Positioning signal strength detection device and method for unmanned driving map

Abstract

The present disclosure relates to a positioning signal strength detection device and method for unmanned driving maps, and relates to the field of unmanned vehicles (or autonomous driving or unmanned driving). The positioning signal strength detection device is characterized in that it includes a GNSS antenna and an inertial navigation combination connected to the GNSS antenna; the GNSS antenna and the inertial navigation combination are not installed on the unmanned vehicle; during the positioning signal strength detection process, the positioning signal strength detection device moves, and the GNSS antenna is used to receive satellite signals; the inertial navigation combination is used to determine the strength of the satellite signal during the movement based on the satellite signal, so as to avoid vehicle investment, simplify the detection process, reduce detection costs and shorten detection time.

Description

Technical Field

[0001] The present disclosure relates to the field of unmanned driving technology, and in particular to a positioning signal strength detection device and method for unmanned driving maps. Background Art

[0002] Unmanned vehicles are intelligent vehicles that use onboard sensor systems to perceive the road environment, automatically plan routes, and control the vehicle to reach a predetermined destination. They integrate numerous technologies, including automatic control, architecture, artificial intelligence, and visual computing. They are the product of advanced computer science, pattern recognition, and intelligent control technologies. They are also a key indicator of a country's scientific research strength and industrial development, and have broad application prospects in national defense and the national economy.

[0003] Before an unmanned vehicle arrives at a new operating site, it needs to detect satellite signals at various locations within the new operating site to determine whether there are satellite signals. If so, the strength of the satellite signals needs to be determined for subsequent differential positioning.

[0004] Currently, the method for detecting satellite signals at various locations within a new operating site is to drive an unmanned vehicle into the site, with professional operators manually controlling the vehicle remotely to search and detect satellite signals using the vehicle's positioning system. This obviously requires both vehicle and personnel investment, resulting in a complex, time-consuming, and costly process. Summary of the Invention

[0005] In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a positioning signal strength detection device and method for unmanned driving maps.

[0006] In a first aspect, embodiments of the present disclosure provide a positioning signal strength detection device for an unmanned driving map, comprising a GNSS antenna and an inertial navigation system connected to the GNSS antenna; the GNSS antenna and the inertial navigation system are not installed on the unmanned vehicle;

[0007] During the process of detecting the strength of the positioning signal, the positioning signal strength detection device moves, and the GNSS antenna is used to receive satellite signals; the inertial navigation combination is used to determine the strength of the satellite signal during the movement based on the satellite signal.

[0008] In a second aspect, the embodiments of the present disclosure further provide a positioning signal strength detection method, which is applicable to any of the above-mentioned positioning signal strength detection devices for unmanned driving maps;

[0009] The positioning signal strength detection method includes:

[0010] Controlling the movement of the positioning signal strength detection device;

[0011] The GNSS antenna receives satellite signals;

[0012] The inertial navigation assembly determines the strength of the satellite signal during the movement based on the satellite signal.

[0013] The present invention provides a positioning signal strength detection device for an unmanned driving map. The positioning signal strength detection device includes a GNSS antenna and an inertial navigation system connected to the GNSS antenna; neither the GNSS antenna nor the inertial navigation system is installed on the unmanned vehicle; during the positioning signal strength detection process, the positioning signal strength detection device moves, and the GNSS antenna is used to receive satellite signals; the inertial navigation system is used to determine the strength of the satellite signal during the movement based on the satellite signals. When performing satellite signal detection at various locations within a new operating site, the positioning signal strength detection device for the unmanned driving map can replace the unmanned vehicle to detect satellite signals, eliminating the need for the unmanned vehicle to enter the operating site. This solves the problem in the prior art that when performing satellite signal detection at various locations within a new operating site, the unmanned vehicle needs to be driven into the operating site and professional operators need to cooperate, resulting in a complex detection process, a long detection time, and a high detection cost. The purpose is to avoid vehicle investment, simplify the detection process, reduce detection costs, and shorten detection time. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0015] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0016] Figure 1 A structural block diagram of a positioning signal strength detection device for unmanned driving maps provided by an embodiment of the present disclosure;

[0017] Figure 2 A schematic diagram of the structure of a positioning signal strength detection device for unmanned driving maps provided by an embodiment of the present disclosure;

[0018] Figure 3A structural block diagram of another positioning signal strength detection device for unmanned driving maps provided by an embodiment of the present disclosure;

[0019] Figure 4 A flowchart of a positioning signal strength detection method provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0020] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features therein can be combined with each other in the absence of conflict.

[0021] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0022] In view of the problems in the existing technology that unmanned vehicles need to perform satellite signal detection at various locations in the new operating site before operating, the unmanned vehicles need to be driven into the operating site during the detection, and professional operating personnel need to cooperate, the detection process is complicated, time-consuming and costly, the embodiments of the present disclosure provide a positioning signal strength detection solution for unmanned driving maps, which avoids vehicle investment, simplifies the detection process, reduces detection costs and shortens detection time.

[0023] Autonomous driving maps, or high-precision maps, offer more detailed information and higher precision than traditional maps. Specifically, autonomous driving maps can be accurate down to the centimeter. In addition to roads, maps also include street signs, traffic light locations, road lines, vehicle turn lines, and other landmarks along the road. Autonomous driving maps can be used to help autonomous vehicles locate traffic lights, remove erroneous information from millimeter-wave radar, locate the vehicle, provide trajectory forecasts for other vehicles, and replan short-distance driving routes. When locating a vehicle based on an autonomous driving map, it is crucial to predetermine the strength of the satellite signal.

[0024] Figure 1 This is a structural block diagram of a positioning signal strength detection device for unmanned driving maps provided by an embodiment of the present disclosure. Figure 1The detection device includes a GNSS antenna 110 and an inertial navigation assembly 120 connected to the GNSS antenna 110; neither the GNSS antenna 110 nor the inertial navigation assembly 120 is installed on the unmanned vehicle; during the positioning signal strength detection process, the positioning signal strength detection device moves, and the GNSS antenna 110 is used to receive satellite signals; the inertial navigation assembly 120 is used to determine the strength of the satellite signal during the movement based on the satellite signal.

[0025] GNSS antenna 110 is a GPS / GLONASS compatible antenna that can be used as a receiving antenna for GPS navigation and positioning systems. The antenna is a microstrip antenna.

[0026] Inertial navigation system 120 refers to the combination of an IMU (Inertial Measurement Unit) and a navigation and positioning system (such as a GPS positioning system). In practice, the GPS positioning system has low accuracy and a low update frequency per unit time, far from meeting the requirements of autonomous driving. The IMU + GPS combination can be used to compensate for the low update frequency of the GPS positioning system, thereby improving positioning accuracy.

[0027] When using the positioning signal strength detection device of the unmanned driving map provided by the above technical solution to detect satellite signals at various locations in the new operating site, the positioning signal strength detection device can be controlled to move first; during the movement, the GNSS antenna 110 is used to periodically receive satellite signals; finally, the inertial navigation combination 120 is used to determine the strength of the satellite signal during the movement in real time based on the satellite signal.

[0028] There are multiple methods for controlling the movement of the positioning signal strength detection device. Since the GNSS antenna 110 and the inertial navigation system 120 are not installed on the unmanned vehicle, the positioning signal strength detection device has good portability. The operator can carry the GNSS antenna 110 and the inertial navigation system 120 while walking to achieve the purpose of moving the positioning signal strength detection device. Alternatively, the positioning signal strength detection device can be equipped with a dedicated small cart with wheels, and the operator can control the movement of the cart to achieve the purpose of controlling the movement of the positioning signal strength detection device.

[0029] The inertial navigation assembly 120 determines the strength of the satellite signal during movement in real time based on the satellite signal. Specifically, the inertial navigation assembly 120 may analyze the received satellite signal in real time to determine the strength of the satellite signal during movement.

[0030] Since the positioning signal strength detection device has good portability, when the above technical solution detects the strength of the satellite signal, the operator only needs to transport the positioning signal strength detection device to the operating site to detect the satellite signal. Obviously, the positioning signal strength detection device is much smaller than that of an unmanned vehicle, which makes the positioning signal strength detection device provided by the present application portable. An operator can independently complete the positioning signal strength detection task, which can save vehicle investment, simplify the detection process, and reduce the detection cost. The positioning signal strength detection device has the characteristics of a tool, which can greatly shorten the detection time and the preparatory work before the detection, and achieve a quick response. And because the positioning signal strength detection device is much smaller and more portable than an unmanned vehicle, the positioning signal strength detection device can be brought into sites with different terrains and conditions to perform positioning signal strength detection, which can meet the needs of multi-terrain detection.

[0031] Based on the above technical solution, optionally, the inertial navigation combination 120 is also used to determine the position information of each position during the movement process, and based on the position information at each position and the strength of the satellite signal at each position, determine the correspondence between the strength of the satellite signal and the position information.

[0032] Specifically, in reality, there are often multiple satellites in the sky, but the positions of different satellites relative to the same detection point at the same time are not exactly the same. This allows the GNSS antenna 110 to receive satellite signals, allowing it to receive signals from all satellites with satellite signal strength greater than 0. Furthermore, the satellite signal strengths of at least some satellites are different.

[0033] Based on this, the GNSS antenna 110 receives satellite signals corresponding to multiple satellites, and the method for the inertial navigation assembly 120 to determine the position information of each position during the movement can be based on the received satellite signals whose strength is greater than a set threshold, thereby determining the position information at the time of each satellite signal reception. Due to different detection points, the strength of the satellite signal of the same satellite is different. Determining the correspondence between the strength of the satellite signal and the position information can be done by associating the strength of all satellite signals received at time t with the position information of the positioning signal strength detection device at time t, so as to subsequently perform differential positioning based on the correspondence between the strength of the satellite signal and the position information.

[0034] On the basis of the above technical solutions, optionally, Figure 2 This is a schematic diagram of the structure of a positioning signal strength detection device for unmanned driving maps provided by an embodiment of the present disclosure. Figure 2 The positioning signal strength detection device also includes a portable container 210; a GNSS antenna 110 and an inertial navigation combination ( Figure 2The portable container 210 is fixed to the portable container 210. This arrangement can further improve the portability of the positioning signal strength detection device. Optionally, the portable container 210 can be a backpack.

[0035] Optionally, the positioning signal strength detection device further includes a telescopic rod 220, one end of which is fixed to the portable container 210, and the other end of which is fixed to the GNSS antenna 110, so that the distance between the GNSS antenna 110 and the portable container 210 can be varied. This arrangement can meet the need for detecting satellite signal strength at different altitudes in space.

[0036] Optionally, based on the above-mentioned technical solutions, during the process of detecting the strength of the positioning signal, the distance from the end of the GNSS antenna 110 away from the telescopic rod 220 to the ground is equal to the distance from the end of the antenna on the unmanned vehicle simulated by the positioning signal strength detection device to the ground. When the positioning signal strength detection device is used to replace the unmanned vehicle to detect satellite signals at various locations in the new operating site, by setting the distance from the end of the GNSS antenna 110 away from the telescopic rod 220 to the ground to be equal to the distance from the end of the antenna on the unmanned vehicle simulated by the positioning signal strength detection device to the ground, the detection result of the positioning signal strength detection device can be closer to the detection result of the unmanned vehicle, which is conducive to improving the credibility of the detection result. Optionally, the antenna on the unmanned vehicle can be an RTK antenna.

[0037] It should be noted that, in practice, in order to make the distance from the end of the GNSS antenna 110 away from the telescopic rod 220 to the ground equal to the distance from the end of the antenna on the unmanned vehicle simulated by the positioning signal strength detection device to the ground, the telescopic rod 220 is extended and retracted by different amounts when people of different heights use the positioning signal strength detection device.

[0038] Figure 3 This is a structural block diagram of another positioning signal strength detection device for unmanned driving map provided by the embodiment of the present disclosure. Figure 3 The positioning signal strength detection device also includes a smart terminal 130; this smart terminal 130 is connected to the inertial navigation system 120 and is used to display the satellite signal strength. This allows for visualization of the detection results, thereby improving the user experience. The smart terminal 130 can be a mobile phone, tablet computer, laptop computer, or smart wearable device. If the smart terminal 130 is a tablet computer, it can optionally be an industrial tablet computer.

[0039] Optionally, continue with Figure 2 and Figure 3The positioning signal strength detection device also includes a router 230; both the smart terminal 130 and the inertial navigation system 120 are connected to the router 230 to facilitate data transmission between the inertial navigation system 120 and other external devices, and between the smart terminal 130 and other external devices. Optionally, the router 230 is a 4G router. The inertial navigation system 120 is connected to the router 230 via a network cable, and the smart terminal 130 is connected to the wireless network established by the router 230.

[0040] Optionally, the smart terminal 130 is connected to the cloud server to achieve data transmission between the smart terminal 130 and the cloud server 300. On this basis, the corresponding relationship data between the strength of the satellite signal and the position information can be stored on the cloud server 300.

[0041] Based on the above technical solutions, the positioning signal strength detection device optionally further includes a power supply device electrically connected to both the inertial navigation system and the router. The power supply device may be a battery. Furthermore, a solar panel may be provided on the outer surface of the portable container, connected to the battery to charge the battery.

[0042] Based on the same inventive concept, an embodiment of the present disclosure also provides a positioning signal strength detection method, which is applicable to any positioning signal strength detection device for unmanned driving maps provided in an embodiment of the present disclosure. Figure 4 This is a flow chart of a positioning signal strength detection method provided by an embodiment of the present disclosure. Figure 4 The positioning signal strength detection method includes:

[0043] S410, controlling the movement of the positioning signal strength detection device;

[0044] S420, GNSS antenna receives satellite signals;

[0045] S430. The inertial navigation system determines the strength of the satellite signal during movement based on the satellite signal.

[0046] Since the positioning signal strength detection method provided in the embodiment of the present disclosure is applicable to any positioning signal strength detection device for unmanned driving maps provided in the embodiment of the present disclosure, it has the same or corresponding beneficial effects as the positioning signal strength detection device for unmanned driving maps to which it is adapted, and will not be repeated here.

[0047] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0048] The foregoing description is intended only to provide specific embodiments of the present disclosure, intended to enable those skilled in the art to understand and implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the embodiments described herein, but rather to be construed in the broadest manner consistent with the principles and novel features disclosed herein.

Claims

1. A positioning signal strength detection device for unmanned driving maps, characterized in that: The invention comprises a GNSS antenna and an inertial navigation system connected to the GNSS antenna; wherein the GNSS antenna and the inertial navigation system are not installed on the unmanned vehicle; During the process of detecting the strength of the positioning signal, the positioning signal strength detection device moves, and the GNSS antenna is used to receive satellite signals; the inertial navigation assembly is used to determine the strength of the satellite signal during the movement based on the satellite signal; The device further includes a portable receiving box and a telescopic rod, one end of the telescopic rod is fixed to the portable receiving box, and the other end of the telescopic rod is fixed to the GNSS antenna; During the positioning signal strength detection process, the distance from the end of the GNSS antenna away from the telescopic rod to the ground is equal to the distance from the end of the antenna on the unmanned vehicle simulated by the positioning signal strength detection device to the ground; The inertial navigation assembly is further used to determine position information of each position during the movement, and based on the position information of each position and the strength of the satellite signal at each position, determine a correspondence between the strength of the satellite signal and the position information; Determining the correspondence between the satellite signal strength and the location information includes associating all satellite signal strengths received at a first moment with the location information at the first moment.

2. The positioning signal strength detection device according to claim 1, characterized in that: The GNSS antenna and the inertial navigation assembly are both fixed on the portable containing box.

3. The positioning signal strength detection device according to claim 2, characterized in that: The telescopic rod allows the distance between the GNSS antenna and the portable receiving box to be variable.

4. The positioning signal strength detection device according to claim 1, characterized in that: It also includes smart terminals; The smart terminal is connected to the inertial navigation system and is used to display the strength of the satellite signal.

5. The positioning signal strength detection device according to claim 4, characterized in that: Also includes routers; The intelligent terminal and the inertial navigation assembly are both connected to the router.

6. The positioning signal strength detection device according to claim 5, characterized in that: The smart terminal is connected to the cloud server.

7. The positioning signal strength detection device according to claim 5, characterized in that: Also includes power supply equipment; The power supply device is electrically connected to the inertial navigation assembly and the router.

8. A method for detecting the strength of a positioning signal, characterized in that: The positioning signal strength detection method is applicable to the positioning signal strength detection device for unmanned driving map according to any one of claims 1 to 7; The positioning signal strength detection method includes: Controlling the movement of the positioning signal strength detection device; The GNSS antenna receives satellite signals; The inertial navigation assembly determines the strength of the satellite signal during movement based on the satellite signal; One end of the telescopic rod is fixed to the portable receiving box, and the other end of the telescopic rod is fixed to the GNSS antenna; During the positioning signal strength detection process, the distance from the end of the GNSS antenna away from the telescopic rod to the ground is equal to the distance from the end of the antenna on the unmanned vehicle simulated by the positioning signal strength detection device to the ground; The inertial navigation assembly is further used to determine position information of each position during the movement, and based on the position information of each position and the strength of the satellite signal at each position, determine a correspondence between the strength of the satellite signal and the position information; Determining the correspondence between the satellite signal strength and the location information includes associating all satellite signal strengths received at a first moment with the location information at the first moment.

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