Real-time correction method and system for vehicle positioning data in a combined navigation system

Abstract

Embodiments of the present application provide a vehicle positioning data real-time correction method and system in a combined navigation system. The method comprises reading positioning data comprising previous positioning data and current positioning data and determining whether the current positioning data has a fixed solution or a floating point solution; if not, determining that the global navigation satellite system signal in the combined navigation system is blocked and obtaining geographic location information data; then, first determining whether the previous positioning state is a normal state; if yes, then determining whether the current positioning state is an abnormal state; if yes, then correcting the current positioning data according to the previous positioning data, the previous positioning state, the geographic location information data and the current positioning state. The present application can improve the problem that when the vehicle is in a GNSS signal blocked area, the positioning data correction of the vehicle positioning abnormal condition cannot be performed in the combined navigation system, and achieve the effect of positioning data correction of the vehicle positioning abnormal condition.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the field of intelligent transportation technology, and in particular to a vehicle positioning data real-time correction method and system in a combined navigation system. BACKGROUND

[0002] In a satellite occlusion scenario, Global Navigation Satellite System (GNSS) / Strapdown Inertial Navigation System (SINS) combined navigation is currently a positioning method for vehicles. Among them, GNSS can provide high-precision absolute position information, but it is susceptible to environmental influences and has poor dynamic performance and low update rate; SINS has the advantages of high short-time accuracy, good dynamic performance, high update rate, and is not affected by the environment, but its error accumulates over time and it is difficult to work independently for a long time. According to the advantages and disadvantages of the two, GNSS and SINS have good complementarity, and GNSS / SINS combined navigation system is suitable for vehicle positioning.

[0003] In the process of implementing the present application, the inventors found that in a GNSS / SINS combined navigation system, when the vehicle is in a GNSS signal occlusion area, it is impossible to correct the positioning data for abnormal vehicle positioning conditions. SUMMARY

[0004] Embodiments of the present application provide a vehicle positioning data real-time correction method and system in a combined navigation system, which can improve the problem of being unable to correct and predict the positioning data for abnormal vehicle positioning conditions in a GNSS / SINS combined navigation system when the vehicle is in a GNSS signal occlusion area.

[0005] In a first aspect of the present application, a vehicle positioning data real-time correction method in a combined navigation system is provided, comprising:

[0006] reading positioning data of a positioning device, the positioning data including previous positioning data and current positioning data;

[0007] determining whether the current positioning data has a fixed solution or a floating point solution;

[0008] if not, determining that the Global Navigation Satellite System signal in the combined navigation system is blocked, and obtaining geographic location information data of the positioning device;

[0009] determining whether the previous positioning state of the positioning device is a normal state according to a preset number, the previous positioning data, and the geographic location information data;

[0010] If yes, it is judged whether the current positioning state of the positioning device is an abnormal state according to the current positioning data, the previous positioning state and the geographic position information data;

[0011] If yes, the current positioning data is corrected according to the previous positioning data, the previous positioning state, the geographic position information data and the current positioning state.

[0012] By adopting the above technical scheme, the positioning data of the positioning device is read, the positioning data including previous positioning data and current positioning data, and then it is judged whether the current positioning data has a fixed solution or a floating point solution; if the current positioning data has neither a fixed solution nor a floating point solution, it is determined that the global navigation satellite system signal in the integrated navigation system is blocked, and the geographic position information data of the positioning device is acquired; then, according to a preset number of times, the previous positioning data and the geographic position information data, it is judged whether the previous positioning state of the positioning device is a normal state, if the previous positioning state is a normal state, according to the current positioning data, the previous positioning state and the geographic position information data, it is judged whether the current positioning state of the positioning device is an abnormal state, if the current positioning state is an abnormal state, the current positioning data is corrected according to the previous positioning data, the previous positioning state, the geographic position information data and the current positioning state; as can be seen from the above, when the positioning device is in the global navigation satellite system signal blocking area, in the case that the previous positioning state of the positioning device is normal and the current positioning state is abnormal, the vehicle positioning abnormality can be corrected, which can improve the problem that in the GNSS / SINS integrated navigation system, when the vehicle is in the GNSS signal blocking area, the positioning data cannot be corrected in the case of vehicle positioning abnormality, and achieve the effect that in the GNSS / SINS integrated navigation system, when the vehicle is in the GNSS signal blocking area, the positioning data can be corrected in the case of vehicle positioning abnormality.

[0013] In a possible implementation manner, the preset number of times includes a first preset number of times and a second preset number of times;

[0014] The judging whether the previous positioning state of the positioning device is a normal state according to the preset number of times, the previous positioning data and the geographic position information data includes:

[0015] judging whether the collection number of times of the previous positioning data is less than the first preset number of times; if yes, the previous positioning state of the positioning device is an abnormal state;

[0016] If no, it is judged whether the previous positioning data all have a fixed solution or a floating point solution; if yes, the previous positioning state of the positioning device is a normal state;

[0017] If no, it is judged whether the previous positioning data is continuously corrected within the second preset number of times, if yes, the previous positioning state of the positioning device is an abnormal state; if no, the previous positioning state of the positioning device is a normal state.

[0018] In a possible implementation, the judging whether the current positioning state of the positioning device is an abnormal state according to the current positioning data, the previous positioning state and the geographic location information data comprises:

[0019] judging whether the current positioning is outside a preset working area or inside a preset inaccessible area according to the current positioning data and the geographic location information data; if yes, the current positioning state of the positioning device is an abnormal state;

[0020] If no, it is judged whether the difference between the current positioning data and the previous positioning data exceeds a difference threshold, if yes, the current positioning state of the positioning device is an abnormal state;

[0021] If no, it is judged whether the current positioning data, the previous positioning data and the geographic location information data are all associated, if yes, the current positioning state of the positioning device is an abnormal state.

[0022] In a possible implementation, the abnormal state of the current positioning state comprises a distance too far state, an angle too large state, a height jump state and a crossing entity state.

[0023] The correcting the current positioning data according to the previous positioning data, the previous positioning state, the geographic location information data and the current positioning state comprises:

[0024] When the abnormal state of the current positioning state is an absolute positioning abnormal state or a distance too far state, an adjustment distance is calculated according to the previous positioning data, the current positioning data and the geographic location information data, and the current positioning data is corrected according to the adjustment distance;

[0025] When the abnormal state of the current positioning state is an angle too large state, an adjustment angle is calculated according to the previous positioning data, the current positioning data and the geographic location information data, and the current positioning data is corrected according to the adjustment angle;

[0026] When the abnormal state of the current positioning state is a height jump state, an adjustment height is calculated according to the previous positioning data, the current positioning data and the geographic location information data, and the current positioning data is corrected according to the adjustment height;

[0027] When the abnormal state of the positioning state is a crossing entity state, a projection point is obtained according to the previous positioning data, the current positioning data and the geographic position information data, and the current positioning data is corrected according to the projection point.

[0028] In a possible implementation, the method further includes:

[0029] The previous positioning state is maintained based on a double circular linked list and a hash map.

[0030] In a possible implementation, after the geographic position information data of the positioning device is obtained, the method further includes:

[0031] It is judged whether the data form of the geographic position information data is same as that of the positioning data.

[0032] If not, the data form of the geographic position information data is converted according to the data form of the positioning data.

[0033] In a possible implementation, the method further includes:

[0034] An index list is generated by indexing the converted geographic position information data.

[0035] The converted geographic position information data is searched based on the index list.

[0036] In a second aspect of the present application, a vehicle positioning data real-time correction system in a combined navigation system is provided, including:

[0037] A reading module is configured to read positioning data of a positioning device, the positioning data including previous positioning data and current positioning data.

[0038] A first judging module is configured to judge whether the current positioning data has a fixed solution or a floating point solution.

[0039] An obtaining module is configured to, if the current positioning data has neither a fixed solution nor a floating point solution, determine that a global navigation satellite system signal in the combined navigation system is blocked, and obtain geographic position information data of the positioning device.

[0040] A second judging module is configured to judge, according to a preset number, the previous positioning data and the geographic position information data, whether a previous positioning state of the positioning device is a normal state.

[0041] A third judging module is configured to, if the previous positioning state is the normal state, judge, according to the current positioning data, the previous positioning state and the geographic position information data, whether a current positioning state of the positioning device is an abnormal state.

[0042] a correction module, configured to correct the current positioning data according to the previous positioning data, the previous positioning state, the geographic information data and the current positioning state if the current positioning state is an abnormal state.

[0043] In a third aspect of the present application, an electronic device is provided. The electronic device comprises a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method as described above.

[0044] In a fourth aspect of the present application, a computer readable storage medium is provided, which stores a computer program, and the computer program is executed by a processor to implement the steps of the method.

[0045] It should be understood that the content described in the summary section is not intended to limit the key or important features of the embodiments of the present application, nor to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0046] The above and other features, advantages and aspects of the embodiments of the present application will become more apparent by describing in detail the following embodiments with reference to the attached drawings. In the drawings, the same or similar reference numerals refer to the same or similar elements, in which:

[0047] Figure 1 A flow chart of a vehicle positioning data real-time correction method in a combined navigation system in an embodiment of the present application is shown.

[0048] Figure 2 A flow chart of judging a previous positioning state of a positioning device in an embodiment of the present application is shown.

[0049] Figure 3 A flow chart of judging a current positioning state of a positioning device in an embodiment of the present application is shown.

[0050] Figure 4 A schematic diagram of the geographic information data after format conversion in an embodiment of the present application is shown.

[0051] Figure 5 A structure diagram of a vehicle positioning data real-time correction system in a combined navigation system in an embodiment of the present application is shown.

[0052] Figure 6 A structure diagram of an electronic device suitable for implementing an embodiment of the present application is shown. DETAILED DESCRIPTION

[0053] To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will briefly describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application.

[0054] The vehicle positioning data real-time correction method in the combined navigation system provided by the embodiments of the present application can be applied to the field of intelligent transportation technology.

[0055] The integrated navigation system (INS) is a navigation system in which two or more navigation devices on a carrier such as an airplane or a ship are combined together. In the embodiments of the present application, the integrated navigation system is a Global Navigation Satellite System (GNSS) / Inertial Navigation System (INS) integrated navigation, namely, a GNSS / INS integrated navigation system.

[0056] The Global Navigation Satellite System is a space-based radio navigation system that provides real-time positioning by using satellite pseudo-range, carrier, ephemeris, time and clock error information provided by navigation satellites. It can provide three-dimensional coordinates, speed and time information for users at any location on the earth's surface or near space. The Global Navigation Satellite System has high precision and stable error, and can provide high-precision absolute position information. However, the Global Navigation Satellite System is easily affected by the surrounding environment, such as trees, buildings, and high-reflective objects causing multipath effects. In addition, the dynamic performance of the Global Navigation Satellite System lags behind, and the update rate is low.

[0057] The inertial navigation system is also called an inertial reference system, which is a self-contained navigation system that does not rely on external information and does not radiate energy (such as radio navigation) to the outside. Its working environment includes not only the air and the ground, but also underwater. The basic working principle of the inertial navigation system is based on Newton's laws of motion. By measuring the acceleration of the carrier in the inertial reference frame, integrating it with respect to time, and transforming it into the navigation coordinate system, the velocity, yaw angle and position in the navigation coordinate system can be obtained.

[0058] The inertial navigation system belongs to a kind of reckoning navigation mode, that is, the position of a known point is calculated according to the continuously measured heading angle and speed of the moving body, so the current position of the moving body can be continuously measured. The gyroscope in the inertial navigation system is used to form a navigation coordinate system, so that the measurement axis of the accelerometer is stabilized in the coordinate system, and the heading and attitude angle are given; the accelerometer is used to measure the acceleration of the moving body, and after a time integration, the velocity is obtained, and the displacement is obtained after a time integration of the velocity.

[0059] Inertial navigation system has good concealment and is not affected by external electromagnetic interference, and can work all day and all time in the air, on the earth's surface and underwater, and can also provide position, speed, heading and attitude angle data. At the same time, the navigation information generated by the inertial navigation system has good continuity, low noise, high data update rate, and good short-term accuracy and stability. However, since the navigation information of the inertial navigation system is generated by integration, the positioning error increases with time, the long-term accuracy is poor, and a long initial alignment time is required before each use, and time information cannot be provided.

[0060] In the actual use of the GNSS / INS integrated navigation system, when the global navigation satellite system signal is blocked, in the global navigation satellite system signal blocked area, the vehicle affected by the global navigation satellite system signal blockage will have a drift phenomenon.

[0061] At present, the common drift phenomenon can be divided into short-time drift and long-time drift according to the length of time. Among them, short-time drift refers to the case that can be restored to normal within a short time (such as 5 seconds).

[0062] Short-time drift includes short-time long-distance drift, short-time inaccessible area drift and short-time line crossing. Short-time long-distance drift refers to the vehicle drifting to a point that cannot be reached at the current speed, and then returning to the normal position within a few seconds; short-time inaccessible area drift refers to the vehicle drifting to a point that can be reached at the current speed, but is a prescribed inaccessible area such as a pool, and then returning to the normal position within a few seconds; short-time line crossing refers to the vehicle's front and rear positions being in the normal area and the distance basically meeting the requirements, but the line after crossing will cross the area or the problem of crossing the road surface, and the turning place is more serious.

[0063] Long-time drift includes long-time long-distance drift, long-time inaccessible area drift, long-time building surrounding line drift and drift in the stopped state. Long-time long-distance drift refers to the vehicle drifting to a point that cannot be reached at the current speed, and being in a drifting state for tens of seconds or even minutes; long-time inaccessible area drift refers to the vehicle drifting to a point that can be reached at the current speed, but is a prescribed inaccessible area such as a pool, and being in a drifting state for tens of seconds or even minutes; long-time building surrounding line drift refers to the vehicle not being on the road, but basically being around, resulting in a messy trajectory display; and drift in the stopped state refers to the vehicle actually being in a stopped state, but being drifting around a certain point.

[0064] As can be seen from the above, in the GNSS / SINS integrated navigation system, when the vehicle is in the GNSS signal blocked area, the positioning data cannot be corrected for the abnormal positioning of the vehicle, so as to realize the real-time positioning of the vehicle.

[0065] To solve this technical problem, embodiments of the present application provide a vehicle positioning data real-time correction method in a combined navigation system. In some embodiments, the vehicle positioning data real-time correction method in the combined navigation system can be executed by an electronic device.

[0066] Figure 1 A flowchart of the vehicle positioning data real-time correction method in the combined navigation system in embodiments of the present application is shown. Referring to FIG. 1, the vehicle positioning data real-time correction method in the combined navigation system in embodiments of the present application includes the following steps. Figure 1 The vehicle positioning data real-time correction method in the combined navigation system in embodiments of the present application includes the following steps.

[0067] Step S101: reading positioning data of a positioning device, the positioning data including previous positioning data and current positioning data.

[0068] Step S102: determining whether the current positioning data has a fixed solution or a floating point solution.

[0069] Step S103: if the current positioning data has neither a fixed solution nor a floating point solution, determining that global navigation satellite system signals in the combined navigation system are blocked, and obtaining geographic location information data of the positioning device.

[0070] Step S104: determining whether a previous positioning state of the positioning device is a normal state according to a preset number, the previous positioning data, and the geographic location information data.

[0071] Step S105: if the previous positioning state is the normal state, determining whether a current positioning state of the positioning device is an abnormal state according to the current positioning data, the previous positioning state, and the geographic location information data.

[0072] Step S106: if the previous positioning state is the abnormal state, correcting the current positioning data according to the current positioning data, the previous positioning state, the geographic location information data, and the current positioning state.

[0073] By adopting the above technical solution, the positioning data of the positioning device is read, the positioning data includes previous positioning data and current positioning data, and then it is judged whether the current positioning data has a fixed solution or a floating point solution; if the current positioning data neither has a fixed solution nor a floating point solution, it is determined that the global navigation satellite system signal in the integrated navigation system is blocked, and the geographic position information data of the positioning device is obtained; then, according to the preset number, the previous positioning data and the geographic position information data, it is judged whether the previous positioning state of the positioning device is a normal state, if the previous positioning state is a normal state, according to the current positioning data, the previous positioning state and the geographic position information data, it is judged whether the current positioning state of the positioning device is an abnormal state, if the current positioning state is an abnormal state, the current positioning data is corrected according to the previous positioning data, the previous positioning state, the geographic position information data and the current positioning state; as can be seen from the above, when the positioning device is in the global navigation satellite system signal blocking area, in the case that the previous positioning state of the positioning device is normal and the current positioning state is abnormal, the vehicle positioning abnormality can be corrected, which can improve the problem that in the GNSS / SINS integrated navigation system, when the vehicle is in the GNSS signal blocking area, the positioning data cannot be corrected in the case of vehicle positioning abnormality, and achieve the effect that in the GNSS / SINS integrated navigation system, when the vehicle is in the GNSS signal blocking area, the positioning data can be corrected in the case of vehicle positioning abnormality.

[0074] In step S101, due to the out-of-order phenomenon caused by network and other reasons, the real-time correction cannot handle the out-of-order situation in the GNSS / SINS integrated navigation system, therefore, the read positioning data of the positioning device are all real-time data. The positioning device is a device for monitoring vehicle movement data installed on the vehicle (mobile device), such as a GPS locator.

[0075] In the embodiment of the present application, the positioning data in the vehicle positioning data real-time correction system in the integrated navigation system is read in the message queue or buffer in the data storage module. The positioning data is real-time positioning data in the vehicle driving process. If the positioning data is not real-time data, i.e. historical data, real-time correction cannot be achieved.

[0076] In the embodiment of the present application, when the positioning data is not real-time data, the non-real-time positioning data can be preprocessed based on the data synchronization processing method, so that the non-real-time positioning data has validity, and the vehicle positioning data historical correction in the integrated navigation system can be achieved. For example, in the scene of handling traffic accidents, the historical positioning data is corrected to assist in comparing the original state and the corrected state.

[0077] In the embodiment of the present application, when judging whether the read positioning data is real-time positioning data in the process of vehicle driving, the current timestamp of the positioning device and the current timestamp of the algorithm service in the real-time correction system of the vehicle positioning data in the integrated navigation system are compared. If the timestamps of the two are consistent, the read positioning data is real-time positioning data in the process of vehicle driving.

[0078] In the embodiment of the present application, the positioning data includes device ID, positioning time, message type, longitude, latitude, altitude, direction, speed and satellite number.

[0079] In the embodiment of the present application, the data format of the positioning data is as follows:

[0080] {

[0081] "altitude": 81,

[0082] "direction": 0,

[0083] "gpstime": 1644984824566,

[0084] "lat": 39.9195022,

[0085] "lon": 118.1253256,

[0086] "ID": "18877777777",

[0087] "msgType": " realtime ",

[0088] "satellites": 8,

[0089] "speed": 12

[0090] }

[0091] In the data format of the positioning data, the meanings of the fields are as shown in Table 1.

[0092] Table 1: Relationship table of positioning data data format

[0093] Field Meaning ID Device ID gpstime Position time msgType Message type (history or live) lon Longitude lat Latitude altitude Altitude direction Direction speed Speed satellites Number of satellites

[0094] In the embodiment of the present application, the current positioning data is real-time current positioning data, and the previous positioning data is a set of positioning data obtained in real time within a preset time (such as 10 seconds) before the current positioning data, such as the positioning data 10 seconds before the current positioning data, which is the previous positioning data of the current positioning data.

[0095] In step S102, the fixed solution refers to fixing the integer ambiguity in the baseline solution process, and substituting the obtained unknown parameter solution (such as the baseline vector, position coordinates, and troposphere parameters) into the equation solution. The float solution refers to not fixing the ambiguity as an integer in the baseline solution process, but directly using the float result obtained by the least square solution, and simultaneously obtaining the unknown parameter solution. In the GNSS / SINS integrated navigation system, the fixed solution is the most accurate data, and the accuracy is generally 3-5 cm, which can basically be used as the graph root point. The float solution has relatively low accuracy, and sometimes can only reach an accuracy within 10 cm. If the fish pond or mountain area is measured, this accuracy can also be used.

[0096] In the embodiment of the present application, it is determined whether the current positioning data has a fixed solution or a float solution, that is, whether the current positioning data has coordinate data with a positioning accuracy of 3-5 cm or coordinate data with a positioning accuracy within 10 cm.

[0097] In step S103, if neither the fixed solution nor the float solution is in the current positioning data, it indicates that the current positioning accuracy is more than 10 cm, that is, it is determined that the global navigation satellite system signal in the integrated navigation system is blocked. At this time, the current positioning state is marked as a suspected positioning abnormal state, and the current positioning data is processed in the next step.

[0098] In the embodiment of the present application, when the current positioning state is the suspected positioning abnormal state, it is determined whether the current positioning state is abnormal. Before the determination, the geographic position information data of the positioning device is obtained as one of the references for determining whether the current positioning state is abnormal.

[0099] In the embodiment of the present application, the geographic position information data of the positioning device can be directly obtained when the positioning data is read, or can be obtained after it is determined whether the current positioning data has a fixed solution or a float solution.

[0100] In the embodiment of the present application, the node of obtaining the geographic position information data of the positioning device does not affect the subsequent correction result of the current positioning data. However, the geographic position information data of the positioning device is obtained after it is determined whether the current positioning data has a fixed solution or a float solution, which can save the calculation resources and improve the calculation speed.

[0101] In the embodiment of the present application, the data form includes the coordinate system and the data format, the geographic position information data can be obtained in various ways, and can be from different coordinate systems and data formats. Therefore, when the data form of the geographic position information data is consistent with the data form of the positioning data, that is, the coordinate system of the geographic position information data is consistent with the coordinate system of the positioning data, and the data format of the geographic position information data is consistent with the data format of the positioning data, the real-time correction of the positioning data can be performed,

[0102] In step S104, the preset number of times includes a total number of times of obtaining positioning data within a preset time (e.g., 10 seconds) of the previous positioning data and a number of times of continuous correction of the previous positioning data. For example, if it is set to obtain positioning data once per second and the correction limit is 3 times of continuous correction, it can be known that, within the preset time of 10 seconds, the total number of times of positioning data in the preset number of times is 10, and the number of times of continuous correction of the previous positioning data is 3.

[0103] In the embodiment of the present application, based on the consistent data form of the previous positioning data and the geographic location information data, the properties of the previous positioning data map root point and the geometric graphical geographic location information data, the relationship between the previous positioning data and the geographic location information data can be understood as the relationship of points, line segments and geometric figures, and finally the relationship of points, line segments and geometric figures is used to determine whether the positioning is normal.

[0104] The current positioning state being the normal state is the basis for determining whether the current positioning state is abnormal and for correction, that is, only when the previous positioning state is the normal state, the current positioning state can be determined to be abnormal and corrected.

[0105] In the embodiment of the present application, the previous positioning state continuously records the positioning data within a preset time (10 seconds), including latitude, longitude, height, speed, direction and positioning state.

[0106] In the embodiment of the present application, the previous positioning state includes an initialization state, a previous positioning normal state, a previous positioning abnormal state and a previous positioning correction state. The initialization state refers to the initial operation stage, and the number of times of obtaining the previous positioning data has not reached the preset number of times. At this time, because the number of collected samples is too low, the determination of the current positioning state will have a large error, and the current operation will be ended. The previous positioning normal state refers to the positioning data of the previous positioning data having fixed solutions or floating point solutions, that is, the previous positioning data has high-precision coordinate data. At this time, the collected sample data can be used as the basis for determining the current positioning state, and subsequent data processing will be performed. The previous positioning abnormal state refers to the phenomenon of continuous positioning correction in the positioning data of the previous positioning data. At this time, the correctness of the collected sample data is reduced, and the collected sample data is not suitable as the basis for determining the current positioning state, and the current operation will be ended. The previous positioning correction state refers to a state other than the initialization state, the previous positioning normal state and the previous positioning abnormal state. At this time, the positioning state still has the possibility of correction, and subsequent data processing will be performed.

[0107] As can be seen from the above, if the current positioning state is the previous positioning normal state or the previous positioning correction state, it is determined that the previous positioning state is the normal state. Otherwise, if the current positioning state is the initialization state or the previous positioning abnormal state, it is determined that the previous positioning state is not the normal state.

[0108] In step S105, the current positioning state includes an undetermined state, a historical data state, an absolute positioning abnormal state, a relative positioning abnormal state, an unknown state, a positioning abnormality corrected state, a positioning abnormality uncorrectable state, and a current positioning normal state. The abnormal states of the current positioning state include the absolute positioning abnormal state, the relative positioning abnormal state, the positioning abnormality corrected state, and the positioning abnormality uncorrectable state.

[0109] In the embodiment of the present application, the absolute positioning abnormal state specifies that the positioning point falls in an impossible position. The absolute positioning abnormal state includes a positioning device outside the working area state or in an inaccessible area state. For example, if the positioning device has a certain working area, such as an airport, a port, etc., the impossible position is outside the working area and some inaccessible areas in the working area, such as some buildings, pools, etc.

[0110] In the embodiment of the present application, the method for determining the absolute abnormal state needs to be combined with geographic position information data for geometric determination, that is, the working area and the inaccessible area need to be drawn on the map, and then it is determined whether the point at the current time is in these areas.

[0111] In the embodiment of the present application, the relative positioning abnormal state is a situation of some abnormal movement compared with the previous normal operation state. The relative positioning abnormal state includes a distance too far state, an angle too large state, a height jump state, and a crossing entity state. For example, when the relative distance is too far, the angle with the previous running trajectory is too large, the lane line is crossed, etc. Determining the relative positioning abnormality first needs to determine what kind of positioning state can be considered as a normal state.

[0112] In the embodiment of the present application, the relative positioning abnormal state determination mainly determines whether the current positioning has a problem compared with the previous running information. The specific determination type corresponds to the determination logic as follows:

[0113] Distance too far state: based on the Mercator coordinates of the current positioning point and the nearest one of the previous positioning points, the Euclidean distance is calculated. If the distance is greater than 1.2 times the distance predicted according to the speed of the previous positioning state, it is marked as "relative positioning abnormal state", and the abnormal type is "distance too far".

[0114] Angle too large state: the angle difference carried in the GPS positioning information of the current positioning point and the nearest one of the previous positioning points is calculated. If the angle difference is greater than 90°, it is marked as "relative positioning abnormal state", and the abnormal type is "angle too large".

[0115] Height jump state: the height difference carried in the GPS positioning information of the current positioning point and the nearest one of the previous positioning points is calculated. If the height difference is greater than 10 meters, it is marked as "relative positioning abnormal state", and the abnormal type is "height jump".

[0116] Cross entity state: in the case that the distance, angle, and height are normal, the line connecting the current positioning point and the nearest one of the previous positioning points intersects with some geometric figure of the green belt or building, and is marked as "relative positioning abnormal state", and the abnormal type is "entity crossing".

[0117] In the embodiment of the present application, the determination of the abnormal state of the previous positioning state is based on the current positioning point (current data) and the geometric figure marked type (geographic information data) that needs to participate in the calculation as parameters, and the inclusion relationship between the positioning point and the geometric figure is calculated, so as to determine whether the point is outside the working area or in the inaccessible area. If the positioning point is outside the working area or in the inaccessible area, the point is marked as "absolute positioning abnormal state". At this time, the positioning point can participate in the next positioning correction; otherwise, and the previous positioning state is normal, the relative positioning abnormality judgment of the next step is continued. If the previous positioning state is "abnormal state", the current positioning state is marked as "unknown", and does not participate in the subsequent relative positioning abnormality judgment.

[0118] It should be noted that the judgment process of the current positioning state being abnormal state is in order, that is, "outside the working area judgment" -> "inside the inaccessible area judgment" -> "distance too far judgment" -> "angle too large judgment" -> "height jump judgment" -> "cross entity judgment". In the above judgment process, once it is judged to be abnormal, the subsequent judgment is not performed.

[0119] In step S106, only when it is judged that the current positioning state is abnormal state and the previous positioning state is normal, the current positioning data is adjusted, and the current positioning state is corrected.

[0120] In the embodiment of the present application, after the state of the current positioning point is corrected, the subsequent positioning point may also be an abnormal point itself. For the case that the corrected point is still an abnormal point, the "prediction strength" is gradually reduced, and fine tuning (correction) is performed. For example, when the subsequent positioning point is predicted by speed and direction, the prediction length is reduced to half of the previous prediction length, and other (such as angle and height) is processed in the same way.

[0121] In the embodiment of the present application, in order to avoid infinite loop processing, the fine tuning is only performed 5 times, and if it is still abnormal after more than 5 times, it indicates that the correction fails, and the positioning point is marked as positioning abnormality that cannot be corrected.

[0122] It should be noted that in some embodiments, when GNSS signals are blocked or other reasons cause unreliable positioning data (such as long or short-term short-distance drift, drift in inaccessible areas, and line intersections), the above-mentioned scheme can correct the positioning data. In other embodiments, although the GNSS / SINS integrated navigation system can improve the overall navigation performance and accuracy of the navigation system, uncertainties and abnormal information such as the accuracy limitations of the device itself or signal instability can lead to large estimation errors in the combined solution of conventional filtering algorithms, or even problems such as the divergence of filtering results. The above-mentioned scheme can also correct the positioning data in these cases.

[0123] In some embodiments, in step S104, the preset number of times includes a first preset number of times and a second preset number of times, and step S104 includes: steps A1-A3.

[0124] Step A1: Determine whether the number of times the pre-positioning data is collected is less than the first preset number; if so, the pre-positioning status of the positioning device is an abnormal state.

[0125] Step A2: If the previous positioning state is not abnormal, then determine whether the previous positioning data all have fixed solutions or floating-point solutions; if so, the previous positioning state of the positioning device is normal.

[0126] Step A3: If the previous positioning data does not all have a fixed solution or a floating-point solution, then determine whether the previous positioning data has been continuously corrected within the second preset number of times. If yes, the previous positioning state of the positioning device is an abnormal state; if no, the previous positioning state of the positioning device is a normal state.

[0127] Figure 2 A flowchart illustrating the determination of the pre-positioning state of the positioning device in an embodiment of this application is shown. See also... Figure 2 If the location data in the previous positioning data is less than the set number of collections (the first preset number), it indicates that the previous positioning state is in the initialization state, i.e., the previous positioning state is abnormal. At this time, the state of the current positioning data cannot be judged. If the location data in the previous positioning data reaches or exceeds the set number of collections (the first preset number), it indicates that the current location data in the previous positioning data has met the preset number of collection samples. The state of the current positioning data can be judged, and further judgment will be made on the location data in the previous positioning data.

[0128] In the embodiments of the present application, if the positioning data in the previous positioning data all have fixed solutions or floating point solutions, it indicates that the positioning data in the previous positioning data all have data of high-precision coordinates, and the previous positioning state is a previous normal positioning state, i.e., the previous positioning state is a normal state. If the positioning data in the previous positioning data appear continuous multiple (a second preset number of times) positioning correction phenomena, it indicates that the previous positioning state is a previous abnormal positioning state, i.e., the previous positioning state is an abnormal state.

[0129] It should be noted that, in addition to the initialization state, the previous normal positioning state and the previous abnormal positioning state, the previous positioning state will be set to "positioning abnormality has been corrected" in the process of correction. If the positioning data in the previous positioning state do not appear continuous multiple "positioning abnormality has been corrected", it indicates that the previous positioning state is a previous correction positioning state, i.e., the previous positioning state is a normal state.

[0130] In some embodiments, step S105 comprises steps B1-B3.

[0131] Step B1: according to the current positioning data and the geographic position information data, it is judged whether the current positioning is outside the preset working area or inside the preset inaccessible area. If yes, the current positioning state of the positioning device is an abnormal state.

[0132] Step B2: if the current positioning is not outside the preset working area or inside the preset inaccessible area, it is judged whether the difference between the current positioning data and the previous positioning data exceeds a difference threshold. If yes, the current positioning state of the positioning device is an abnormal state.

[0133] Step B3: if the difference between the current positioning data and the previous positioning data does not exceed the difference threshold, it is judged whether the current positioning data, the previous positioning data and the geographic position information data all have associations. If yes, the current positioning state of the positioning device is an abnormal state.

[0134] Figure 3 A flow chart for judging the current positioning state of the positioning device in the embodiments of the present application is shown. Referring to FIG. 4, the flow chart comprises steps S101-S103. Figure 3In the judgment of the current positioning state after reading the current positioning data, firstly, it is judged whether the current positioning data is judged. If yes, the judgment of the current positioning data is stopped. Otherwise, the current positioning data is marked as "unjudged state" and the next step is processed. Secondly, it is judged whether the current positioning data is historical data. If yes, the current positioning data is marked as "historical data state" and the judgment of the current positioning data is stopped. Otherwise, in the case that the previous positioning state of the positioning device is normal state, it is judged whether the current positioning point is outside the working area according to the relationship between the current positioning data and the geographic position information data. If yes, the current positioning data is marked as "absolute positioning abnormal state". If no, it is judged whether the current positioning point is in the inaccessible area according to the relationship between the current positioning data and the geographic position information data. If yes, the current positioning data is marked as "absolute positioning abnormal state". If no, in the case that the previous positioning state of the positioning device is normal state, the specific abnormal positioning type of "relative positioning abnormal state" is further judged.

[0135] In the embodiment of the present application, the difference threshold includes distance difference threshold, angle difference threshold and height difference threshold. In the case that the previous positioning state of the positioning device is normal state, it is judged whether the difference between the distance in the current positioning data and the distance of the nearest positioning point in the previous positioning data exceeds the distance difference threshold. If yes, the current positioning data is marked as "relative positioning abnormal state" and the abnormal type is "distance too far", i.e. the current positioning state is distance too far state. If no, it is judged whether the difference between the angle in the current positioning data and the angle of the nearest positioning point in the previous positioning data exceeds the angle difference threshold. If yes, the current positioning data is marked as "relative positioning abnormal state" and the abnormal type is "angle too large", i.e. the current positioning state is angle too large state. If no, it is judged whether the difference between the height in the current positioning data and the height of the nearest positioning point in the previous positioning data exceeds the height difference threshold. If yes, the current positioning data is marked as "relative positioning abnormal state" and the abnormal type is "height jump", i.e. the current positioning state is height jump state. If no, it is judged whether the current positioning data, the previous positioning data and the geographic position information data are all associated, i.e. in the case that the distance, angle and height are all normal, the line connecting the current positioning point and the nearest point in the previous positioning point intersects with the geometric figure of the green belt or the building, which is marked as "relative positioning abnormal state" and the abnormal type is "entity crossing", i.e. the current positioning state is entity crossing state.

[0136] In the embodiments of the present application, in the case that the previous positioning state of the positioning device is not the normal state, if the previous positioning state is the previous positioning abnormal state, and the current positioning is not outside the preset working area or in the preset inaccessible area, the current positioning data is marked as "unknown state", i.e., the current positioning state is the unknown state. In the case that the previous positioning state of the positioning device is not the normal state, and the current positioning state is the abnormal state, in the process of correction, the previous positioning state will be set as "positioning abnormality has been corrected state", i.e., the current positioning state is the positioning abnormality has been corrected state; or after the correction, the previous positioning state will be set as "positioning abnormality cannot be corrected state", i.e., the current positioning state is the positioning abnormality cannot be corrected.

[0137] It should be noted that after the judgment process of "unknown state, historical data state, absolute positioning abnormal state, relative positioning abnormal state, unknown state, positioning abnormality has been corrected state and positioning abnormality cannot be corrected state", if it is not determined as any of the above states, the current positioning state will be set as "current positioning normal state", i.e., the current positioning state is the current positioning normal state.

[0138] In some embodiments, in step S106, the abnormal state of the current positioning state includes the distance too far state, the angle too large state, the height jump state and the crossing entity state, and step S106 includes steps C1-C4.

[0139] Step C1: when the abnormal state of the current positioning state is the absolute positioning abnormal state or the distance too far state, the adjustment distance is calculated according to the previous positioning data, the current positioning data and the geographic position information data, and the current positioning data is corrected according to the adjustment distance.

[0140] Step C2: when the abnormal state of the current positioning state is the angle too large state, the adjustment angle is calculated according to the previous positioning data, the current positioning data and the geographic position information data, and the current positioning data is corrected according to the adjustment angle.

[0141] Step C3: when the abnormal state of the current positioning state is the height jump state, the adjustment height is calculated according to the previous positioning data, the current positioning data and the geographic position information data, and the current positioning data is corrected according to the adjustment height.

[0142] Step C4: when the abnormal state of the positioning state is the crossing entity state, the projection point is obtained according to the previous positioning data, the current positioning data and the geographic position information data, and the current positioning data is corrected according to the projection point.

[0143] In the embodiments of the present application, if the abnormal state of the current positioning state is the absolute positioning abnormal state or the distance too far state, the positioning information of the last positioning point in the previous positioning state is used for prediction, that is, the latitude, longitude, speed and direction are used to calculate the position of the next positioning point.

[0144] In the embodiments of the present application, if the abnormal state of the current positioning state is the angle too large state, the average of the direction of the last positioning point in the previous positioning state and the current positioning direction is taken as the positioning angle, and then the positioning point of the positioning abnormality is rotated to the corrected direction with the last positioning point in the previous positioning state as the center.

[0145] In the embodiments of the present application, if the abnormal state of the current positioning state is the height jump state, it can be known that the height jump problem is generally caused by the drift of the positioning point to other positions with terrain height difference. For the case that the distance from the last positioning point is not far, the line connecting the two points will often have intersection points with the edge of the road or the geometric edge of other map elements. The correction method is to take the midpoint of the last positioning point and the intersection point as the point after correction.

[0146] In the embodiments of the present application, if the abnormal state of the positioning state is the crossing entity state, it can be known that the entity crossing problem is to find the projection of the positioning point of the positioning abnormality on the running direction of the previous positioning state. Then the projection point is the corrected positioning point.

[0147] In some embodiments, the method further comprises step S107.

[0148] Step S107: maintaining the previous positioning state based on the double-linked circular list and the hash table.

[0149] In the embodiments of the present application, the previous positioning state can be maintained based on the double-linked circular list and the hash table. For example, the ID of each positioning device is the key of the hash table, and the value of the hash table is a double-linked circular list with a length of 10. Another part records the value of the previous positioning state corresponding to the device ID. In the process of judging whether the current positioning state is abnormal and correcting the current positioning state, the positioning data of the positioning point in the previous positioning data in the previous positioning state can be obtained from the previous positioning state list.

[0150] In some embodiments, the method further comprises step S108-step S109.

[0151] Step S108: judging whether the data form of the geographic location information data and the positioning data is the same.

[0152] Step S109: If the data form of the geographic position information data is different from the data form of the positioning data, the data form of the geographic position information data is converted according to the data form of the positioning data.

[0153] In the embodiment of the present application, if the data form of the geographic position information data is different from the data form of the positioning data, because the coordinate system and the data format of the geographic position information data from different sources are different, the vehicle positioning data real-time correction system in the integrated navigation system needs to provide a data conversion interface to convert the data into a Well-known text (WTK) format defined by the Open Geospatial Consortium (OGC) in a certain coordinate system, and then perform subsequent processing.

[0154] In the embodiment of the present application, the vehicle positioning data real-time correction system in the integrated navigation system will provide different types of geographic position information conversion and import interfaces and point and line segment and geometric figure relationship interfaces. The point and line segment and geometric figure relationship interfaces include inclusion relationship judgment, intersection relationship judgment, distance calculation, and Mercator coordinate conversion.

[0155] In the embodiment of the present application, the geographic position information data can be annotation data edited and exported from the open source map (penStreetMap, OSM) or data generated by surveying and mapping in other ways. These data are imported by the vehicle positioning data real-time correction system in the integrated navigation system and converted into geometric figures with labels. The label of the geometric figure is the type of the map element represented by the figure, including roads, inaccessible areas, work areas, green belts, and buildings.

[0156] For example, based on the geographic position information conversion and import interface, the polygon data in the geographic position information data is converted into a WTK format. The converted polygon data is as follows:

[0157] POLYGON(120.37985801696779 30.24060541714855,120.45521736145021

[0158] 30.264034240014983,120.47864913940431

[0159] 30.23496980353519,120.41170120239259

[0160] 30.21368503337007,120.38792610168458

[0161] 30.24586997476859, 120.37985801696779 30.24060541714855)

[0163] For example, Figure 4 The application illustrates the schematic diagram of the format conversion of the geographic position information data in the embodiment. Referring to Figure 4 The converted geographic position information data is obtained, and the converted geographic position information data is converted into a geometric figure based on the relationship interface of the point and the line segment and the geometric figure.

[0164] In some embodiments, the method further comprises steps S110-S111.

[0165] Step S110: An index is established according to the converted geographic position information data, and an index list is generated.

[0166] Step S111: The converted geographic position information data is searched based on the index list.

[0167] In the embodiment of the application, in order to accelerate the calculation, the vehicle positioning data real-time correction system in the integrated navigation system will establish a search for the converted geographic position information data (geometric figure). Specifically, each geometric figure is identified, and each geometric figure is numbered and identified according to a set number; an index list is established according to the geometric figure with the number identification; and the geometric figure is searched based on the number identification in the index list.

[0168] In the embodiment of the application, the method further comprises step S112.

[0169] Step S112: All positioning data in the correction process are stored and output.

[0170] In the embodiment of the application, in the process of real-time correction of the vehicle positioning data in the integrated navigation system, the vehicle positioning data real-time correction system in the integrated navigation system will package the original positioning data, and add new corrected positioning data and positioning state. The format of the positioning data and the positioning state is as follows:

[0171] {

[0172] "altitude": 81,

[0173] "direction": 0,

[0174] "gpstime": 1644984824566,

[0175] "lat": 39.91950227,

[0176] "lon": 118.1253256,

[0177] "ID": "18877777777",

[0178] "msgType": "realtime",

[0179] "satellites": 8,

[0180] "speed": 12,

[0181] "positionStatus": 1,

[0182] "org":[{

[0183] "altitude": 81,

[0184] "direction": 0,

[0185] "gpstime": 1644984824566,

[0186] "lat": 39.91950237,

[0187] "lon": 118.1253236,

[0188] "ID": "18877777777",

[0189] "msgType": "realtime",

[0190] "satellites": 8,

[0191] "speed": 12

[0192] }]

[0193] }

[0194] In the embodiment of the present application, the vehicle positioning data real-time correction system in the integrated navigation system supports outputting positioning data to subsequent processing services in different ways. Specifically, a callback HTTP interface is supported. That is, after the callback is configured, the positioning data output module sends data to the HTTP interface; output to a message queue, such as the message queue of the open source stream processing platform (kafka), the message queue of the open source message broker software (rabbitmq), etc., and the subsequent service can obtain the corrected data through subscription; output to a cache system, such as the cache system of the remote dictionary service (Redis), and the subsequent service can obtain the corrected data from the cache service.

[0195] As can be seen from the above, in the GNSS signal shielding area, the vehicle positioning data real-time correction method in the integrated navigation system can accurately determine abnormal conditions for vehicle positioning and correct and predict positioning data; at the same time, the accuracy of vehicle positioning data is optimized and improved, and the real-time high-precision positioning requirements of the vehicle are realized.

[0196] It should be noted that, for the foregoing method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited to the action order described, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0197] The above is the introduction of the method embodiment, and the scheme described in the present application will be further described through the device embodiment.

[0198] Figure 5 A structure diagram of a vehicle positioning data real-time correction system in an integrated navigation system according to an embodiment of the present application is shown. Referring to Figure 5 The vehicle positioning data real-time correction system in the integrated navigation system includes a reading module 501, a first judgment module 502, an acquisition module 503, a second judgment module 504, a third judgment module 505, and a correction module 506.

[0199] The reading module 501 is configured to read positioning data of a positioning device, wherein the positioning data includes previous positioning data and current positioning data.

[0200] The first judgment module 502 is configured to determine whether the current positioning data has a fixed solution or a floating point solution.

[0201] The acquisition module 503 is configured to determine that the global navigation satellite system signal in the integrated navigation system is blocked if the current positioning data has neither a fixed solution nor a floating point solution, and to acquire geographical position information data of the positioning device.

[0202] The second determination module 504 is configured to determine whether a previous positioning state of the positioning device is a normal state according to a preset number of times, the previous positioning data and the geographical position information data.

[0203] The third determination module 505 is configured to determine whether a current positioning state of the positioning device is an abnormal state according to the current positioning data, the previous positioning state and the geographical position information data if the previous positioning state is the normal state.

[0204] The correction module 506 is configured to correct the current positioning data according to the previous positioning data, the previous positioning state, the geographical position information data and the current positioning state if the current positioning state is the abnormal state.

[0205] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the described modules can refer to the corresponding process in the foregoing method embodiments, which will not be described herein.

[0206] Figure 6 An electronic device structure schematic diagram suitable for implementing the embodiments of the present application is shown. As shown in Figure 6 Figure 6 The electronic device 600 shown in the figure includes a processor 601 and a memory 603. The processor 601 and the memory 603 are connected. Optionally, the electronic device 600 can also include a transceiver 604. It should be noted that in actual applications, the transceiver 604 is not limited to one, and the structure of the electronic device 600 does not constitute a limitation on the embodiments of the present application.

[0207] ​The processor 601 can be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic device, transistor logic device, hardware component, or any combination thereof. It can implement or execute the various exemplary logical blocks, modules and circuits described in connection with the disclosure. The processor 601 can also be a combination of computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0208] The bus 602 can include a path for transmitting information between the above-mentioned components. The bus 602 can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 602 can be divided into an address bus, a data bus, a control bus, etc. For convenience of representation, Figure 6 In the figure, only one thick line is used to represent the bus, but it does not mean that there is only one bus or only one type of bus.

[0209] The memory 603 can be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, an optical disk storage (including a compact disk, a laser disk, an optical disk, a digital versatile disk, a Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but not limited to this.

[0210] The memory 603 is configured to store application program codes for implementing the solutions of the present application, and the processor 301 is configured to control the execution. The processor 601 is configured to execute the application program codes stored in the memory 603 to implement the content shown in the foregoing method embodiments.

[0211] The electronic device includes, but is not limited to, a mobile terminal such as a mobile phone, a notebook computer, a digital broadcast receiver, a PDA (Personal Digital Assistant), a PAD (Tablet Personal Computer), a PMP (Portable Multimedia Player), a car terminal (for example, a car navigation terminal), and the like, and a fixed terminal such as a digital TV, a desktop computer, and the like. Figure 6 The electronic device shown is only an example, and should not impose any limitation on the functions and use range of the embodiments of the present application.

[0212] The computer readable storage medium stores a computer program, and when the computer program runs on a computer, the computer can execute the corresponding content in the foregoing method embodiments. Compared with the prior art, in the embodiments of the present application, the positioning data of the positioning device is read, the positioning data includes previous positioning data and current positioning data, and then it is judged whether the current positioning data has a fixed solution or a floating point solution. If the current positioning data neither has a fixed solution nor a floating point solution, it is determined that the global navigation satellite system signal in the integrated navigation system is blocked, and the geographic position information data of the positioning device is obtained. Then, according to the preset number, the previous positioning data and the geographic position information data, it is judged whether the previous positioning state of the positioning device is a normal state. If the previous positioning state is a normal state, according to the current positioning data, the previous positioning state and the geographic position information data, it is judged whether the current positioning state of the positioning device is an abnormal state. If the current positioning state is an abnormal state, the current positioning data is corrected according to the previous positioning data, the previous positioning state, the geographic position information data and the current positioning state. As can be seen from the above, when the positioning device is in the global navigation satellite system signal blocked area, the vehicle positioning abnormality can be corrected in the case that the previous positioning state of the positioning device is normal and the current positioning state is abnormal. The problem that in the GNSS / SINS integrated navigation system, when the vehicle is in the GNSS signal blocked area, the positioning data cannot be corrected in the case of vehicle positioning abnormality can be improved, and the effect that in the GNSS / SINS integrated navigation system, when the vehicle is in the GNSS signal blocked area, the positioning data can be corrected in the case of vehicle positioning abnormality is achieved.

[0213] It should be understood that although the steps in the flowcharts of the drawings are shown in a sequential order following the arrows, the steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated otherwise herein, the execution of the steps is not strictly limited to the order indicated by the arrows, and can be executed in other orders. Moreover, at least some of the steps in the flowcharts of the drawings can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of which is not necessarily sequential, but can be round-robin or alternating with at least some of the other steps or sub-steps or stages of other steps.

[0214] The above only describes some embodiments of the present application, and it should be pointed out that for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, which should also be considered as the protection scope of the present application.

Claims

1. A method for real-time correction of vehicle positioning data in a combined navigation system, characterized in that, The method comprises the following steps: reading positioning data of a positioning device, the positioning data comprising previous positioning data and current positioning data; determining whether the current positioning data has a fixed solution or a floating point solution; if not, determining that a global navigation satellite system signal in a combined navigation system is blocked, and obtaining geographical position information data of the positioning device; determining whether a previous positioning state of the positioning device is a normal state according to a preset number, the previous positioning data and the geographical position information data; if so, determining whether a current positioning state of the positioning device is an abnormal state according to the current positioning data, the previous positioning state and the geographical position information data, comprising: determining whether the current positioning is outside a preset working area or inside a preset inaccessible area according to the current positioning data and the geographical position information data; if so, the current positioning state of the positioning device is an abnormal state; if not, determining whether a difference between the current positioning data and the previous positioning data exceeds a difference threshold; if so, the current positioning state of the positioning device is an abnormal state; if not, determining whether the current positioning data, the previous positioning data and the geographical position information data are all associated; if so, the current positioning state of the positioning device is an abnormal state; if so, correcting the current positioning data according to the previous positioning data, the previous positioning state, the geographical position information data and the current positioning state; the preset number comprises a first preset number and a second preset number; the determining whether the previous positioning state of the positioning device is a normal state according to a preset number, the previous positioning data and the geographical position information data comprises: determining whether a collection number of the previous positioning data is less than the first preset number; if so, the previous positioning state of the positioning device is an abnormal state; if not, determining whether the previous positioning data all have a fixed solution or a floating point solution; if so, the previous positioning state of the positioning device is a normal state; if not, determining whether the previous positioning data are continuously corrected within the second preset number; if so, the previous positioning state of the positioning device is an abnormal state; if not, the previous positioning state of the positioning device is a normal state.

2. The method of claim 1, wherein, the abnormal state of the current positioning state comprises a distance too far state, an angle too large state, a height jump state and a crossing entity state; the correcting the current positioning data according to the previous positioning data, the previous positioning state, the geographical position information data and the current positioning state comprises: when the abnormal state of the current positioning state is an absolute positioning abnormal state or a distance too far state, calculating an adjustment distance according to the previous positioning data, the current positioning data and the geographical position information data, and correcting the current positioning data according to the adjustment distance; when the abnormal state of the current positioning state is an angle too large state, calculating an adjustment angle according to the previous positioning data, the current positioning data and the geographical position information data, and correcting the current positioning data according to the adjustment angle. When the abnormal state of the current positioning state is a height jump state, an adjusted height is calculated according to the previous positioning data, the current positioning data and the geographic position information data, and the current positioning data is corrected according to the adjusted height; When the abnormal state of the positioning state is a crossing entity state, a projection point is obtained according to the previous positioning data, the current positioning data and the geographic position information data, and the current positioning data is corrected according to the projection point.

3. The method of claim 1, wherein, Further comprising: The previous positioning state is maintained based on a double-direction circular linked list and a hash map.

4. The method of claim 1, wherein, After the geographic position information data of the positioning device is obtained, comprising: Judging whether the data form of the geographic position information data is same as that of the positioning data; If not, the data form of the geographic position information data is converted according to the data form of the positioning data.

5. The method of claim 4, wherein, Further comprising: An index list is generated by establishing an index according to the converted geographic position information data; The converted geographic position information data is searched based on the index list.

6. A real-time correction system for vehicle positioning data in a combined navigation system for implementing the method according to any one of claims 1 to 5, characterized in that Comprising: A reading module for reading positioning data of a positioning device, the positioning data comprising previous positioning data and current positioning data; A first judging module for judging whether the current positioning data has a fixed solution or a floating point solution; An obtaining module for, if the current positioning data has neither a fixed solution nor a floating point solution, determining that a global navigation satellite system signal in a combined navigation system is blocked, and obtaining geographic position information data of the positioning device; A second judging module for judging whether a previous positioning state of the positioning device is a normal state according to a preset number of times, the previous positioning data and the geographic position information data; A third judging module for, if the previous positioning state is a normal state, judging whether a current positioning state of the positioning device is an abnormal state according to the current positioning data, the previous positioning state and the geographic position information data; A correcting module for, if the current positioning state is an abnormal state, correcting the current positioning data according to the previous positioning data, the previous positioning state, the geographic position information data and the current positioning state. 7.An electronic device comprising a memory and a processor, the memory having stored thereon a computer program, characterized in that, The processor executes the computer program to implement the method of any one of claims 1 to 5.

8. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 5.

Images