning module in the mobile station is initialized first, and after completing the search and solution of the whole cycle unknown number, it enters dynamic operation. While receiving the navigation satellite signal, the high-precision positioning module receives the data transmitted by the base station through the Bluetooth data link, and then solves the three-dimensional coordinates and accuracy of the mobile station in real time according to the principle of relative positioning (that is, the WGS-84 coordinates of each point obtained by adding the coordinate difference △x, △y, △H between the base station and the mobile station to the base coordinates, and the plane coordinates x, y and altitude H of each point of the mobile station are obtained through the coordinate conversion parameters).

[0053] In the final stage, the three-dimensional coordinate data of the mobile station calculated by the high-precision positioning module is transmitted to the mobile terminal via Bluetooth, and then transmitted to the navigation software interface. Combined with the navigation map, it displays the high-precision lane-level navigation positioning results and outputs high-precision positioning data.

[0054] It should be pointed out that after the vehicle-mounted terminal and the mobile phone terminal establish a Bluetooth communication link, two-way multiple data transmission is required. First, the vehicle-mounted terminal sends the mobile station satellite positioning data to the mobile phone terminal, and then the mobile phone terminal forwards the ground-based differential data to the vehicle-mounted terminal. Finally, the vehicle-mounted terminal sends the solved high-precision positioning data to the mobile phone terminal.

[0055] See also Figure 2 As shown, another embodiment provided by the present invention is called Embodiment 2, which specifically includes the following steps:

[0056] S1: Integrate a high-precision positioning module on the vehicle-mounted terminal device to form a mobile station;

[0057] S2: The high-precision positioning module receives satellite positioning signals and calculates the mobile station's own location data, time and motion status data to provide positioning information at any time;

[0058] S3: The mobile terminal and the mobile station establish a data communication link through a short-range wireless communication method such as Bluetooth or Wi-Fi, and the mobile station sends the satellite positioning data to the mobile terminal;

[0059] S4: The mobile terminal establishes a data communication link with the CORS server through a long-distance communication method such as 4G or 5G, and sends the satellite positioning data of the mobile station to the CORS server;

[0060] S5: Establish multiple base stations with known three-dimensional coordinates on the ground to obtain satellite positioning coordinate data. The CORS server selects one or more base stations that are close to the mobile station, compares the satellite positioning coordinate data of the base station with its own precise coordinate data, and sends the "correction number" result to the mobile terminal through a wireless communication link;

[0061] S6: Data calculation is performed on the mobile terminal. Based on the base station data and the mobile station data, the spatial error, tropospheric ionospheric error, etc. are corrected according to the differential data to obtain centimeter-level high-precision positioning;

[0062] S7: After the mobile terminal obtains high-precision location information through calculation, it outputs high-precision positioning data through the map navigation APP interface;

[0063] S8: The mobile terminal combines the accurate map data built into the map navigation APP to display high-precision lane-level navigation positioning results.

[0064] Among them, the mobile station includes a high-precision positioning module. The high-precision positioning module adopts RTK technology to obtain GNSS data. The high-precision positioning module is composed of a high-precision positioning module chip, a high-precision positioning antenna and a Bluetooth module. The high-precision positioning module is integrated into a vehicle-mounted terminal or other mobile vehicle-mounted products to form a mobile station.

[0065] The principles of base station installation, ground-based differential data transmission, and positioning terminal data calculation in the second embodiment are the same as those in the first embodiment. The difference is that the positioning terminal data calculation is completed by the algorithm module built into the mobile terminal, and the mobile station only completes the function of transparent transmission of satellite positioning data.

[0066] In the second embodiment, after the vehicle-mounted terminal and the mobile phone terminal establish a Bluetooth communication link, only one-way data transmission is required, where the vehicle-mounted terminal sends the satellite positioning data without differential correction to the mobile phone terminal.

[0067] In the final stage, the three-dimensional coordinate data of the mobile station calculated by the data calculation algorithm of the mobile terminal is transmitted to the navigation software interface, combined with the navigation map, to display the high-precision lane-level navigation positioning results and output high-precision positioning data.

[0068] Compared with the satellite navigation positioning method of a single mobile phone device, the combined lane-level navigation method of the present invention is more feasible in terms of implementation path. The vehicle-mounted positioning terminal is connected to the mobile phone APP map via Bluetooth, and high-precision road-level positioning navigation is achieved without changing the appearance and experience of the mobile phone, which expands the use scenarios of the vehicle-mounted positioning terminal. At the same time, sub-meter lane navigation provided by the mobile phone navigation application can be obtained, so that the value of the latest lane-level navigation function and continuous high-precision map upgrades of the mobile phone can be better experienced.

[0069] High-precision navigation means that users can get sub-meter (less than 1 meter) lane navigation provided by mobile navigation applications while driving. When the driver needs to change lanes, such as when approaching a turning intersection or a highway ramp, lane-level navigation will provide more detailed lane-level action guidance.

[0070] Lane-level navigation can provide significantly better lane guidance than ordinary navigation in scenarios such as highways and elevated exits. If a lane is congested due to a traffic accident, lane-level navigation will identify it in advance and inform the user to avoid the abnormal lane and pass quickly in other lanes.

[0071] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A combined lane-level navigation method using a new data transmission path, characterized in that: The specific steps include: S1: Integrate a high-precision positioning module on the vehicle-mounted terminal device to form a mobile station; S2: The high-precision positioning module receives satellite positioning signals and calculates the mobile station's own location data, time and motion status data to provide positioning information at any time; S3: The mobile terminal and the mobile station establish a data communication link through a short-range wireless communication method such as Bluetooth or Wi-Fi, and the mobile station sends the satellite positioning data to the mobile terminal; S4: The mobile terminal establishes a data communication link with the CORS server through a long-distance communication method such as 4G or 5G, and sends the satellite positioning data of the mobile station to the CORS server; S5: Establish multiple base stations with known three-dimensional coordinates on the ground to obtain satellite positioning coordinate data. The CORS server selects one or more base stations that are close to the mobile station, compares the satellite positioning coordinate data of the base station with its own precise coordinate data, and sends the "correction number" result to the mobile terminal through a wireless communication link.

2. A combined lane-level navigation method using a new data transmission path according to claim 1, characterized in that: The following steps are also included: S6: Through the short-range wireless data communication link established in S3, the mobile terminal forwards the "correction number" result of the ground reference station to the mobile station; S7: Based on the base station data and its own data, the mobile station corrects the spatial error, tropospheric ionospheric error, etc. according to the differential data to obtain centimeter-level high-precision positioning; S8: The mobile terminal obtains the corrected positioning data sent by the mobile station through the established short-range wireless data communication link, and outputs the high-precision positioning data through the map navigation APP interface; S9: After the mobile terminal receives the high-precision location information, it combines the accurate map data built into the map navigation APP to display the high-precision lane-level navigation positioning results.

3. The combined lane-level navigation method using a novel data transmission path according to claim 1, characterized in that: The following steps are also included: S6: Data calculation is performed on the mobile terminal. Based on the base station data and the mobile station data, the spatial error, tropospheric ionospheric error, etc. are corrected according to the differential data to obtain centimeter-level high-precision positioning; S7: After the mobile terminal obtains high-precision location information through calculation, it outputs high-precision positioning data through the map navigation APP interface; S8: The mobile terminal combines the accurate map data built into the map navigation APP to display high-precision lane-level navigation positioning results.

4. A combined lane-level navigation method using a new data transmission path according to claim 2 or 3, characterized in that: The high-precision positioning module adopts RTK technology to obtain GNSS data. The high-precision positioning module is composed of a high-precision positioning module chip, a high-precision positioning antenna and a short-range wireless communication module.

5. A combined lane-level navigation method using a new data transmission path according to claim 2 or 3, characterized in that: The location data of the mobile station includes longitude information, latitude information and altitude information; the time and motion state data of the mobile station includes speed information and heading information.

6. A combined lane-level navigation method using a new data transmission path according to claim 2 or 3, characterized in that: The short-range wireless communication includes one of a Bluetooth or Wi-Fi communication link.

7. A combined lane-level navigation method using a new data transmission path according to claim 2 or 3, characterized in that: The long-distance wireless communication includes one of 4G or 5G communication.

8. A combined lane-level navigation method using a new data transmission path according to claim 2 or 3, characterized in that: The base station is set up at a reference point with known coordinates and continuously receives all visible GNSS satellite signals. The base station sends the measurement site coordinates, pseudorange observation values, carrier phase observation values, satellite tracking status and base station working status to the mobile phone terminal through a long-distance wireless communication link, which then forwards it to the high-precision positioning module of the mobile station through a short-distance wireless communication link.

9. A combined lane-level navigation method using a new data transmission path according to claim 2 or 3, characterized in that: The high-precision positioning module of the mobile station receives the navigation satellite signal and forwards the ground-based differential data transmitted by the base station through the mobile terminal. According to the principle of relative positioning, the three-dimensional coordinates of the mobile station and its accuracy are calculated in real time.

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