A vehicle-mounted satellite, inertial navigation, pseudolite fusion positioning system and method

Abstract

The present disclosure discloses a vehicle-mounted satellite, inertial navigation, and pseudolite fusion positioning system and method, comprising: a pseudolite navigation positioning system for obtaining pseudolite data of a vehicle; a satellite navigation positioning system for obtaining GNSS satellite data of the vehicle; an inertial sensor for obtaining inertial navigation data of the vehicle; a fusion positioning module for positioning the scene where the vehicle is located according to the GNSS satellite data of the vehicle; when the vehicle is in an open scene, obtaining the positioning information of the vehicle through the GNSS satellite data and the inertial navigation data of the vehicle; when the vehicle is in a completely shielded area, obtaining the positioning information of the vehicle through the pseudolite data and the inertial navigation data of the vehicle; when the vehicle is in a semi-shielded area, obtaining the positioning information of the vehicle through the GNSS satellite data, the pseudolite data, and the inertial navigation data of the vehicle. Continuous and accurate positioning of the vehicle is realized.

Description

Technical Field

[0001] This invention relates to the field of vehicle positioning technology, and in particular to a vehicle-mounted satellite, inertial navigation, and pseudo-satellite fusion positioning system and method. Background Technology

[0002] The statements in this section are merely background information relating to this disclosure and do not necessarily constitute prior art.

[0003] The Global Navigation Satellite System (GNSS) provides all-weather, 24 / 7 positioning, boasting advantages such as high long-term accuracy and no error accumulation over time. However, its disadvantages include susceptibility to signal obstruction and interference, low data rate, and lack of attitude information. Currently, most vehicle positioning systems utilize GNSS. However, in urban environments, GNSS signals are easily affected by obstructions such as tall buildings, tunnels, overpasses, and dense vegetation, leading to poor signal quality or even signal interruption.

[0004] Inertial Navigation Systems (INS) offer advantages such as high short-term accuracy, closed and autonomous operation, high data rates, and the ability to output attitude information. However, errors tend to accumulate over time, leading to inertial navigation dedivergence. By integrating GNSS and INS technologies, the advantages of both can be fully utilized to provide continuous positioning information in signal-blocked environments, effectively improving positioning accuracy. Even when satellite signals are lost, the combined system can still continue to output positioning information.

[0005] However, in complex environments, the continuous positioning accuracy and reliability of vehicle-mounted low-cost GNSS / INS integrated positioning systems decrease significantly when faced with highly dynamic, complex road conditions and long-term signal loss, thus failing to provide continuous and accurate positioning of vehicles over extended periods. Summary of the Invention

[0006] To address the aforementioned issues, this disclosure proposes a vehicle-mounted satellite, inertial navigation, and pseudo-satellite fusion positioning system and method. An additional pseudo-satellite navigation and positioning system is installed in both fully and partially obscured areas to acquire pseudo-satellite data from the vehicle, thereby enabling continuous and accurate vehicle positioning through pseudo-satellite data, GNSS satellite data, and inertial navigation data.

[0007] To achieve the above objectives, the present disclosure adopts the following technical solution:

[0008] Firstly, a vehicle-mounted satellite, inertial navigation, and pseudo-satellite fusion positioning system is disclosed, including:

[0009] Pseudo-satellite navigation and positioning systems are used to acquire pseudo-satellite data for vehicles;

[0010] Satellite navigation and positioning system, used to acquire GNSS satellite data of vehicles;

[0011] Inertial sensors are used to acquire inertial navigation data for vehicles;

[0012] The fusion positioning module is used to locate the vehicle's environment based on the vehicle's GNSS satellite data. When the vehicle is in an open environment, it obtains the vehicle's positioning information through GNSS satellite data and the vehicle's inertial navigation data. When the vehicle is in a completely obscured area, it obtains the vehicle's positioning information through the vehicle's pseudo-satellite data and inertial navigation data. When the vehicle is in a partially obscured area, it obtains the vehicle's positioning information through the vehicle's GNSS satellite data, pseudo-satellite data, and inertial navigation data.

[0013] Secondly, a fusion positioning method for vehicle-mounted satellite, inertial navigation, and pseudo-satellite systems is disclosed, including:

[0014] Acquire pseudosatellite data, GNSS satellite data, and inertial navigation data of the vehicle;

[0015] The vehicle's location is determined based on GNSS satellite data.

[0016] When the vehicle is in an open environment, the vehicle's positioning information is obtained through GNSS satellite data and the vehicle's inertial navigation data;

[0017] When the vehicle is in a completely obscured area, the vehicle's positioning information is obtained through pseudo-satellite data and inertial navigation data;

[0018] When the vehicle is in a semi-obscured area, the vehicle's positioning information is obtained through GNSS satellite data, pseudo-satellite data, and inertial navigation data.

[0019] Thirdly, an electronic device is proposed, including a memory and a processor, as well as computer instructions stored in the memory and running on the processor. When the computer instructions are executed by the processor, they complete the steps described in the vehicle-mounted satellite, inertial navigation, and pseudo-satellite fusion positioning method disclosed in the first aspect.

[0020] Fourthly, a computer-readable storage medium is proposed for storing computer instructions, which, when executed by a processor, complete the steps described in the vehicle-mounted satellite, inertial navigation, and pseudo-satellite fusion positioning method disclosed in the first aspect.

[0021] Compared with the prior art, the beneficial effects of this disclosure are as follows:

[0022] Additional pseudo-satellite navigation and positioning systems are installed in the fully and partially obscured areas to acquire pseudo-satellite data of the vehicle, thereby enabling continuous and accurate vehicle positioning through pseudo-satellite data, GNSS satellite data, and inertial navigation data.

[0023] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0024] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application.

[0025] Figure 1 This is an architecture diagram of the system disclosed in Embodiment 1 of this disclosure;

[0026] Figure 2 This is a schematic diagram of the vehicle positioning principle of the system disclosed in Embodiment 1 of this disclosure;

[0027] Figure 3 This is a flowchart of the vehicle positioning system disclosed in Embodiment 1 of this disclosure;

[0028] Figure 4 This is a diagram of the pseudo-satellite deployment scheme in the system disclosed in Embodiment 1 of this disclosure;

[0029] Figure 5 This is a flowchart of the adaptive genetic algorithm disclosed in Embodiment 1 of this disclosure;

[0030] Figure 6 This is the scenario determination method disclosed in Embodiment 1 of this disclosure;

[0031] Figure 7 This is a schematic diagram of chromosome encoding disclosed in Embodiment 1 of this disclosure. Detailed Implementation

[0032] The present disclosure will be further described below with reference to the accompanying drawings and embodiments.

[0033] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0034] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0035] Example 1

[0036] To achieve accurate and continuous vehicle positioning over long periods, this embodiment discloses a vehicle-mounted satellite, inertial navigation, and pseudo-satellite fusion positioning system, comprising:

[0037] Pseudo-satellite navigation and positioning systems are used to acquire pseudo-satellite data for vehicles;

[0038] Satellite navigation and positioning system, used to acquire GNSS satellite data of vehicles;

[0039] Inertial sensors are used to acquire inertial navigation data for vehicles;

[0040] The fusion positioning module is used to locate the vehicle's environment based on the vehicle's GNSS satellite data. When the vehicle is in an open environment, it obtains the vehicle's positioning information through GNSS satellite data and the vehicle's inertial navigation data. When the vehicle is in a completely obscured area, it obtains the vehicle's positioning information through the vehicle's pseudo-satellite data and inertial navigation data. When the vehicle is in a partially obscured area, it obtains the vehicle's positioning information through the vehicle's GNSS satellite data, pseudo-satellite data, and inertial navigation data.

[0041] Furthermore, the fusion positioning module uses GNSS satellite data to locate the vehicle's location within the specified environment.

[0042] When GNSS satellite data is unavailable, the vehicle is in a completely obscured area;

[0043] When the number of satellites acquiring GNSS satellite data is less than 4, or the position accuracy factor is greater than 6, the vehicle is in a semi-obscured area.

[0044] When the number of satellites acquiring GNSS satellite data is not less than 4 and the position accuracy factor is not greater than 6, the vehicle is in an open scene.

[0045] Furthermore, pseudo-satellite navigation and positioning systems are set up in completely obscured and partially obscured areas.

[0046] Furthermore, the fusion positioning module is used to filter and solve GNSS satellite data or pseudo-satellite data to obtain the vehicle's relative motion information when the vehicle is in an open scene or a completely obscured area; the obtained relative motion information of the vehicle is fused with inertial navigation data to obtain the vehicle's positioning information.

[0047] Furthermore, the fusion positioning module is used to filter and calculate GNSS satellite data and pseudo-satellite data when the vehicle is in a semi-obscured area, and then perform data fusion to obtain the relative motion information of the vehicle; the obtained relative motion information of the vehicle is then fused with inertial navigation data to obtain the vehicle's positioning information.

[0048] Furthermore, the fusion positioning module includes a time synchronization module and a data processing module;

[0049] The time synchronization module is used to unify the time reference of the acquired pseudo-satellite data, GNSS satellite data, and inertial navigation data;

[0050] The data processing module is used to obtain the vehicle's positioning information based on pseudo-satellite data, GNSS satellite data, and inertial navigation data after the time base is unified.

[0051] Furthermore, the system also includes an antenna and a vehicle location server. The antenna is used to broadcast the vehicle's location information, and the vehicle location server is used to monitor the vehicle based on its location information.

[0052] This embodiment provides a detailed description of a vehicle-mounted satellite, inertial navigation, and pseudo-satellite fusion positioning system.

[0053] This embodiment discloses a vehicle-mounted satellite, inertial navigation, and pseudo-satellite fusion positioning system, such as Figure 1 As shown, it includes a pseudo-satellite navigation and positioning system, a satellite navigation and positioning system, an inertial sensor, a fusion positioning module, an antenna, and a vehicle location server.

[0054] Inertial Navigation Systems (INS) are used to acquire inertial navigation data of vehicles. They have advantages such as high short-term accuracy, closed and autonomous operation, high data rate, and the ability to output attitude information. However, as time goes on, errors can easily accumulate, leading to inertial navigation dedivergence.

[0055] Satellite navigation and positioning systems are used to acquire GNSS satellite data for vehicles.

[0056] Because GNSS satellite signals are easily affected by obstructing environments such as tall buildings, tunnels, overpasses, and dense vegetation, resulting in poor signal quality or even interruption, thus making it impossible to continuously locate vehicles, a pseudo-satellite navigation and positioning system is set up in areas where GNSS satellite signals are blocked to obtain pseudo-satellite data of vehicles.

[0057] The satellite navigation and positioning system is deployed on both sides of the road in areas where GNSS satellite signals are blocked. It uses a server to parse the navigation points of the satellites in orbit and sends the ephemeris and almanac data to a pseudo-satellite base station (GNSS signal simulator). The pseudo-satellite base station simulates the satellite signals in orbit in real time and broadcasts the satellite positioning signals in real time.

[0058] The fusion positioning module is used to locate the vehicle's environment based on the vehicle's GNSS satellite data; depending on the different environments the vehicle is in, different calculation methods are used to achieve continuous positioning of the vehicle.

[0059] In practice, the scene where the vehicle is located can be divided into: a completely covered area, a partially covered area, and an open scene.

[0060] like Figure 6 As shown, when GNSS satellite data is unavailable, the vehicle is in a completely obscured area;

[0061] When the number of satellites acquiring GNSS satellite data is less than 4, or the position accuracy factor is greater than 6, the vehicle is in a semi-obscured area.

[0062] When the number of satellites acquiring GNSS satellite data is not less than 4 and the position accuracy factor is not greater than 6, the vehicle is in an open scene.

[0063] When the vehicle is in an open area, its GNSS satellite data is not affected by signal obstruction, so the vehicle's positioning information is obtained through GNSS satellite data and inertial navigation data. When the vehicle is in a completely obstructed area, the GNSS satellite signal is completely blocked, and GNSS satellite data cannot be obtained. Therefore, the vehicle's positioning information is obtained through pseudo-satellite data and inertial navigation data. When the vehicle is in a partially obstructed area, the GNSS satellite signal is insufficient. When positioning the vehicle using only GNSS satellite data and inertial navigation data, the positioning accuracy is low and difficult to meet the requirements. Therefore, the vehicle's positioning information is obtained through a combination of GNSS satellite data, pseudo-satellite data, and inertial navigation data.

[0064] The architecture of the fusion positioning module is as follows: Figure 2 As shown, it includes: input layer, processing layer and application layer.

[0065] The input layer accesses GNSS satellite data, pseudo-satellite data, and inertial navigation data in complex urban signal environments, and unifies the time reference of multi-source data based on the 1PPS pulse signal of GPS.

[0066] The processing layer divides the scene based on the GNSS satellite data, pseudo-satellite data and inertial navigation data received from the input layer, and automatically switches different filtering algorithms according to different scenes to perform filtering fusion calculations and obtain vehicle positioning information, thereby realizing vehicle positioning.

[0067] The vehicle positioning information includes location information, speed information, and attitude information.

[0068] The application layer broadcasts the vehicle positioning information obtained from the processing layer via serial port, 5G, and other means to provide continuous positioning and navigation for vehicles in complex environments.

[0069] The integrated positioning module includes a satellite navigation module, a pseudo-satellite module, an inertial navigation module, a time synchronization module, a data processing module, and a power supply module.

[0070] The satellite navigation module receives and processes raw observation data from GNSS satellites. It includes a radio frequency (RF) front-end, baseband, crystal oscillator, and navigation calculation device. The RF front-end is connected to the baseband and also to the antenna. The baseband is connected to the data processing module, and the crystal oscillator is connected to the navigation calculation device, which in turn is connected to the data processing module. The RF front-end performs signal frequency conversion, amplification, and filtering, minimizing noise in the useful signal. The baseband is responsible for demodulating, descrambling, despreading, and decoding the signal, and then transmits the decoded digital signal to the upper-level processing system. The crystal oscillator, capable of converting electrical and mechanical energy, operates in a resonant state to provide stable and accurate single-frequency oscillation. The navigation calculation device performs high-precision filtering and calculation based on the processed raw observation data from various sensors to obtain the carrier's position, velocity, and attitude information.

[0071] The pseudosatellite module is used to receive pseudorange observations broadcast by the pseudosatellite base station. The pseudosatellite module includes an LNA (Low Noise Amplifier), SAW (Surface Acoustic Wave Filter), TCXO (Tracking Canonical Array Oscillator), RTC (Real-Time Control Unit), and a pseudosatellite signal analyzer. The LNA, SAW, and pseudosatellite signal analyzer are connected sequentially. The LNA is also connected to the antenna, the SAW is connected to the TCXO, and the pseudosatellite signal analyzer is connected to the RTC and the time synchronization module. The main function of the LNA is to amplify the received weak signal and reduce noise, enabling the system to demodulate the required information data. The SAW is used to find the optimal electrode width of the interdigitated transducer and reflector electrodes to achieve its wide bandwidth and low loss, thus eliminating any losses caused by impedance mismatch. The TCXO serves as a reference oscillator to provide a frequency reference for the transmitting channel and also as the first-stage local oscillator for the receiving channel. The RTC, in a special application integrated circuit, provides calendar / clock and data storage functions.

[0072] The inertial navigation module is used to receive the acceleration values ​​output by the accelerometer and the angular velocity values ​​output by the gyroscope, record the dynamic data of the carrier in the inertial frame, and provide a basis for judging the motion state of the carrier.

[0073] The time synchronization module is used to unify the acquired pseudo-satellite data, GNSS satellite data, and inertial navigation data according to the satellite second pulse signal.

[0074] The data processing module is used to obtain the vehicle's positioning information by fusing pseudo-satellite data, GNSS satellite data, and inertial navigation data after unifying the time base.

[0075] The data processing module is used to fuse and solve pseudo-satellite data, GNSS satellite data, and inertial navigation data after unifying the time base. When the vehicle is in an open or semi-obscured scene, the module is used to filter and solve the GNSS satellite data and inertial navigation data; when the vehicle is in a completely obscured scene, the module is used to filter and solve the pseudo-satellite data and inertial navigation data, and solve to obtain the vehicle's positioning information.

[0076] The data processing module includes a microprocessor, a DSP, a D / A converter, and an RF unit connected in sequence. The RF unit is connected to the vehicle location server via a communication cable. The microprocessor is also connected to the baseband, navigation calculation device, and time synchronization module. The microprocessor executes the functions of the control and arithmetic logic units, primarily performing arithmetic and logic operations and controlling the entire machine. The DSP generates an analog intermediate frequency signal with a specific center frequency. The D / A converter converts digital signals into analog signals. The RF unit shifts the signal center frequency to a specific value.

[0077] The power supply module is used to provide the necessary power to the fusion positioning module.

[0078] Specific fusion positioning methods:

[0079] like Figure 3 As shown, firstly, a variable system state equation is established, including parameters such as position error, velocity error, attitude error, sensor zero-bias error, integer ambiguity, and ranging error; a system observation equation including pseudorange and pseudorange rate is also established. Secondly, GNSS satellite observation data, pseudosatellite data, and inertial data are collected, and extended Kalman filtering is used for data fusion to calculate the navigation solution (position, velocity, and attitude). Finally, in the closed-loop feedback of the filter, the device system errors estimated by the filter are used to feed back and correct the inertial sensor output value, as well as to correct pseudosatellite data errors and GNSS bias.

[0080] The antenna is responsible for transmitting data, broadcasting the vehicle positioning information obtained by the fusion positioning module through 5G or dedicated traffic networks. The antenna is used to broadcast the vehicle's positioning information and provide continuous positioning and navigation solutions for vehicles in complex environments.

[0081] The vehicle location server is used to receive vehicle location information obtained by the fusion positioning module, and to monitor, store and reprocess the vehicle location information.

[0082] Pseudo-satellite base stations are deployed on the roadside in fully and partially obscured areas. The fusion positioning module receives pseudo-satellite data and GNSS satellite data transmitted by the pseudo-satellite base stations, and performs data calculation based on GNSS satellite data, pseudo-satellite data and inertial navigation data to obtain vehicle positioning information.

[0083] The deployment methods of pseudo-satellite base stations are as follows: Figure 4 As shown, the optimal location of the pseudo-satellite base station is determined using an adaptive genetic algorithm, such as... Figure 5 As shown.

[0084] The adaptive genetic algorithm takes a set of base station coordinate ranges as input, uses the precision factor (DOP) as the fitness function, and outputs the DOP values ​​for all base station coordinate combinations. It performs single-objective optimization. After obtaining all DOP values, the region with the smallest DOP within a certain range, along with the corresponding four base station coordinates, represents the optimal base station layout. The core steps of the adaptive genetic algorithm are as follows:

[0085] (1) Read in the field parameter data around the base station.

[0086] (2) Encoding

[0087] Generally, chromosome encoding methods include floating-point encoding, binary encoding, Gray code encoding, and symbolic encoding. Given that floating-point encoding can represent larger values, has higher precision, and is convenient for genetic searches in larger spaces, it can be well applied to this problem.

[0088] The spatial coordinates of the base stations are sequentially set as chromosomes, using floating-point encoding. The three-dimensional coordinates of each base station are respectively determined by n. x n y and n z The decimal encoding representation of 1 bit, and the chromosome encoding representation composed of multiple base stations, are as follows: Figure 7 As shown.

[0089] (3) A certain size of the first generation group was generated.

[0090] (4) Optimize the initial population using the Hamiltion model.

[0091] The initial population size should be large enough to increase the probability of obtaining the optimal solution, but an excessively large size can lead to an excessively large search range and a longer genetic process. Three-dimensional positioning is achieved based on a star-shaped base station deployment, and the base station network configuration can be used as a pre-selection value for the initial population. Combined with the Hamiltonian algorithm, a more suitable initial population can be obtained.

[0092] (5) Calculate the fitness of the first generation.

[0093] (6) Sort the population by fitness.

[0094] (7) Perform genetic operations:

[0095] (701) Logistic-based random crossover operation

[0096] The crossover operation here takes a "matching" approach, meaning that parent individuals with similar fitness are paired together. The crossover point is determined using a logistic sequence, and the crossover operation is performed on the parent individuals to be paired. In practice, for each individual, a random number following a uniform distribution of (0,1) is generated. If this value is greater than the crossover probability P... c Then, cross-pairing is performed at the corresponding Logistic points of the individuals.

[0097] (702) Population-based mutation operations

[0098] After the crossover process, mutant individuals are selected from the new individuals, and the mutant individuals and their gene locations are randomly selected. The number of mutations is determined by the population size N and the mutation probability P. m Decision, and have

[0099] num b =P m N

[0100] Similar to the crossover operation, in practice, for each individual, a random number following a uniform distribution of (0, 1) is generated. If this value is less than the mutation probability P... m Then, the mutation operation is performed at the corresponding Logistic points of the individual.

[0101] (703) Adaptive optimization of crossover and mutation probabilities

[0102] The crossover and mutation probabilities are adaptively adjusted so that the mutation and crossover operations adjust adaptively with the fitness of the offspring. The expression is as follows:

[0103]

[0104]

[0105] In the formula, P c0 and P m0 f is a constant, representing the initial crossover probability and the initial mutation probability, respectively; α and β are constants in the interval [0, 1]; c For individuals with high fitness during the crossover, f represents the fitness of that individual. m f represents the fitness of the variant individual; aver f represents the average fitness among all individuals; max This represents the maximum fitness among all individuals.

[0106] (8) Select superior individuals from the parent and offspring generations.

[0107] (9) Use offspring as new parents to form a new population.

[0108] (10) Determine whether the loop termination condition (e.g., the given DOP value) has been met. If yes, output the current optimal base station coordinates. If no, return to step (6).

[0109] This embodiment discloses a vehicle-mounted satellite, inertial navigation, and pseudo-satellite fusion positioning system. To meet the high-precision vehicle positioning requirements under complex conditions in all weather and all times, a pseudo-satellite navigation and positioning system is set up in obscured and semi-obscured areas to acquire pseudo-satellite observations of the vehicle, based on the use of a satellite positioning and navigation system and inertial sensors for vehicle positioning. In the system's operation, the satellite observations are first corrected using precise ephemeris, clock bias products, and differential correction values. Second, based on the specific force and acceleration observations output by the inertial system, the pseudorange, carrier, and Doppler observations output by the satellite navigation system, and the pseudo-satellite observations output by the pseudo-satellite receiver, an extended Kalman tightly coupled filter is input for fusion calculation to solve for high-precision navigation parameters, achieving continuous high-frequency, high-precision positioning of the vehicle in complex environments.

[0110] Example 2

[0111] In this embodiment, a fusion positioning method for vehicle-mounted satellite, inertial navigation, and pseudo-satellite systems is disclosed, including:

[0112] Acquire pseudosatellite data, GNSS satellite data, and inertial navigation data of the vehicle;

[0113] The vehicle's location is determined based on GNSS satellite data.

[0114] When the vehicle is in an open environment, the vehicle's positioning information is obtained through GNSS satellite data and the vehicle's inertial navigation data;

[0115] When the vehicle is in a completely obscured area, the vehicle's positioning information is obtained through pseudo-satellite data and inertial navigation data;

[0116] When the vehicle is in a semi-obscured area, the vehicle's positioning information is obtained through GNSS satellite data, pseudo-satellite data, and inertial navigation data.

[0117] Example 3

[0118] In this embodiment, an electronic device is disclosed, including a memory and a processor, as well as computer instructions stored in the memory and running on the processor. When the processor executes the computer instructions, it completes the steps described in the vehicle-mounted satellite, inertial navigation, and pseudo-satellite fusion positioning method disclosed in Embodiment 2.

[0119] Example 4

[0120] In this embodiment, a computer-readable storage medium is disclosed for storing computer instructions. When the computer instructions are executed by a processor, they complete the steps of the vehicle-mounted satellite, inertial navigation, and pseudo-satellite fusion positioning method disclosed in Embodiment 1.

[0121] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0122] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0123] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0124] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0125] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A vehicle-mounted satellite, inertial navigation, pseudolite fusion positioning system, characterized in that, The system comprises: a pseudolite navigation positioning system for acquiring pseudolite data of the vehicle; a satellite navigation positioning system for acquiring GNSS satellite data of the vehicle; an inertial sensor for acquiring inertial navigation data of the vehicle; a fusion positioning module for positioning a scene where the vehicle is located according to the GNSS satellite data of the vehicle; when the vehicle is in an open scene, acquiring positioning information of the vehicle through the GNSS satellite data and the inertial navigation data of the vehicle; when the vehicle is in a completely shielded area, acquiring positioning information of the vehicle through the pseudolite data and the inertial navigation data of the vehicle; when the vehicle is in a semi-shielded area, acquiring positioning information of the vehicle through the GNSS satellite data, the pseudolite data and the inertial navigation data of the vehicle; the specific process of the fusion positioning module for positioning the scene where the vehicle is located through the GNSS satellite data of the vehicle is as follows: when the GNSS satellite data cannot be acquired, the vehicle is in a completely shielded area; when the number of satellites acquiring the GNSS satellite data is less than 4 or the position dilution of precision is greater than 6, the vehicle is in a semi-shielded area; when the number of satellites acquiring the GNSS satellite data is not less than 4 and the position dilution of precision is not greater than 6, the vehicle is in an open scene; the fusion positioning module comprises a time synchronization module and a data processing module: the time synchronization module is configured to unify the time bases of the acquired pseudolite data, GNSS satellite data and inertial navigation data; the data processing module is configured to acquire positioning information of the vehicle according to the pseudolite data, GNSS satellite data and inertial navigation data unified in the time base.

2. The vehicle-mounted satellite, inertial navigation, pseudolite fusion positioning system according to claim 1, characterized in that, The pseudolite navigation positioning system is arranged in the completely shielded area and the semi-shielded area.

3. The vehicle-mounted satellite, inertial navigation, pseudolite fusion positioning system of claim 1, wherein, The fusion positioning module is configured to, when the vehicle is in the open scene or the completely shielded area, filter and solve the GNSS satellite data or the pseudolite data to obtain relative motion information of the vehicle, and fuse the obtained relative motion information of the vehicle and the inertial navigation data to acquire positioning information of the vehicle.

4. The vehicle-mounted satellite, inertial navigation, pseudolite fusion positioning system of claim 1, wherein, The fusion positioning module is configured to, when the vehicle is in the semi-shielded area, filter and solve the GNSS satellite data and the pseudolite data, and perform data fusion to obtain relative motion information of the vehicle, and fuse the obtained relative motion information of the vehicle and the inertial navigation data to acquire positioning information of the vehicle.

5. The vehicle-mounted satellite, inertial navigation, pseudolite fusion positioning system of claim 1, wherein, The system further comprises an antenna and a vehicle position server, the antenna is configured to broadcast the positioning information of the vehicle; the vehicle position server is configured to monitor according to the positioning information of the vehicle.

6. A vehicle-mounted satellite, inertial navigation, pseudolite fusion positioning method, characterized in that, The system comprises: acquiring pseudolite data, GNSS satellite data and inertial navigation data of the vehicle; positioning a scene where the vehicle is located according to the GNSS satellite data of the vehicle; when the vehicle is in an open scene, acquiring positioning information of the vehicle through the GNSS satellite data and the inertial navigation data of the vehicle; when the vehicle is in a completely shielded area, acquiring positioning information of the vehicle through the pseudolite data and the inertial navigation data of the vehicle; when the vehicle is in a semi-shielded area, acquiring positioning information of the vehicle through the GNSS satellite data, the pseudolite data and the inertial navigation data of the vehicle; the specific process of the fusion positioning module for positioning the scene where the vehicle is located through the GNSS satellite data of the vehicle is as follows: when the GNSS satellite data cannot be acquired, the vehicle is in a completely shielded area; When the number of satellites acquiring GNSS satellite data is less than 4 or the position dilution of precision is greater than 6, the vehicle is in a semi-shaded area; When the number of satellites acquiring GNSS satellite data is not less than 4 and the position dilution of precision is not greater than 6, the vehicle is in an open area. The fusion positioning module comprises a time synchronization module and a data processing module. The time synchronization module is configured to unify the time bases of the acquired pseudolite data, GNSS satellite data and inertial navigation data. The data processing module is configured to acquire the positioning information of the vehicle according to the pseudolite data, GNSS satellite data and inertial navigation data unified in the time base.

7. An electronic device, comprising: The computer instructions are executed by the processor to complete the steps of the vehicle-mounted satellite, inertial navigation and pseudolite fusion positioning method of claim 6.

8. A computer-readable storage medium, characterized in that, The computer instructions are executed by the processor to complete the steps of the vehicle-mounted satellite, inertial navigation and pseudolite fusion positioning method of claim 6.

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