Initialization heading alignment method, apparatus, electronic equipment and storage medium
By verifying the GNSS velocity and determining the heading angle, the problem of large heading alignment error during GNSS initialization was solved, thus improving the positioning accuracy and stability of autonomous vehicles.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-06-30
- Publication Date
- 2026-03-13
AI Technical Summary
When initializing heading alignment, existing autonomous vehicles using GNSS-based methods are susceptible to signal blockage and multipath effects, resulting in large initial heading errors and affecting the stability of subsequent positioning processes.
By acquiring GNSS positioning information, the GNSS velocity is verified using a velocity estimation method based on position difference, pseudorange rate, and Doppler frequency shift. After ensuring that it meets the error requirements, the heading angle is determined to improve the accuracy of the initial heading alignment.
It reduces the error in initial heading alignment, decreases the probability of filter drift and trajectory divergence, and improves the real-time stability of the vehicle.
Smart Images
Figure CN115128649B_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of navigation technology, and more particularly to the fields of autonomous driving and artificial intelligence technology. Background Technology
[0002] During the operation of autonomous vehicles, the positioning system typically needs to output continuous, high-precision positioning results in real time to ensure the normal operation of modules such as path planning and perception. Before the positioning system can operate stably, the heading needs to be initialized and aligned, that is, the initial heading of the autonomous vehicle needs to be determined.
[0003] Currently, autonomous vehicles primarily rely on the Global Navigation Satellite System (GNSS) for initial heading alignment. Summary of the Invention
[0004] This disclosure provides an initial heading alignment method, apparatus, electronic device, and storage medium, which achieves higher accuracy in initial heading alignment.
[0005] According to a first aspect of this disclosure, an initial heading alignment method is provided, the method comprising: acquiring positioning information of a Global Navigation Satellite System (GNSS), wherein the positioning information is the raw data information obtained by the GNSS when positioning a terminal to be aligned; determining the moving speed of the terminal to be aligned based on the positioning information; verifying the moving speed of the terminal to be aligned; and when the moving speed verification of the terminal to be aligned passes, determining the heading angle of the terminal to be aligned based on the moving speed of the terminal to be aligned.
[0006] According to a second aspect of this disclosure, an initial heading alignment device is provided, the device comprising: an acquisition module for acquiring positioning information of a Global Navigation Satellite System (GNSS), wherein the positioning information is raw data information obtained by the GNSS when positioning a terminal to be aligned; a determination module for determining the moving speed of the terminal to be aligned based on the positioning information; a verification module for verifying the moving speed of the terminal to be aligned; and an alignment module for determining the heading angle of the terminal to be aligned based on the moving speed of the terminal to be aligned when the moving speed verification passes.
[0007] According to a third aspect of this disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method provided in the first aspect.
[0008] According to a fourth aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions for causing a computer to perform the method provided according to the first aspect.
[0009] According to a fifth aspect of this disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the method provided according to the first aspect.
[0010] According to a sixth aspect of this disclosure, an autonomous vehicle is provided, including electronic devices as provided in the third aspect.
[0011] This disclosure can verify the GNSS velocity (i.e., the moving speed of the terminal to be aligned, such as an autonomous vehicle) calculated based on GNSS, thereby ensuring that the moving speed used for initial heading alignment meets the error requirements, thereby reducing the error of the initial heading after alignment and improving the accuracy of initial heading alignment.
[0012] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description
[0013] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:
[0014] Figure 1 A flowchart illustrating the initial heading alignment method provided in this embodiment of the disclosure;
[0015] Figure 2 This is a flowchart illustrating a method for implementing step S102 in the initial heading alignment method provided in this embodiment of the present disclosure.
[0016] Figure 3 This is a flowchart illustrating a method for implementing step S103 in the initial heading alignment method provided in this embodiment of the present disclosure.
[0017] Figure 4 A schematic diagram of the composition of the initial heading alignment device provided in the embodiments of this disclosure.
[0018] Figure 5 A schematic block diagram of an example electronic device 500 that can be used to implement embodiments of the present disclosure is shown. Detailed Implementation
[0019] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.
[0020] The initial heading alignment method and device provided in this disclosure are applicable to the initial heading alignment of a terminal to be aligned during movement. The initial heading alignment method provided in this disclosure can be executed by the initial heading alignment device, which can be implemented in software and / or hardware and specifically configured in an electronic device. This electronic device can be the terminal to be aligned and / or other computing devices associated with the terminal to be aligned, such as a positioning system (or positioning module). For example, the terminal to be aligned can be an electronic device with positioning and navigation functions, or it can be an autonomous vehicle, etc., without limitation.
[0021] The initial heading alignment method provided in this disclosure will be described in detail below.
[0022] During the operation of autonomous vehicles, the positioning system typically needs to output continuous, high-precision positioning results in real time to ensure the normal operation of modules such as path planning and perception. Before the positioning system can operate stably, the heading needs to be initialized and aligned, that is, the initial heading of the autonomous vehicle needs to be determined.
[0023] Currently, autonomous vehicles primarily rely on the Global Navigation Satellite System (GNSS) for initial heading alignment. For example, an autonomous vehicle can calculate its GNSS velocity (its speed) based on raw GNSS data (i.e., the GNSS positioning information) to initiate heading alignment. However, due to signal obstruction or multipath effects, the calculated GNSS velocity can sometimes have relatively large errors, resulting in a significant initial heading error after alignment. This can easily lead to filter drift and trajectory divergence during subsequent positioning, affecting the real-time stability of the vehicle.
[0024] To address this issue, this application provides an initial heading alignment method, which includes: acquiring positioning information from a Global Navigation Satellite System (GNSS), and determining the moving speed of the terminal to be aligned based on the positioning information. The positioning information refers to the raw data obtained by the GNSS when locating the terminal to be aligned. The moving speed of the terminal to be aligned is verified, and when the verification passes, the heading angle of the terminal to be aligned is determined based on the moving speed.
[0025] This disclosure enables the verification of GNSS velocity (i.e., the speed of the terminal to be aligned, such as the speed of an autonomous vehicle) calculated based on GNSS positioning information, thereby ensuring that the speed used for initial heading alignment meets the error requirements, thus reducing the error of the initial heading after alignment and improving the accuracy of the initial heading alignment. This further reduces the probability of filter drift and trajectory divergence during subsequent positioning, improving the real-time stability of the vehicle.
[0026] In some embodiments, the initial heading alignment method provided in this disclosure can be applied to a terminal to be aligned, which has positioning and navigation functions. This terminal can be an electronic device, such as a smartphone, personal positioning terminal, tablet computer, or other electronic device. Alternatively, the terminal to be aligned can also be an autonomous vehicle.
[0027] Figure 1 This is a flowchart illustrating the initial heading alignment method provided in an embodiment of this disclosure. Figure 1 As shown, the method may include the following S101-S104.
[0028] S101. Obtain the positioning information of the Global Navigation Satellite System (GNSS).
[0029] The positioning information can be the raw data obtained by GNSS when positioning the target terminal.
[0030] For example, in some implementations, the GNSS positioning information can be the positioning information sent by the GNSS receiver to the terminal to be aligned when locating the terminal. This positioning information can be used to calculate parameters such as the position of the terminal to be aligned.
[0031] S102. Determine the moving speed of the terminal to be aligned based on the positioning information.
[0032] Among them, determining the moving speed of the terminal to be aligned based on the positioning information can be achieved by methods such as velocity estimation based on position difference, velocity estimation based on pseudorange rate, or velocity estimation based on Doppler frequency shift.
[0033] In some implementations, when the positioning information is received by a receiver mounted on the terminal to be aligned, the movement speed calculated based on the positioning information is the movement speed of the receiver. Since the receiver is fixedly mounted on the terminal to be aligned, the movement speed of the receiver can be used as the movement speed of the terminal to be aligned.
[0034] S103. Verify the moving speed of the terminal to be aligned.
[0035] Taking an autonomous vehicle as an example, the speed of the target terminal can be verified by considering the experience that GNSS positioning generally has the highest probability of position and speed errors in the altitude channel (i.e., the upward speed) and the experience that the slope of conventional roads is less than 20 degrees.
[0036] S104. When the movement speed of the terminal to be aligned passes the verification, determine the heading angle of the terminal to be aligned based on its movement speed.
[0037] When the movement speed of the terminal to be aligned passes the verification, it means that the movement speed error of the terminal to be aligned meets the accuracy requirements. Therefore, the heading angle of the terminal to be aligned can be determined based on the movement speed of the terminal to be aligned that has passed the verification, which can improve the accuracy of the determined heading angle.
[0038] Optionally, Figure 2 This is a flowchart illustrating one method for implementing S102 in the initial heading alignment method provided in this disclosure.
[0039] like Figure 2 As shown, the method may include the following S201-S202.
[0040] S201. Determine the satellite position, the position of the terminal to be aligned, and the Doppler frequency shift of the positioning signal transmitted by the satellite relative to the terminal to be aligned based on the positioning information.
[0041] As an example, based on the positioning information, the satellite position and the position of the terminal to be aligned can be calculated through single-point or differential positioning, and the Doppler frequency shift of the positioning signal transmitted by the satellite relative to the terminal to be aligned can be extracted based on the positioning information.
[0042] S202. Determine the moving speed of the terminal to be aligned based on the satellite position, the position of the terminal to be aligned, and the Doppler frequency shift.
[0043] Optionally, the line-of-sight vector can be determined first based on the satellite position and the position of the terminal to be aligned, and then the moving speed of the terminal to be aligned can be determined based on the pseudorange rate velocity estimation equation and the velocity estimation equation based on Doppler frequency shift.
[0044] For example, the following formula can be obtained from the velocity estimation equation based on the pseudorange rate:
[0045]
[0046] in, Here, E is the pseudorange rate, and E is the line-of-sight vector. r s For satellite position, r u For receiver position, v s For the satellite's velocity, v u For receiver speed, Let ξ be the receiver's clock drift error, and ξ be the measurement noise. The receiver's position is the same as the position of the terminal to be aligned, and the receiver's speed is the same as the moving speed of the terminal to be aligned.
[0047] Based on the velocity estimation equation for Doppler frequency shift, the following formula can be obtained:
[0048]
[0049] Therefore, combining the two formulas above yields the following observation equation:
[0050]
[0051] Where, d s The Doppler shift of the positioning signal transmitted by the satellite relative to the terminal to be aligned.
[0052] Therefore, the observation equations corresponding to multiple satellites in GNSS can be combined into the following linear time-invariant equations:
[0053]
[0054]
[0055] …
[0056] Therefore, the moving speed of the terminal to be aligned, i.e. the speed of the receiver, can be obtained by solving the linear time-invariant equation using least squares.
[0057] For example, the above linear time-invariant equation can be substituted into the following least squares formula:
[0058]
[0059] Where v is the difference between the estimated and actual observed values, and is the estimated state variable. Therefore, the optimal estimated state variables can be obtained.
[0060] Where W is the noise matrix of the observed value Z, This can be specifically expressed as follows:
[0061]
[0062] Therefore, the receiver speed, i.e. the moving speed V of the terminal to be aligned, can be calculated.
[0063] Wherein, its post-test unit weight variance δ=v T Wv / (m-4), where m is the number of observations.
[0064] In this embodiment, the moving speed of the terminal to be aligned is calculated based on the velocity estimation equation of pseudorange rate and the velocity estimation equation of Doppler frequency shift. The calculation accuracy is relatively high, and the calculation process is relatively simple, which makes it easy to reduce the amount of calculation.
[0065] Optionally, Figure 3 This is a flowchart illustrating one method for implementing S103 in the initial heading alignment method provided in this disclosure.
[0066] like Figure 3 As shown, the method may include the following S301-S303.
[0067] S301. Decompose the moving speed of the terminal to be aligned to obtain the upward speed corresponding to the moving speed of the terminal to be aligned.
[0068] The moving speed of the terminal to be aligned can be decomposed into upward speed, eastward speed, and northward speed based on the mutually perpendicular directions of sky, east, and north. That is, the moving speed of the terminal to be aligned, V = [V e V n V u ] T V e V is the eastward velocity. n For northbound velocity, V u The velocity is oriented upwards. For a detailed decomposition, please refer to the orthogonal decomposition; it will not be explained in detail here.
[0069] S302, Verify the upward speed.
[0070] S303. When the astronautical speed is less than or equal to the threshold, the astronautical speed verification passes.
[0071] As an example, the aforementioned threshold can be determined based on a preset minimum moving speed of the terminal to be aligned, as well as the corresponding eastward and northward speeds. This allows for a relatively accurate determination of the maximum moving speed of the terminal to be aligned, which can then be used as a threshold to detect excessively high moving speeds and reduce errors.
[0072] Therefore, the formula for verifying the upward velocity can be as follows:
[0073]
[0074] Among them, V threshold The threshold value mentioned above. V u Let V be the upward velocity of the moving speed V of the terminal to be aligned. e V is the eastward velocity. n This represents the northbound velocity. min This is the preset minimum moving speed of the terminal to be aligned. Where, v min It can be set to a fixed value or dynamically.
[0075] For example, based on the description of the moving speed of the terminal to be aligned obtained by least squares solution in the aforementioned embodiments, accuracy in The covariance of the celestial velocity corresponding to the matrix is Therefore, v min According to The product of the coefficient θ and v is used to determine v, that is, the product is used as v. min This allows for dynamic settings.
[0076] It should be noted that the 20° in sin(20°) in the above formula for verifying the axial speed is determined based on the experience that the slope of conventional roads is generally below 20 degrees. Therefore, in other embodiments of this disclosure, this angle in the above formula can also be set according to the angle of other road slopes, and no limitation is made here.
[0077] In this embodiment, the above method can be based on the experience that GNSS positioning generally has the highest probability of position and speed errors in the altitude channel (i.e., in the upward speed), and the experience that the slope of conventional road surfaces is less than 20 degrees. It is relatively simple and can better estimate and verify the error of movement speed, thereby improving the verification effect and speed.
[0078] Optionally, in the foregoing embodiments, determining the heading angle of the terminal to be aligned based on its moving speed may specifically include: determining the heading angle of the terminal to be aligned based on the eastward and northward speeds corresponding to the moving speed of the terminal to be aligned.
[0079] For example, based on the descriptions of the eastward, northward, and upward speeds corresponding to the moving speed of the terminal to be aligned in the aforementioned embodiments, the moving speed of the terminal to be aligned that has passed verification can be decomposed to obtain the eastward speed V. e and northbound speed V nThen, the heading angle θ of the terminal to be aligned is determined according to the following formula:
[0080]
[0081] In this way, the heading angle can be determined relatively easily and quickly based on the movement speed, thereby saving computational load and improving computational efficiency.
[0082] Optionally, in some embodiments, once the heading angle of the terminal to be aligned is determined, the terminal can be initialized for alignment based on this heading angle. This facilitates subsequent positioning processes using a high-precision initialized heading, reducing filter drift and trajectory divergence, and improving the real-time stability of the vehicle.
[0083] In an exemplary embodiment, this disclosure also provides an initial heading alignment device, which can be used to implement the initial heading alignment method as described in the foregoing embodiments.
[0084] Figure 4 This is a schematic diagram of the composition of the initial heading alignment device provided in the embodiments of this disclosure.
[0085] like Figure 4 As shown, the device may include:
[0086] The acquisition module 401 is used to acquire the positioning information of the Global Navigation Satellite System (GNSS). The positioning information is the raw data information obtained by GNSS when positioning the terminal to be aligned.
[0087] The determining module 402 is used to determine the moving speed of the terminal to be aligned based on the positioning information.
[0088] The verification module 403 is used to verify the moving speed of the terminal to be aligned.
[0089] The alignment module 404 is used to determine the heading angle of the terminal to be aligned based on its moving speed when the moving speed of the terminal to be aligned passes the verification.
[0090] In some implementations, the verification module 403 is specifically used to decompose the moving speed of the terminal to be aligned to obtain the upward speed corresponding to the moving speed of the terminal to be aligned; to verify the upward speed; and when the upward speed is less than or equal to a threshold, the upward speed verification passes.
[0091] In some implementations, the threshold is determined based on a preset minimum moving speed of the terminal to be aligned, and the eastward and northward speeds corresponding to the moving speed of the terminal to be aligned.
[0092] In some implementations, the determining module 402 is specifically used to determine the satellite position, the position of the terminal to be aligned, and the Doppler frequency shift of the positioning signal transmitted by the satellite relative to the terminal to be aligned based on the positioning information; and to determine the moving speed of the terminal to be aligned based on the satellite position, the position of the terminal to be aligned, and the Doppler frequency shift.
[0093] In some implementations, the alignment module 404 is specifically used to determine the heading angle of the terminal to be aligned based on the eastward and northward speeds corresponding to the moving speed of the terminal to be aligned.
[0094] In some implementations, the alignment module 404 is also used to initialize the heading alignment of the terminal to be aligned based on the heading angle of the terminal to be aligned.
[0095] The acquisition, storage, and application of user personal information involved in the technical solution disclosed herein comply with the provisions of relevant laws and regulations and do not violate public order and good morals.
[0096] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.
[0097] In an exemplary embodiment, an electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method as described in the above embodiments.
[0098] In an exemplary embodiment, the readable storage medium may be a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the method described in the above embodiments.
[0099] In an exemplary embodiment, the computer program product includes a computer program that, when executed by a processor, implements the method described in the above embodiments.
[0100] Figure 5 A schematic block diagram of an example electronic device 500 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.
[0101] like Figure 5 As shown, device 500 includes a computing unit 501, which can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) 502 or a computer program loaded from storage unit 508 into random access memory (RAM) 503. RAM 503 may also store various programs and data required for the operation of device 500. The computing unit 501, ROM 502, and RAM 503 are interconnected via bus 504. Input / output (I / O) interface 505 is also connected to bus 504.
[0102] Multiple components in device 500 are connected to I / O interface 505, including: input unit 506, such as keyboard, mouse, etc.; output unit 507, such as various types of monitors, speakers, etc.; storage unit 508, such as disk, optical disk, etc.; and communication unit 509, such as network card, modem, wireless transceiver, etc. Communication unit 509 allows device 500 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.
[0103] The computing unit 501 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 501 performs the various methods and processes described above, such as the heading alignment initialization method. For example, in some embodiments, the heading alignment initialization method may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 508. In some embodiments, part or all of the computer program may be loaded and / or installed on device 500 via ROM 502 and / or communication unit 509. When the computer program is loaded into RAM 503 and executed by the computing unit 501, one or more steps of the heading alignment initialization method described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to perform the heading alignment initialization method by any other suitable means (e.g., by means of firmware).
[0104] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.
[0105] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.
[0106] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.
[0107] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).
[0108] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.
[0109] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.
[0110] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.
[0111] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.
Claims
1. A method of initializing a heading alignment, characterized by, The method comprises: obtaining positioning information of a global navigation satellite system (GNSS) for a terminal to be aligned, the positioning information being original data information obtained when the GNSS positions the terminal to be aligned; determining a moving speed of the terminal to be aligned according to the positioning information; verifying the moving speed of the terminal to be aligned; when the moving speed of the terminal to be aligned is verified, determining a heading angle of the terminal to be aligned according to the moving speed of the terminal to be aligned; wherein the verifying the moving speed of the terminal to be aligned comprises: decomposing the moving speed of the terminal to be aligned to obtain a skyward speed corresponding to the moving speed of the terminal to be aligned; verifying the skyward speed; when the skyward speed is less than or equal to a threshold value, the verification of the skyward speed is passed; therefore, a formula for verifying the skyward speed is as follows: wherein, is the threshold value, is the celestial speed of the moving speed V of the terminal to be aligned, is the eastward speed, is the northward speed, is the preset minimum value of the moving speed of the terminal to be aligned. Wherein, can be set as a fixed value, a is the angle of the road slope, the value range of a is (0 ,20 ].
2. The method of claim 1, wherein, the determining the moving speed of the terminal to be aligned according to the positioning information comprises: determining a satellite position, a position of the terminal to be aligned, and a Doppler frequency shift of a positioning signal emitted by the satellite relative to the terminal to be aligned according to the positioning information; determining the moving speed of the terminal to be aligned according to the satellite position, the position of the terminal to be aligned, and the Doppler frequency shift.
3. The method of claim 1, wherein, the determining the heading angle of the terminal to be aligned according to the moving speed of the terminal to be aligned comprises: determining the heading angle of the terminal to be aligned according to an eastward speed and a northward speed corresponding to the moving speed of the terminal to be aligned.
4. The method of claim 1, wherein, The method further comprises: initializing a heading alignment of the terminal to be aligned according to the heading angle of the terminal to be aligned.
5. An initialization heading alignment device characterized by, The method comprises: an obtaining module, configured to obtain positioning information of a global navigation satellite system (GNSS) for a terminal to be aligned, the positioning information being original data information obtained when the GNSS positions the terminal to be aligned; a determining module, configured to determine a moving speed of the terminal to be aligned according to the positioning information; a verifying module, configured to verify the moving speed of the terminal to be aligned; an aligning module, configured to, when the moving speed of the terminal to be aligned is verified, determine a heading angle of the terminal to be aligned according to the moving speed of the terminal to be aligned; wherein the verifying module is specifically configured to decompose the moving speed of the terminal to be aligned to obtain a skyward speed corresponding to the moving speed of the terminal to be aligned; verify the skyward speed; when the skyward speed is less than or equal to a threshold value, the verification of the skyward speed is passed; therefore, a formula for verifying the skyward speed is as follows: wherein, is the threshold value, is the eastward velocity, is the northward velocity, is the northward velocity, is a preset minimum value of the moving speed of the terminal to be aligned. Wherein, may be set as a fixed value, a is an angle of a road slope, and a value range of a is (0 , 20 ].
6. The apparatus of claim 5, wherein, the determining module is specifically configured to determine a satellite position, a position of the terminal to be aligned, and a Doppler frequency shift of a positioning signal emitted by the satellite relative to the terminal to be aligned according to the positioning information; determine the moving speed of the terminal to be aligned according to the satellite position, the position of the terminal to be aligned, and the Doppler frequency shift.
7. The apparatus of claim 5, wherein, the aligning module is specifically configured to determine the heading angle of the terminal to be aligned according to an eastward speed and a northward speed corresponding to the moving speed of the terminal to be aligned.
8. The apparatus of claim 5, wherein, The alignment module is further configured to initialize a heading alignment for the terminal to be aligned according to a heading angle of the terminal to be aligned. 9.An electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-4.
10. A non-transitory computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions are configured to cause the computer to perform the method of any one of claims 1-4. 11.A computer program product comprising a computer program which, when executed by a processor, implements the method of any one of claims 1-4.
12. An autonomous vehicle, comprising: comprising the electronic device of claim 9.