Fault detection and processing method in vehicle-mounted integrated navigation system and vehicle-mounted integrated navigation device

Abstract

The embodiment of the present application discloses a method for handling faults in a vehicle-mounted integrated navigation system and a vehicle-mounted integrated navigation device. The method comprises: obtaining fault information in the vehicle-mounted integrated navigation system, wherein the fault information comprises a source, state information and a cause; determining a detection object in the vehicle-mounted integrated navigation system according to the fault information; setting a fault detection strategy for each detection object; and performing fault detection on the vehicle-mounted integrated navigation system using the fault detection strategy.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of information processing, and more particularly to a fault detection and processing method in a vehicle-mounted integrated navigation system and a vehicle-mounted integrated navigation device. Background Art

[0002] At present, the main solution for vehicle-mounted integrated navigation is a combined navigation system composed of a GNSS (Global Navigation Satellite System) unit, an IMU (Inertial Measurement Unit) and an ODO (odometer) unit. GNSS provides the IMU with initial position and speed information to complete the alignment of the IMU, and suppresses the positioning and speed measurement errors accumulated over time by the INS through Kalman filtering to obtain a more accurate navigation solution. When the GNSS signal is interrupted, the IMU can provide short-term, high-precision position, speed and attitude information to improve system reliability. When the GNSS signal is good, the ODO completes error estimation training through integrated navigation. After the GNSS signal is interrupted, combined with the attitude information output by the IMU, it can constrain the IMU positioning divergence and suppress the IMU positioning divergence when the GNSS signal is interrupted for a long time.

[0003] The current vehicle-mounted integrated navigation system does not conduct comprehensive monitoring for various faults. The robustness of positioning will be affected by various faults. The inability to detect and isolate the above faults in a timely manner will lead to serious problems such as divergence, distortion, and folding of the integrated navigation system's positioning trajectory. Summary of the invention

[0004] In order to solve any of the above technical problems, the embodiments of the present application provide a method for fault detection and processing in a vehicle-mounted integrated navigation system and a vehicle-mounted integrated navigation device.

[0005] In order to achieve the purpose of the embodiment of the present application, the embodiment of the present application provides a fault detection method in a vehicle-mounted integrated navigation system, comprising:

[0006] Acquiring fault information in the vehicle-mounted integrated navigation system, wherein the fault information includes a source, status information and a triggering cause;

[0007] Determine, according to the fault information, a detection object in the vehicle-mounted integrated navigation system, wherein the detection object at least includes an angle value of a heading installation angle;

[0008] Set up a fault detection strategy for each detection object;

[0009] The fault detection strategy is used to perform fault detection on the vehicle integrated navigation system;

[0010] Wherein, detecting the abnormality of the heading installation angle includes: if the heading installation angle is abnormal in at least two consecutive epochs, determining the abnormality of the heading installation angle.

[0011] A fault handling method in a vehicle-mounted integrated navigation system, comprising:

[0012] Set up a fault recovery strategy for each detection object;

[0013] The detection object is detected according to the fault detection method in the vehicle-mounted integrated navigation system described above, and after detecting that an abnormality occurs in a certain detection object, a fault recovery operation is performed using a fault recovery strategy corresponding to the detection object;

[0014] Wherein, the detection object at least includes the angle value of the heading installation angle.

[0015] A storage medium stores a computer program, wherein the computer program is configured to execute the above-mentioned fault detection method in a vehicle-mounted integrated navigation system or fault handling method in a vehicle-mounted integrated navigation system when running.

[0016] An electronic device comprises a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the above-mentioned fault detection method in a vehicle-mounted integrated navigation system or fault handling method in a vehicle-mounted integrated navigation system.

[0017] A vehicle-mounted integrated navigation device comprises the electronic device mentioned above.

[0018] One of the above technical solutions has the following advantages or beneficial effects:

[0019] By analyzing the fault information of the faults in the vehicle integrated navigation system, the detection object is determined, and by setting a corresponding fault detection strategy for each detection object, the detection of various faults is achieved, thereby achieving comprehensive fault detection of the vehicle integrated navigation system.

[0020] Other features and advantages of the embodiments of the present application will be described in the subsequent description, and partly become apparent from the description, or can be understood by implementing the embodiments of the present application. The purpose and other advantages of the embodiments of the present application can be achieved and obtained by the structures specifically pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide further understanding of the technical solutions of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the embodiments of the present application, they are used to explain the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions of the embodiments of the present application.

[0022] Figure 1 A flowchart of a fault detection method in a vehicle-mounted integrated navigation system provided in an embodiment of the present application;

[0023] Figure 2 A schematic diagram of fault classification of the vehicle-mounted integrated navigation system provided in an embodiment of the present application;

[0024] Figure 3 A schematic diagram of a fault handling method for a vehicle-mounted integrated navigation system provided in an embodiment of the present application;

[0025] Figure 4 A schematic diagram of the heading installation angle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the embodiments of the present application more clear, the embodiments of the present application will be described in detail in conjunction with the accompanying drawings. It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other arbitrarily.

[0027] In the process of implementing this application, a technical analysis of the relevant technologies was conducted and it was found that the relevant technologies have at least the following problems, including:

[0028] Before using IMU, initial alignment is required, that is, the attitude angle between the vehicle body frame (Vehicle Body Frame, VBF) and the navigation system is obtained by using the INS output data. The initial alignment completes the attitude angle estimation between the vehicle body frame (Vehicle Body Frame, VBF) and the navigation system. The premise is that the three axes of the IMU and the three axes of the VBF are completely coincident, and the original output data of the IMU can be strapdown solved under VBF. When the three axes of the IMU and the three axes of the VBF do not coincide, it is wrong to directly use the output data of the MEMSIMU for initial alignment, and it will cause devastating damage to the entire navigation system when the velocity constraint model is introduced.

[0029] The pulse information of ODO comes from the on-board computer and is the input of the integrated navigation system. It is also possible to fail. For example, the number of input pulses is 0 due to a disconnection failure; the scale factor of the pulse is unstable, and the number of pulses varies greatly at the same speed. Odometer failure will introduce incorrect odometer constraints, which will then affect the error state estimation of the IMU, resulting in an increase in the positioning error of the integrated navigation system.

[0030] The vehicle-mounted integrated navigation system requires an inertial hot start function. When the system is powered off, all inertial navigation states, such as position, speed, installation angle, IMU Bias, etc., need to be saved. After powering on, alignment is no longer required, and the saved positioning results are directly used to start recursive integrated positioning. If the integrated navigation system moves during the power outage, such as displacement from the vehicle carrier, or long-distance transportation, the position of the integrated navigation system will be abnormal after hot start.

[0031] Based on the above analysis, the present application provides the following solutions, including:

[0032] Figure 1 This is a flow chart of a fault detection method in a vehicle-mounted integrated navigation system provided in an embodiment of the present application. Figure 1 As shown, the method includes:

[0033] Step 101: Acquire fault information in the vehicle-mounted integrated navigation system, wherein the fault information includes a source, status information, and a cause;

[0034] In an exemplary embodiment, the vehicle-mounted integrated navigation system may be GNSS / IMU, or GNSS / IMU / ODO.

[0035] Figure 2 This is a schematic diagram of the fault classification of the vehicle-mounted integrated navigation system provided in the embodiment of the present application. Figure 2 As shown, they are classified according to the source, status information and triggering cause, among which:

[0036] According to the source of the fault, it can be divided into external input fault of the system and internal solution fault of the algorithm;

[0037] According to the navigation status of the fault, it can be divided into installation angle input fault, odometer input fault, installation angle solution fault and inertial navigation position abnormal fault;

[0038] According to the triggering cause, it can be divided into odometer disconnection, scale factor instability, free installation abnormality, inertial hot start and long-term satellite loss of lock.

[0039] Using the above fault parameters to describe the fault can more accurately describe the fault and provide support for determining the detection object.

[0040] Step 102: determining a detection object in the vehicle-mounted integrated navigation system according to the fault information, wherein the detection object at least includes an angle value of a heading installation angle;

[0041] by Figure 2 Taking the fault classification diagram shown in the figure as an example, it can be determined that the detection objects also include:

[0042] The distance increment measured by the odometer;

[0043] IMU positioning results after GNSS signal interruption and before restoration.

[0044] Step 103: Setting a fault detection strategy for each detection object;

[0045] In an exemplary embodiment, the fault detection strategy includes required detection parameters and judgment conditions to implement fault detection for each detection object.

[0046] Step 104: Utilize the fault detection strategy to perform fault detection on the vehicle-mounted integrated navigation system;

[0047] Wherein, detecting the abnormality of the heading installation angle includes: if the heading installation angle is abnormal in at least two consecutive epochs, determining the abnormality of the heading installation angle.

[0048] By executing this fault detection strategy, a comprehensive detection of the vehicle integrated navigation system can be achieved to provide support for normal operation.

[0049] The method provided in the embodiment of the present application analyzes the fault information of the fault in the vehicle-mounted integrated navigation system, determines the detection object, and realizes the detection of various types of faults by setting a corresponding fault detection strategy for each detection object, thereby realizing comprehensive fault detection of the vehicle-mounted integrated navigation system.

[0050] The method provided in the embodiment of the present application is described below.

[0051] In an exemplary embodiment, the method further comprises:

[0052] Record the number of failures of each detection object in the vehicle integrated navigation system;

[0053] According to the number information, generating an execution cycle of the fault detection strategy for each detection object;

[0054] Wherein, a corresponding fault detection strategy is executed on each detection object according to the execution cycle corresponding to the detection object.

[0055] The following processing can be performed on each detection object, including:

[0056] The historical number of times the same fault occurs in the detection object within a unit time is obtained from historical data, and the initial value of the execution cycle of the fault detection strategy is determined based on the historical number information; after performing fault detection for a period of time according to the initial value of the execution cycle, the latest number of times the same fault occurs within a unit time is obtained again, the initial value of the execution cycle is adjusted based on the latest number information, and the fault detection is performed using the adjusted updated value.

[0057] If the latest number of times is less than the historical number of times, the length of the execution cycle is increased to achieve the purpose of reducing the detection frequency; otherwise, the length of the execution cycle is shortened to achieve the purpose of increasing the detection frequency.

[0058] By adjusting the execution cycle, faults can be discovered in a timely manner while effectively controlling detection costs.

[0059] The present application provides a method for handling a fault in a vehicle-mounted integrated navigation system, including:

[0060] Set up a fault recovery strategy for each detection object;

[0061] Detecting the detection object according to any one of the above-mentioned vehicle integrated navigation system fault detection methods, and after detecting that a certain detection object is abnormal, performing a fault recovery operation using a fault recovery strategy corresponding to the detection object;

[0062] Wherein, the detection object at least includes the angle value of the heading installation angle.

[0063] A corresponding fault recovery strategy can be set for each fault of the detection object, so that the integrated navigation system can return to normal as soon as possible.

[0064] Figure 3 A schematic diagram of a method for troubleshooting a vehicle-mounted integrated navigation system provided in an embodiment of the present application. Figure 3 As shown in the figure, the source of the fault determines the solution and isolation method of the fault problem; the state information of the fault will directly affect the positioning trajectory of the final combination, and it is necessary to select appropriate indicators for detection based on the state information of the fault; the cause determines the position of fault detection and isolation in the entire system process. Through fault classification and fault cause analysis, relevant indicators for effective detection of various types of faults can be extracted, and the detection threshold can be reasonably set to complete fault detection; after fault detection, it is necessary to timely and effectively isolate the impact of related fault states on combined navigation, and activate the fault state recovery algorithm to restore the combined navigation system to normal as soon as possible.

[0065] According to the fault classification above and the cause of the fault, the fault handling method for each detection object in the vehicle-mounted integrated navigation system in this application is as follows:

[0066] (1) Abnormal installation angle

[0067] The causes of the failure include: abnormal fixed installation input; error in free installation alignment estimation; abnormal inertial hot start posture.

[0068] The abnormality of the heading installation angle is detected by the following methods, including:

[0069] Get the velocity V in the IMU coordinate system b b ;

[0070] The following method is used to determine whether there is an abnormality in the heading installation angle in each epoch. If the heading installation angle is abnormal in at least two consecutive epochs, the abnormality of the heading installation angle is determined, including:

[0071] Use the transfer matrix corresponding to the projection of the IMU coordinate system b to the vehicle carrier coordinate system v Determine the speed V b The velocity V in the carrier coordinate system v v ;

[0072] If the speed V v If at least one of the speed values ​​of the X-axis and the Y-axis is greater than the corresponding speed threshold, it is determined that the heading installation angle is abnormal.

[0073] Figure 4 This is a schematic diagram of the heading installation angle provided in the embodiment of the present application. Figure 4 As shown, taking the horizontal as an example, the heading installation angle is the angle ψ between the vehicle carrier coordinate system v (upper right front) and the IMU coordinate system b (upper right front).

[0074] According to the velocity of IMU coordinate system b and the installation angle transfer matrix of the fault The velocity of the carrier coordinate system v can be calculated The calculation expression is as follows:

[0075]

[0076] Since the vehicle cannot jump or move sideways, Close to 0.

[0077] Based on the above conditions, the fault detection strategy for abnormal heading installation angle ψ is constructed as follows:

[0078]

[0079]

[0080] If the above condition is met for n epochs in a row, an abnormal installation angle fault is determined, where n is an integer greater than or equal to 2.

[0081] If the heading installation angle is abnormal, the combined navigation operation is terminated and the heading installation angle is acquired again.

[0082] (2) Odometer abnormality

[0083] Cause of failure: The vehicle skidded and slid during driving.

[0084] Faults in the measured distance increments are detected by:

[0085] Obtain the distance increment measured by the odometer within the kth epoch time and the positioning distance of the vehicle integrated navigation system within the kth epoch time;

[0086] Calculate the distance difference between the distance increment and the positioning distance;

[0087] If the vehicle skids during driving, when the distance difference is greater than a preset skid judgment threshold, it is determined that the measured distance increment is abnormal;

[0088] If the driving mode of the vehicle is coasting, when the distance difference is less than a preset coasting judgment threshold, it is determined that the measured distance increment is abnormal;

[0089] Wherein, k is a positive integer.

[0090] When the vehicle is skidding, the distance increment measured by the odometer in the kth epoch is Much larger than the actual distance traveled by the vehicle m k , while the distance increment measured by the odometer during gliding Much smaller than the actual distance traveled by the vehicle m k .

[0091] Since GNSS / IMU has high positioning accuracy in a short time, the vehicle-mounted integrated navigation positioning distance in the kth epoch can be used as the actual distance increment m traveled by the vehicle k , where the vehicle integrated navigation positioning distance is the navigation positioning distance in the kth epoch and the navigation distance in the k-1th epoch Determined, that is,

[0092] Based on the characteristics of the odometer recording mileage data, the following conditions are set, including:

[0093] When the vehicle skids, the following conditions are set:

[0094]

[0095] Among them, Γ is the slip judgment threshold;

[0096] When the vehicle is coasting, the conditions are set as follows:

[0097]

[0098] Among them, Λ is the sliding judgment threshold.

[0099] If it is determined that the distance increment measured by the odometer is faulty, the odometer effective state is reset, the odometer scale factor is reset to zero, and the odometer initialization module is reactivated.

[0100] (3) Abnormal inertial navigation position failure

[0101] The causes of the failure are: long-term satellite lock loss; abnormal inertial hot start saving position due to movement after power failure or long-distance transportation.

[0102] The following methods are used to detect abnormal IMU positioning results, including:

[0103] After detecting the GNSS signal recovery, obtain the positioning result P of the GNSS unit within the same epoch time GNSS And the IMU positioning result P IMU ;

[0104] According to the positioning result P GNSS And the positioning result P IMU , determine the positioning error of IMU;

[0105] After the GNSS signal is restored, obtain the positioning result P of the GNSS unit within the same epoch time. GNSS And the IMU positioning result P IMU ;

[0106] According to the positioning result P GNSS And the positioning result P IMU , determine the positioning error of IMU;

[0107] When the positioning error is greater than the preset position abnormality judgment threshold, the IMU positioning result is abnormal.

[0108] After detecting that the GNSS signal is restored, the satellite positioning is basically not affected by the previous epoch. Therefore, after the GNSS signal is restored, the current positioning result of the GNSS module can be GNSS As the current positioning result of IMU P IMU The IMU positioning abnormality is judged based on the reference value. Therefore, the judgment conditions for IMU positioning abnormality are as follows:

[0109] |P GNSS -P IMU |>Thd pos ;

[0110] Among them, Thd pos Indicates the position abnormality fault judgment threshold.

[0111] When the IMU positioning is abnormal, the combined navigation operation is terminated, all navigation and positioning states of the IMU are cleared, and the alignment operation is performed again.

[0112] To sum up, compared with the existing vehicle-mounted integrated navigation system, comprehensive monitoring of various faults can effectively detect key faults that affect the positioning performance of the vehicle-mounted integrated navigation system, and at the same time isolate the fault state in time and restore the normal positioning of the integrated navigation system.

[0113] An embodiment of the present application provides a storage medium storing a computer program, wherein the computer program is configured to execute, when running, the fault detection method in a vehicle-mounted integrated navigation system or the fault handling method in a vehicle-mounted integrated navigation system described in any one of the above items.

[0114] An embodiment of the present application provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the fault detection method in the vehicle-mounted integrated navigation system or the fault handling method in the vehicle-mounted integrated navigation system described in any one of the above items.

[0115] The embodiment of the present application provides a vehicle-mounted integrated navigation device, comprising the electronic device described above, wherein the electronic device can be independently provided in the vehicle-mounted integrated navigation device in the form of a module, or integrated into a processor in the vehicle-mounted integrated navigation device.

[0116] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those of ordinary skill in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

Claims

1. A fault detection method in a vehicle-mounted integrated navigation system, characterized in that: include: Acquiring fault information in the vehicle-mounted integrated navigation system, wherein the fault information includes a source, status information and a triggering cause; Determine, according to the fault information, a detection object in the vehicle-mounted integrated navigation system, wherein the detection object at least includes an angle value of a heading installation angle; Set up a fault detection strategy for each detection object; The fault detection strategy is used to perform fault detection on the vehicle integrated navigation system; Wherein, detecting the abnormality of the heading installation angle includes: if the heading installation angle is abnormal in at least two consecutive epochs, determining the abnormality of the heading installation angle.

2. The method according to claim 1, characterized in that The method further comprises: Record the number of failures of each detection object in the vehicle integrated navigation system; According to the number information, generating an execution cycle of the fault detection strategy for each detection object; Wherein, a corresponding fault detection strategy is executed on each detection object according to the execution cycle corresponding to the detection object.

3. The method according to claim 1, characterized in that: The detection object also includes at least one of the following: The distance increment measured by the odometer; IMU positioning results after GNSS signal interruption and before restoration.

4. The method according to claim 3, characterized in that The abnormality of the heading installation angle is detected by the following methods, including: Get the velocity V in the IMU coordinate system b b ; The following methods are used to determine whether there is an abnormality in the heading installation angle in each epoch, including: Use the transfer matrix corresponding to the projection of the IMU coordinate system b to the vehicle carrier coordinate system v Determine the speed V b The velocity V in the carrier coordinate system v v ; If the speed V v If at least one of the speed values ​​of the X-axis and the Y-axis is greater than the corresponding speed threshold, it is determined that the heading installation angle is abnormal.

5. The method according to claim 3, characterized in that: The abnormality of the measured distance increment is detected by the following methods, including: Obtain the distance increment measured by the odometer within the kth epoch time and the positioning distance of the vehicle integrated navigation system within the kth epoch time; Calculate the distance difference between the distance increment and the positioning distance; If the vehicle skids during driving, if the distance difference is greater than a preset skid judgment threshold, it is determined that the measured distance increment is abnormal; If the driving mode of the vehicle is coasting, if the distance difference is less than a preset coasting judgment threshold, it is determined that the measured distance increment is abnormal.

6. The method according to claim 3, characterized in that Faults in the measured distance increments are detected by: Obtain the distance increment measured by the odometer within the kth epoch time and the positioning distance of the vehicle integrated navigation system within the kth epoch time; Calculate the distance difference between the distance increment and the positioning distance; If the vehicle skids during driving, when the distance difference is greater than a preset skid judgment threshold, it is determined that the measured distance increment is abnormal; If the driving mode of the vehicle is coasting, when the distance difference is less than a preset coasting judgment threshold, it is determined that the measured distance increment is abnormal; Wherein, k is a positive integer.

7. The method according to claim 3, characterized in that The following methods are used to detect abnormal IMU positioning results, including: After detecting the GNSS signal recovery, obtain the positioning result P of the GNSS unit within the same epoch time GNSS And the IMU positioning result P IMU ; According to the positioning result P GNSS And the positioning result P IMU , determine the positioning error of IMU; When the positioning error is greater than the preset position abnormality judgment threshold, the IMU positioning result is abnormal.

8. A fault handling method in a vehicle-mounted integrated navigation system, characterized in that: include: Set up a fault recovery strategy for each detection object; The detection object is detected according to the fault detection method in the vehicle-mounted integrated navigation system according to any one of claims 1 to 7, and after detecting that an abnormality occurs in a certain detection object, a fault recovery operation is performed using a fault recovery strategy corresponding to the detection object; Wherein, the detection object at least includes the angle value of the heading installation angle.

9. The method according to claim 8, characterized in that The performing of the fault recovery operation by using the fault recovery strategy corresponding to the detection object includes: If the heading installation angle is abnormal, the combined navigation operation is terminated and the heading installation angle is acquired again; If the odometer is judged to be faulty, reset the odometer valid state, return the odometer scale factor to zero, and then reactivate the odometer initialization module; When the IMU positioning is abnormal, the combined navigation operation is terminated, all navigation and positioning states of the IMU are cleared, and the alignment operation is performed again.

10. A storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to execute the method described in any one of claims 1 to 7 or the method described in any one of claims 8 to 9 when running.

11. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to perform the method described in any one of claims 1 to 7 or the method described in any one of claims 8 to 9.

12. A vehicle-mounted integrated navigation device, characterized in that: Comprising the electronic device as claimed in claim 11.

Images