Satellite navigation data validity judgment method and device, and electronic equipment

Abstract

The present disclosure provides a method for judging the validity of satellite navigation data, which includes: obtaining a measurement trajectory of a carrier based on the measurement data of the carrier by a satellite navigation system; obtaining the actual trajectory of the carrier based on inertial measurement data; matching the measurement trajectory and the actual trajectory to obtain a trajectory matching result; obtaining a measured driving distance of the carrier based on the measurement data of the carrier by the satellite navigation system; obtaining the actual driving distance of the carrier based on inertial measurement data; calculating the measured driving distance and the actual driving distance to obtain a distance difference; judging the validity of the measurement data of the satellite navigation system based on the trajectory matching result and the distance difference. The judgment method can improve the accuracy of the validity of satellite navigation data and make inertial navigation more accurate. The present disclosure also provides a device and electronic device for judging the validity of satellite navigation data.

Description

[0001] This application is a divisional application of the invention patent application with the application date of May 27, 2020, application number 202010482801.1, and invention name “Method and device for judging the validity of satellite navigation data, and electronic equipment”. Technical Field

[0002] The embodiments of the present disclosure relate to the field of satellite navigation technology, and in particular to a method and device for determining the validity of satellite navigation data, and an electronic device. Background Art

[0003] Inertial navigation uses an inertial measurement element installed on a mobile carrier to measure the angular velocity and acceleration information of the mobile carrier, and obtains navigation parameters such as the position and velocity of the mobile carrier through integration operations.

[0004] In practical applications, inertial navigation systems require integration to generate navigation data, which results in increasingly large cumulative errors in inertial navigation, often affecting inertial navigation accuracy. To improve inertial navigation accuracy, combining inertial navigation with positioning data from the Global Positioning System (GPS) is a relatively effective approach. However, in many scenarios (such as tunnel entrances, parking lots, mirrors, and closed roads), static reflections often occur, often resulting in low signal-to-noise ratios, a high number of satellites, and invalid GPS data. Therefore, it is impossible to determine the validity of GPS data based on the number of satellites, thus affecting navigation accuracy.

[0005] Public content

[0006] Embodiments of the present disclosure provide a method and device for determining the validity of satellite navigation data, and an electronic device.

[0007] In a first aspect, an embodiment of the present disclosure provides a method for determining the validity of satellite navigation data, comprising:

[0008] Obtaining a measurement trajectory of the carrier based on measurement data of the carrier by a satellite navigation system;

[0009] Obtaining an actual trajectory of the carrier based on inertial measurement data;

[0010] Matching the measured trajectory with the actual trajectory to obtain a trajectory matching result;

[0011] The validity of the measurement data of the satellite navigation system is judged based on the trajectory matching result.

[0012] In some embodiments, matching the measured trajectory with the actual trajectory to obtain a trajectory matching result includes:

[0013] According to the measurement points on the measurement trajectory, the actual points closest to the measurement points on the actual trajectory are found to obtain a set of close point pairs;

[0014] Adjusting positions of measurement points in the close-range point pair set to obtain an adjusted point pair set;

[0015] Iteratively calculating the average error between the adjustment points and the actual points using the adjustment point pair set and the corresponding actual points until a preset iteration stop condition is met, and obtaining an iteration result;

[0016] The matching result is obtained based on the iteration result.

[0017] In some embodiments, obtaining the matching result based on the iteration result includes:

[0018] When the iteration result reaches an iteration number threshold, determining that the matching result is that the measured trajectory and the actual trajectory do not match;

[0019] When the iteration result reaches the error threshold, it is determined that the matching result is that the measured trajectory matches the actual trajectory.

[0020] In some embodiments, determining the validity of the measurement data of the satellite navigation system based on the trajectory matching result includes:

[0021] When the trajectory matching result is a trajectory shape match, the measurement data of the satellite navigation system is valid;

[0022] When the trajectory matching result is that the trajectory shape does not match, the measurement data of the satellite navigation system is invalid.

[0023] In some embodiments, the method further comprises:

[0024] Obtaining a measured travel distance of the carrier based on measurement data of the carrier by a satellite navigation system;

[0025] Obtaining an actual travel distance of the carrier based on inertial measurement data;

[0026] Calculating the measured driving distance and the actual driving distance to obtain a distance difference;

[0027] The validity of the measurement data of the satellite navigation system is judged based on the trajectory matching result and the distance difference.

[0028] In some embodiments, judging the validity of the measurement data of the satellite navigation system based on the trajectory matching result and the distance difference includes:

[0029] When the trajectory matching result is a trajectory shape match and the distance difference is less than a preset distance threshold, the measurement data of the satellite navigation system is valid.

[0030] In some embodiments, the method further comprises:

[0031] Obtaining a measured angular rotation change of the carrier based on a measured heading angle of the carrier by a satellite navigation system;

[0032] Obtaining an actual angular rotation change of the carrier based on an inertial measurement heading angle;

[0033] Obtaining an angular rotation variation difference based on the measured angular rotation variation and the actual angular rotation variation;

[0034] Obtaining a heading angle variance based on the measured heading angle, and obtaining a heading angle stability based on the heading angle variance;

[0035] Obtaining the number of stars and the actual speed of the carrier;

[0036] The validity of the measurement data of the satellite navigation system is judged based on the trajectory matching result, the number of satellites, the actual speed of the carrier, the angle rotation change difference, the heading angle difference and the heading angle stability.

[0037] In some embodiments, judging the validity of the measurement data of the satellite navigation system based on the trajectory matching result, the number of satellites, the speed of the carrier, the angular rotation change difference, the heading angle change value, the accumulated heading angle difference, and the heading angle stability includes:

[0038] In the absence of electrostatic reflection, determining the validity of the measurement data of the satellite navigation system based on the number of satellites, the actual speed of the carrier, the heading angle change value, and the accumulated heading angle difference value;

[0039] In the presence of electrostatic reflection, the validity of the measurement data of the satellite navigation system is judged based on the number of satellites, the actual speed of the carrier, the heading angle change value, the accumulated heading angle difference value, and the heading angle variance.

[0040] In a second aspect, an embodiment of the present disclosure provides a device for determining the validity of satellite navigation data, comprising:

[0041] A measurement trajectory acquisition module, configured to obtain a measurement trajectory of the carrier based on measurement data of the carrier by a satellite navigation system;

[0042] An actual trajectory obtaining module, configured to obtain an actual trajectory of the carrier based on inertial measurement data;

[0043] A trajectory matching module is used to match the measured trajectory with the actual trajectory to obtain a trajectory matching result;

[0044] The validity judgment module is used to judge the validity of the measurement data of the satellite navigation system based on the trajectory matching result.

[0045] In some embodiments, the trajectory matching module includes:

[0046] a close point pair set generating unit, configured to search for actual points on the actual trajectory that are closest to the measured points on the measured trajectory, and obtain a close point pair set;

[0047] A position adjustment unit, configured to adjust the positions of the measurement points in the close-range point pair set to obtain an adjusted point pair set;

[0048] a calculation unit, configured to iteratively calculate an average error between the adjustment points and the actual points using the adjustment points in the adjustment point pair set and the corresponding actual points until a preset iteration stop condition is satisfied, and obtain an iteration result;

[0049] A matching result obtaining unit is configured to obtain the matching result based on the iteration result.

[0050] In some embodiments, the apparatus further comprises:

[0051] A measured driving distance obtaining module, configured to obtain a measured driving distance of the carrier based on measurement data of the carrier by a satellite navigation system;

[0052] an actual travel distance obtaining module, configured to obtain the actual travel distance of the carrier based on inertial measurement data;

[0053] a distance difference calculation module, configured to calculate the distance difference between the measured driving distance and the actual driving distance;

[0054] The validity judgment module is further used to judge the validity of the measurement data of the satellite navigation system based on the trajectory matching result and the distance difference.

[0055] In some embodiments, the apparatus further comprises:

[0056] A measurement angle variation obtaining module is used to obtain a measurement angle rotation variation of the carrier based on measurement data of the carrier by a satellite navigation system;

[0057] an actual angle variation obtaining module, configured to obtain an actual angle rotation variation of the carrier and an actual speed of the carrier based on inertial measurement data;

[0058] a heading angle calculation module, configured to obtain an angle rotation variation difference, a heading angle difference, and an accumulated heading angle difference based on the measured angle rotation variation and the actual angle rotation variation;

[0059] a stability obtaining module, configured to obtain a heading angle variance based on the measured heading angle, and obtain a heading angle stability based on the heading angle variance;

[0060] Star acquisition module, used to obtain stars;

[0061] The validity judgment module is further used to judge the validity of the measurement data of the satellite navigation system based on the trajectory matching result, the number of satellites, the actual speed of the carrier, the angle rotation change difference, the heading angle difference and the heading angle stability.

[0062] In a third aspect, an embodiment of the present disclosure provides an electronic device, comprising:

[0063] one or more processors;

[0064] a memory having one or more programs stored thereon, which, when executed by the one or more programs, enable the one or more processors to perform any of the above-mentioned methods for determining the validity of satellite navigation data;

[0065] One or more I / O interfaces are connected between the processor and the memory and configured to implement information interaction between the processor and the memory.

[0066] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-mentioned methods for determining the validity of satellite navigation data.

[0067] The method for determining the validity of satellite navigation data provided by the disclosed embodiments obtains a measured trajectory of a carrier based on measurement data of the carrier by a satellite navigation system; obtains the actual trajectory of the carrier based on inertial measurement data; matches the measured trajectory with the actual trajectory to obtain a trajectory matching result; and determines the validity of the satellite navigation system's measurement data based on the trajectory matching result. This method for determining the validity of satellite navigation data can significantly improve the accuracy of the validity of satellite navigation data, making inertial navigation more accurate, thereby improving the overall performance of inertial navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] The accompanying drawings are used to provide a further understanding of the embodiments of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation of the present disclosure. The above and other features and advantages will become more apparent to those skilled in the art by describing the detailed exemplary embodiments with reference to the accompanying drawings, in which:

[0069] Figure 1 A flowchart of a method for determining the validity of satellite navigation data provided by the first embodiment of the present disclosure;

[0070] Figure 2 This is a flowchart of step 103 in the method for determining the validity of satellite navigation data provided in the first embodiment of the present disclosure;

[0071] Figure 3 A flowchart of a method for determining the validity of satellite navigation data provided in the second embodiment of the present disclosure;

[0072] Figure 4 A flowchart of a method for determining the validity of satellite navigation data provided in the third embodiment of the present disclosure;

[0073] Figure 5 A principle block diagram of a device for determining the validity of satellite navigation data provided in a fourth embodiment of the present disclosure;

[0074] Figure 6 This is a functional block diagram of a trajectory matching module in a device for determining the validity of satellite navigation data provided in a fourth embodiment of the present disclosure;

[0075] Figure 7 A principle block diagram of another device for determining the validity of satellite navigation data provided in a fifth embodiment of the present disclosure;

[0076] Figure 8 A principle block diagram of a device for determining the validity of satellite navigation data provided in a sixth embodiment of the present disclosure;

[0077] Figure 9 A block diagram of the composition of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0078] To enable those skilled in the art to better understand the technical solutions of the present disclosure, the method and apparatus for determining the validity of satellite navigation data, electronic equipment, and computer-readable medium provided by the present disclosure are described in detail below with reference to the accompanying drawings.

[0079] Example embodiments will be described more fully hereinafter with reference to the accompanying drawings, but the example embodiments may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the scope of this disclosure to those skilled in the art.

[0080] In the absence of conflict, the various embodiments of the present disclosure and the various features therein may be combined with each other.

[0081] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0082] The terms used herein are used only to describe specific embodiments and are not intended to limit the present disclosure. As used herein, the singular forms "a," "an," and "the" are also intended to include the plural forms, unless the context clearly indicates otherwise. It will also be understood that when the terms "comprising" and / or "made of" are used in this specification, the presence of the features, wholes, steps, operations, elements, and / or components is specified, but the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or groups thereof is not excluded.

[0083] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and the present disclosure, and will not be interpreted as having an idealized or overly formal meaning unless expressly defined as such herein.

[0084] Augmented Reality (AR) navigation utilizes inertial and satellite navigation technologies to achieve a more user-friendly navigation experience. Because errors in navigation data generated by inertial navigation can easily accumulate, affecting navigation accuracy, satellite navigation can monitor the vehicle's route and perform error correction on inertial navigation data to improve AR navigation accuracy. However, in locations with static reflections, the validity of GPS data is difficult to determine, which can affect AR navigation accuracy.

[0085] In a first aspect, a first embodiment of the present disclosure provides a method for determining the validity of satellite navigation data. Figure 1 This is a flow chart of a method for determining the validity of satellite navigation data provided by the first embodiment of the present disclosure. Figure 1 As shown, the method for determining the validity of satellite navigation data includes:

[0086] Step 101: Obtain a measurement trajectory of the carrier based on measurement data of the carrier by a satellite navigation system.

[0087] In the disclosed embodiments, a satellite navigation system refers to satellites used for high-precision radio navigation, i.e., generally refers to satellites that can be used for positioning and navigation. For example, the satellites used by the Global Positioning System (GPS) and the BeiDou Positioning System are both satellite navigation systems. However, in this first embodiment, the term satellite navigation system is not limited thereto.

[0088] The carrier is the object of navigation and can be an autonomous vehicle, autonomous aircraft, or other object. The satellite navigation system provides positioning and route monitoring for the carrier to ensure safe driving.

[0089] In this first embodiment, a satellite navigation system obtains measurement data from n measurement points on a carrier to obtain a measurement trajectory of the carrier. For example, the measurement trajectory of the carrier is obtained using n position points. The measurement trajectory refers to the movement trajectory of the carrier. The measurement trajectory can be a straight line or a curve.

[0090] Step 102: Obtain the actual trajectory of the carrier based on the inertial measurement data.

[0091] In one embodiment, in step 102, the inertial measurement data is measurement data obtained by an inertial measurement element mounted on the carrier. The actual trajectory of the carrier is obtained using an extended Kalman filter algorithm based on the measurement data of the inertial measurement element on the carrier.

[0092] The inertial measurement element can be a velocity sensor, acceleration sensor, gyroscope, or other measurement element. The inertial measurement element is mounted on the carrier and is used to measure the carrier's measurement data, such as the carrier's velocity, acceleration, and position. The inertial measurement element then uses an extended Kalman filter algorithm to infer the carrier's actual trajectory, thereby obtaining the carrier's actual trajectory. The actual trajectory can be either a straight line or a curve.

[0093] Step 103: Match the measured trajectory with the actual trajectory to obtain a trajectory matching result.

[0094] In some embodiments, in step 103, the measured trajectory and the actual trajectory can be matched using a matching algorithm to obtain a trajectory matching result. It should be noted that the matching of the measured trajectory and the actual trajectory can also be considered as the matching of the measured trajectory shape and the actual trajectory shape, that is, the measured trajectory shape matches the actual trajectory shape as closely as possible. For ease of expression, the first embodiment of the present disclosure uses the matching of the measured trajectory and the actual trajectory to describe the matching of the measured trajectory shape and the actual trajectory shape.

[0095] The matching algorithm adopts but is not limited to the Iterative Closest Point (ICP) algorithm. Other algorithms may also be used.

[0096] In the first embodiment, the trajectory matching result varies according to different conditions for stopping iterations. The condition for stopping iterations can be setting an iteration number threshold or a matching threshold. When the iteration number threshold or the preset matching threshold is reached, the iteration operation is stopped.

[0097] When the iteration result reaches the iteration number threshold, the matching result is determined to be that the measured trajectory and the actual trajectory do not match. When the iteration result reaches the error threshold, the matching result is determined to be that the measured trajectory and the actual trajectory match.

[0098] Step 104 : judging the validity of the measurement data of the satellite navigation system based on the trajectory matching result.

[0099] In the first embodiment of the present disclosure, when the trajectory matching result is a trajectory shape match, the measurement data of the satellite navigation system is valid. When the trajectory matching result is a trajectory shape mismatch, the measurement data of the satellite navigation system is invalid.

[0100] In some first embodiments, the measured trajectory and the actual trajectory are matched through the following steps to obtain a trajectory matching result. Figure 2 As shown, step 103 specifically includes:

[0101] Step 201 : searching for the actual point closest to the measurement point on the measurement trajectory on the actual trajectory to obtain a set of close-distance point pairs.

[0102] The measured trajectory is the trajectory generated by the satellite navigation system based on a number of measurement points (measurement values), while the actual trajectory is the trajectory generated based on the actual measurement points of the inertial measurement element (hereinafter referred to as actual points).

[0103] In some embodiments, in step 201 , for each measurement point on the measurement trajectory, an actual point closest to the measurement point is found on the actual trajectory to obtain a set of close-distance point pairs.

[0104] A close point pair set is a collection of measured points on the measurement trajectory and actual points on the actual trajectory, where the distance between each pair of measured points and actual points is the shortest. For example, if measured point A on the measurement trajectory is closest to actual point a on the actual trajectory, then these two points are considered a close point pair. Multiple close point pairs constitute a close point pair set.

[0105] Step 202: Adjust the positions of the measurement points in the close-range point pair set to obtain an adjusted point pair set.

[0106] In some embodiments, in step 202, the positions of the measurement points are adjusted by translation, rotation, or other methods, replacing the measurement points with adjustment points to form an adjustment point pair set consisting of the adjustment points and actual points. Furthermore, the average error of all close-range point pairs in the adjustment point pair set is minimized. It is readily understood that the adjustment point pair set is formed by replacing the measurement points with adjustment points and combining them with actual points to form the adjustment point pair set.

[0107] Step 203 : Iteratively calculate the average error between the adjustment points in the adjustment point pair set and the corresponding actual points until a preset iteration stop condition is met to obtain an iteration result.

[0108] In some embodiments, in step 203, the average error between the adjustment points and the actual points is iteratively calculated using the adjustment points in the adjustment point pair set and the corresponding actual points until a preset iteration stop condition is met to obtain an iterative result.

[0109] The stopping condition for the iterative calculation can be an iteration number threshold or an error threshold. When the iteration stopping condition is the iteration number threshold, the iteration result is the reaching of the iteration number threshold. When the iteration stopping condition is the reaching of the error threshold, the iteration result is the reaching of the error threshold.

[0110] Step 204: Obtain matching results based on the iteration results.

[0111] When the iteration result reaches the iteration number threshold, the matching result is determined to be that the measured trajectory and the actual trajectory do not match. When the iteration result reaches the error threshold, the matching result is determined to be that the measured trajectory and the actual trajectory match.

[0112] In the second embodiment, the method for determining the validity of the satellite navigation data is to determine the validity of the satellite navigation data based on a combination of the trajectory matching result and the driving distance provided in the first embodiment.

[0113] Figure 3 This is a flow chart of a method for determining the validity of satellite navigation data provided by the second embodiment of the present disclosure. Figure 3 As shown, the method for determining the validity of satellite navigation data includes:

[0114] Step 301: Obtain a measured driving distance of the vehicle based on measurement data of the vehicle by a satellite navigation system.

[0115] In some embodiments, in step 301, a satellite navigation system is used to measure the vehicle's travel distance to obtain the vehicle's travel distance.

[0116] Step 302: Obtain the actual travel distance of the vehicle based on the inertial measurement data.

[0117] In some embodiments, in step 302, the inertial measurement data is measurement data obtained by an inertial measurement device mounted on the carrier. Based on the measurement data of the inertial measurement device mounted on the carrier, an extended Kalman filter algorithm is used to estimate the actual travel distance of the carrier.

[0118] It should be noted that the algorithm for estimating the actual travel distance of the vehicle is not limited to the extended Kalman filter algorithm, and other algorithms may also be used to estimate the actual travel distance of the vehicle.

[0119] Step 303: Calculate the measured driving distance and the actual driving distance to obtain a distance difference.

[0120] In some embodiments, in step 303 , the measured driving distance and the actual driving distance are calculated to obtain a distance difference.

[0121] Step 304 : judging the validity of the measurement data of the satellite navigation system based on the trajectory matching result and the distance difference.

[0122] In some embodiments, in step 304, when the difference between the measured driving distance and the actual driving distance is greater than a preset distance threshold, the measurement data of the satellite navigation system is invalid. When the trajectory matching result is a trajectory shape match and the distance difference is less than a preset distance threshold, the measurement data of the satellite navigation system is valid.

[0123] The distance threshold can be pre-set based on actual circumstances. For example, if the distance threshold is 1 / 5 of the actual driving distance, when the difference between the measured driving distance and the actual driving distance is greater than 1 / 5 of the actual driving distance, the satellite navigation system's measurement data is deemed invalid. If the difference between the measured driving distance and the actual driving distance is less than 1 / 5 of the actual driving distance, and the trajectory matching result is a trajectory shape match, the satellite navigation system's measurement data is deemed valid.

[0124] In this embodiment, the trajectory matching result is obtained according to the matching method of the measured trajectory and the actual trajectory provided in the first embodiment, which will not be described in detail here.

[0125] In the third embodiment, the validity of the satellite navigation data is determined based on the trajectory matching result provided by the first embodiment and the travel distance and heading angle provided by the second embodiment.

[0126] Figure 4 This is a flow chart of a method for determining the validity of satellite navigation data provided by the third embodiment of the present disclosure. Figure 4 As shown, the method for determining the validity of satellite navigation data includes:

[0127] Step 401: Obtain a measured angle rotation variation of the carrier based on measurement data of the carrier by a satellite navigation system.

[0128] In some embodiments, at step 401 , measurement data of a carrier, ie, heading angle measurement data, is obtained through a satellite navigation system, and a measurement angle rotation change is obtained according to the heading angle measurement data.

[0129] For example, if a satellite navigation system measures n heading angles of a vehicle, the difference between the first heading angle and the nth heading angle is the measured angle rotation change. In other words, the measured angle rotation change is the sum of the differences between adjacent heading angles in the n heading angles.

[0130] For example, the heading angle (yaw) difference = yaw(n+1)-yaw(n).

[0131] Among them, yaw(n+1) is the n+1th heading angle, and yaw(n) is the nth heading angle.

[0132] The measured angle rotation change=sum(yaw(n+1)-yaw(n)), that is, the measured angle rotation change is the sum of the heading angle differences.

[0133] Step 402: Obtain the actual angular rotation change of the carrier based on the inertial measurement data.

[0134] In some embodiments, in step 402, based on the measurement data of the inertial measurement element carried on the carrier, that is, the heading angle measurement data, the heading angle of the carrier is calculated using an extended Kalman filter algorithm, and the actual angular rotation change of the carrier is obtained according to the heading angle.

[0135] The actual angular rotation change of the carrier is calculated by using the n heading angles measured by the inertial measurement element. The method for calculating the actual angular rotation change based on the heading angle is the same as the method for measuring the angular rotation change, which will not be repeated here.

[0136] Step 403: Obtain an angle rotation variation difference based on the measured angle rotation variation and the actual angle rotation variation.

[0137] In some embodiments, in step 403, an angular rotation variation difference is obtained based on a measured angular rotation variation obtained by a satellite navigation system and an actual angular rotation variation obtained by an inertial navigation technique.

[0138] Step 404 : Obtain a heading angle variance based on the heading angle measured by the satellite navigation system for the carrier, and obtain heading angle stability based on the heading angle variance.

[0139] In some embodiments, in step 404, a heading angle variance is obtained based on a heading angle measured by a satellite navigation system on the carrier, and a heading angle stability is obtained based on the heading angle variance.

[0140] Step 405: Obtain the number of satellites and the actual speed of the carrier.

[0141] In some embodiments, in step 405, the number of satellites refers to the number of satellite navigation systems available to the carrier. The actual speed of the carrier can be obtained through inertial navigation technology, that is, based on the speed sensor and acceleration sensor on the carrier, the actual speed of the carrier is obtained through an extended Kalman filter algorithm.

[0142] Step 406 : judging the validity of the measurement data of the satellite navigation system based on the trajectory matching result, the number of satellites, the actual speed of the carrier, the difference in the angular rotation variation, and the heading angle stability.

[0143] In some embodiments, in the absence of electrostatic reflection, the validity of the measurement data of the satellite navigation system is determined based on the number of satellites, the actual speed of the carrier, the difference in the amount of angular rotation change, and the difference in the heading angle.

[0144] Specifically, when the number of satellites, signal-to-noise ratio, and displacement are reasonable, and the actual speed of the carrier is less than 5 km / h, the difference between the measured angle rotation change and the actual angle rotation change is less than 25 degrees, and the maximum difference in the heading angle difference is less than 5 degrees, the satellite navigation data is considered valid. In other speed scenarios, the satellite navigation data is considered valid if the difference between the measured angle rotation change and the actual angle rotation change is less than 20 degrees, and the maximum difference in the heading angle difference is less than 4 degrees.

[0145] In the case of electrostatic reflection, the validity of satellite navigation data is judged based on the number of satellites, the actual speed of the carrier, the heading angle change value, the accumulated heading angle difference value, and the heading angle variance.

[0146] Specifically, when the number of satellites, signal-to-noise ratio, and displacement are reasonable, and the actual speed of the carrier is less than 5 km / h, the difference between the measured angle rotation change and the actual angle rotation change is less than 25 degrees, the maximum heading angle difference is less than 5 degrees, and the heading angle variance is less than n (such as 0.75), the satellite navigation data is considered valid. In other speed scenarios, the difference between the measured angle rotation change and the actual angle rotation change is less than 20 degrees, the maximum heading angle difference is less than 4 degrees, and the heading angle variance is less than n×0.8, the satellite navigation data is considered valid.

[0147] It should be noted that when judging the validity of satellite navigation data based on the heading angle and the trajectory matching results, the satellite navigation data judged based on the heading angle is valid, and the satellite navigation data judged based on the trajectory matching results is valid. When both are valid, the satellite navigation data is judged to be valid; if one of the two is invalid, the satellite navigation data is judged to be invalid.

[0148] Determining the validity of satellite navigation data based on the trajectory matching result is the same as in the first embodiment and will not be described again here.

[0149] In some embodiments, the validity of the satellite navigation data is determined based on the trajectory matching result, the travel distance, and the heading angle. Specifically, if the satellite navigation data is determined to be valid based on the trajectory matching result, the travel distance, and the heading angle, the satellite navigation data is considered valid. If any one of the determinations indicates that the satellite navigation data is invalid, the satellite navigation data is considered invalid.

[0150] Among them, judging the validity of satellite navigation data based on the trajectory matching result is the same as the first embodiment, judging the validity of satellite navigation data based on the driving distance is the same as the second embodiment, and judging the validity of satellite navigation data based on the heading angle is the same as the third embodiment, which will not be repeated here.

[0151] The method for determining the validity of satellite navigation data provided by the disclosed embodiments obtains a measured trajectory of a carrier based on measurement data of the carrier by a satellite navigation system; obtains the actual trajectory of the carrier based on inertial measurement data; matches the measured trajectory with the actual trajectory to obtain a trajectory matching result; and determines the validity of the satellite navigation system's measurement data based on the trajectory matching result. This method for determining the validity of satellite navigation data can significantly improve the accuracy of the validity of satellite navigation data, making inertial navigation more accurate, thereby improving the overall performance of inertial navigation.

[0152] In a second aspect, a fourth embodiment of the present disclosure provides a device for determining the validity of satellite navigation data. Figure 5 This is a principle block diagram of a device for determining the validity of satellite navigation data provided in the fourth embodiment of the present disclosure.

[0153] Reference Figure 5 , a device for determining the validity of satellite navigation data, comprising:

[0154] The measurement trajectory obtaining module 501 is configured to obtain the measurement trajectory of the carrier based on the measurement data of the carrier by the satellite navigation system.

[0155] In some embodiments, the measurement trajectory acquisition module 501 obtains the measurement trajectory of the carrier by using measurement data from n measurement points of the carrier using a satellite navigation system. For example, the measurement trajectory of the carrier is obtained using n position points. The measurement trajectory refers to the movement trajectory of the carrier. The measurement trajectory can be a straight line or a curve.

[0156] The actual trajectory obtaining module 502 is configured to obtain the actual trajectory of the carrier based on the inertial measurement data.

[0157] In some embodiments, the actual trajectory acquisition module 502 uses an inertial measurement element mounted on the carrier to measure the inertial measurement data of the carrier, such as the carrier's speed, acceleration, position, etc., and then uses an extended Kalman filter algorithm to infer the actual running trajectory of the carrier, that is, to obtain the actual trajectory of the carrier.

[0158] The trajectory matching module 503 is used to match the measured trajectory with the actual trajectory to obtain a trajectory matching result.

[0159] In some embodiments, the trajectory matching module 503 matches the measured trajectory with the actual trajectory using a matching algorithm to obtain a trajectory matching result. It should be noted that the matching of the measured trajectory with the actual trajectory can also be considered as the matching of the measured trajectory shape with the actual trajectory shape, that is, the measured trajectory shape matches the actual trajectory shape as closely as possible.

[0160] In the trajectory matching module 503 of the embodiment of the present disclosure, the matching algorithm adopts but is not limited to the Iterative Closest Point (ICP) algorithm. Other algorithms may also be used as the matching algorithm.

[0161] The condition for stopping iteration can be a set iteration count threshold or a matching threshold. When the iteration count threshold or the preset matching threshold is reached, the iteration operation stops. When the iteration result reaches the iteration count threshold, the matching result is determined to be a mismatch between the measured trajectory and the actual trajectory. When the iteration result reaches the error threshold, the matching result is determined to be a match between the measured trajectory and the actual trajectory.

[0162] The validity judgment module 504 is used to judge the validity of the measurement data of the satellite navigation system based on the trajectory matching result.

[0163] When the trajectory matching module's trajectory matching result is a trajectory shape match, the validity judgment module 504 determines that the satellite navigation system's measurement data is valid. When the trajectory matching module 503's trajectory matching result is a trajectory shape mismatch, the validity judgment module 504 determines that the satellite navigation system's measurement data is invalid.

[0164] Figure 6 This is a block diagram of the principle of the trajectory matching module in the device for determining the validity of satellite navigation data provided by the fourth embodiment of the present disclosure. Figure 6 As shown, the trajectory matching module includes:

[0165] The close point pair set generating unit 601 is configured to search for actual points closest to the measured points on the measured track on the actual track, and obtain a close point pair set.

[0166] A close point pair set is a collection of measured points on the measurement trajectory and actual points on the actual trajectory, where the distance between each pair of measured points and actual points is the shortest. For example, if measured point A on the measurement trajectory is closest to actual point A among actual points a, b, and c on the actual trajectory, then measured point A and actual point a are considered a close point pair. A collection of multiple close point pairs constitutes a close point pair set.

[0167] The position adjustment unit 602 is used to adjust the positions of the measurement points in the close-range point pair set to obtain an adjusted point pair set.

[0168] In some embodiments, the position adjustment unit 602 adjusts the position of the measurement point by translation, rotation, etc., replaces the measurement point with the adjustment point, and forms an adjustment point pair set consisting of the adjustment point and the actual point, and the average error of all close point pairs in the adjustment point pair set is the lowest.

[0169] The calculation unit 603 is configured to iteratively calculate the average error between the adjustment points and the actual points using the adjustment points in the adjustment point pair set and the corresponding actual points until a preset iteration stop condition is met, and obtain an iteration result.

[0170] The stopping condition for the iterative calculation can be an iteration number threshold or an error threshold. When the iteration stopping condition is the iteration number threshold, the iteration result is the reaching of the iteration number threshold. When the iteration stopping condition is the reaching of the error threshold, the iteration result is the reaching of the error threshold.

[0171] The matching result obtaining unit 604 is configured to obtain a matching result based on the iteration result.

[0172] When the iteration result reaches the iteration number threshold, the matching result is determined to be that the measured trajectory and the actual trajectory do not match. When the iteration result reaches the error threshold, the matching result is determined to be that the measured trajectory and the actual trajectory match.

[0173] A fifth embodiment of the present disclosure provides another device for determining the validity of satellite navigation data. This device includes all the features of the device for determining the validity of satellite navigation data disclosed in the fourth embodiment, and further includes a module for determining the validity of satellite navigation data based on distance. For ease of description, only the different components are described below.

[0174] Figure 7 This is a principle block diagram of another device for determining the validity of satellite navigation data provided by the fifth embodiment of the present disclosure. Figure 7 As shown, the device for determining the validity of satellite navigation data further includes:

[0175] The measured driving distance obtaining module 701 is configured to obtain the measured driving distance of the carrier based on the measurement data of the carrier obtained by the satellite navigation system.

[0176] In some embodiments, the measured driving distance obtaining module 701 obtains the measured driving distance of the carrier by using the measurement data of the carrier by the satellite navigation system, wherein the measured driving distance refers to the distance the carrier has moved.

[0177] The actual driving distance obtaining module 702 is configured to obtain the actual driving distance of the vehicle based on the inertial measurement data.

[0178] In some embodiments, the actual driving distance obtaining module 702 calculates the actual driving distance of the vehicle using an extended Kalman filter algorithm based on measurement data of an inertial measurement device mounted on the vehicle.

[0179] The distance difference calculation module 703 is used to calculate the distance difference between the measured driving distance and the actual driving distance.

[0180] The validity judgment module 704 is further configured to judge the validity of the measurement data of the satellite navigation system based on the trajectory matching result and the distance difference.

[0181] In some embodiments, in validity determination module 704, when the difference between the measured driving distance and the actual driving distance is greater than a preset distance threshold, the satellite navigation system measurement data is invalid. When the trajectory matching result is a trajectory shape match and the distance difference is less than a preset distance threshold, the satellite navigation system measurement data is valid.

[0182] The distance threshold can be pre-set based on actual circumstances. For example, if the distance threshold is 1 / 5 of the actual driving distance, when the difference between the measured driving distance and the actual driving distance is greater than 1 / 5 of the actual driving distance, the satellite navigation system's measurement data is deemed invalid. If the difference between the measured driving distance and the actual driving distance is less than 1 / 5 of the actual driving distance, and the trajectory matching result is a trajectory shape match, the satellite navigation system's measurement data is deemed valid.

[0183] A sixth embodiment of the present disclosure provides another device for determining the validity of satellite navigation data. This device includes all of the features of the device for determining the validity of satellite navigation data disclosed in the fourth embodiment, and further includes a module for determining the validity of the satellite navigation data based on a heading angle. For ease of description, only the different components are described below.

[0184] Figure 8 This is a block diagram of a device for determining the validity of satellite navigation data provided by the sixth embodiment of the present disclosure. Figure 8 As shown, the device for determining the validity of satellite navigation data further includes:

[0185] The measurement angle variation obtaining module 801 is configured to obtain the measurement angle rotation variation of the carrier based on the measurement data of the carrier from the satellite navigation system.

[0186] In some embodiments, the measured angle change acquisition module 801 measures n heading angles of the carrier using a satellite navigation system, and the difference between the first heading angle and the nth heading angle is the measured angle rotation change. In other words, the measured angle rotation change is the sum of the differences between adjacent heading angles in the n heading angles.

[0187] For example, the heading angle (yaw) difference = yaw(n+1)-yaw(n).

[0188] Among them, yaw(n+1) is the n+1th heading angle, and yaw(n) is the nth heading angle.

[0189] The measured angle rotation change=sum(yaw(n+1)-yaw(n)), that is, the measured angle rotation change is the sum of the heading angle differences.

[0190] The actual angle variation obtaining module 802 is configured to obtain the actual angle rotation variation of the carrier and the actual speed of the carrier based on the inertial measurement data.

[0191] In actual angle change acquisition module 802, the carrier's actual angular rotation change is calculated using n heading angles measured by an inertial measurement unit. The carrier's actual velocity is determined using an extended Kalman filter algorithm, using the velocity and acceleration sensors onboard the carrier. Calculating the actual angular rotation change from the heading angle is similar to measuring the angular rotation change and is not detailed here.

[0192] The heading angle calculation module 803 is configured to obtain an angle rotation variation difference, a heading angle difference, and an accumulated heading angle difference based on the measured angle rotation variation and the actual angle rotation variation.

[0193] In some embodiments, the heading angle calculation module 803 obtains the angular rotation variation difference based on the measured angular rotation variation obtained by the satellite navigation system and the actual angular rotation variation obtained by the inertial navigation technology.

[0194] The stability obtaining module 804 is configured to obtain a heading angle variance based on the measured heading angle, and obtain heading angle stability based on the heading angle variance.

[0195] In some embodiments, the stability obtaining module 804 obtains a heading angle variance based on a heading angle measured by a satellite navigation system on the carrier, and obtains a heading angle stability based on the heading angle variance.

[0196] The star number obtaining module 805 is used to obtain the star number.

[0197] Among them, the number of satellites refers to the number of navigation satellites that the carrier can obtain.

[0198] The validity judgment module 806 is further used to judge the validity of the measurement data of the satellite navigation system based on the trajectory matching result, the number of satellites, the actual speed of the carrier, the angle rotation change difference, the heading angle difference and the heading angle stability.

[0199] In some embodiments, in the absence of electrostatic reflection, the validity of the measurement data of the satellite navigation system is determined based on the number of satellites, the actual speed of the carrier, the difference in the amount of angular rotation change, and the difference in the heading angle.

[0200] Specifically, when the number of satellites, signal-to-noise ratio, and displacement are reasonable, and the actual speed of the carrier is less than 5 km / h, the difference between the measured angle rotation change and the actual angle rotation change is less than 25 degrees, and the maximum difference in the heading angle difference is less than 5 degrees, the satellite navigation data is considered valid. In other speed scenarios, the satellite navigation data is considered valid if the difference between the measured angle rotation change and the actual angle rotation change is less than 20 degrees, and the maximum difference in the heading angle difference is less than 4 degrees.

[0201] In the case of electrostatic reflection, the validity of satellite navigation data is judged based on the number of satellites, the actual speed of the carrier, the heading angle change value, the accumulated heading angle difference value, and the heading angle variance.

[0202] Specifically, when the number of satellites, signal-to-noise ratio, and displacement are reasonable, and the actual speed of the carrier is less than 5 km / h, the difference between the measured angle rotation change and the actual angle rotation change is less than 25 degrees, the maximum heading angle difference is less than 5 degrees, and the heading angle variance is less than n (such as 0.75), the satellite navigation data is considered valid. In other speed scenarios, the difference between the measured angle rotation change and the actual angle rotation change is less than 20 degrees, the maximum heading angle difference is less than 4 degrees, and the heading angle variance is less than n×0.8, the satellite navigation data is considered valid.

[0203] The disclosed embodiment also provides a device for determining the validity of satellite navigation data, which includes all modules and units in the fourth, fifth and sixth embodiments. When the satellite navigation data is determined to be valid based on the trajectory matching result, the driving distance and the heading angle, the satellite navigation data is considered to be valid. When any one of the judgment results is that the satellite navigation data is invalid, the satellite navigation data is considered to be invalid.

[0204] The presently disclosed embodiments provide a device for determining the validity of satellite navigation data. The device comprises a measurement trajectory acquisition module that obtains a carrier's measurement trajectory based on the carrier's measurement data from a satellite navigation system; an actual trajectory acquisition module that obtains the carrier's actual trajectory based on inertial measurement data; a trajectory matching module that matches the measured trajectory with the actual trajectory to obtain a trajectory matching result; and a validity determination module that determines the validity of the satellite navigation system's measurement data based on the trajectory matching result. This device for determining the validity of satellite navigation data can improve the accuracy of satellite navigation data validity, making inertial navigation more accurate and thus enhancing the overall performance of inertial navigation.

[0205] Thirdly, refer to Figure 9 , an embodiment of the present disclosure provides an electronic device, comprising:

[0206] One or more processors 901;

[0207] a memory 902 storing one or more programs, which, when executed by one or more processors, enable the one or more processors to implement any one of the aforementioned methods for determining the validity of satellite navigation data;

[0208] One or more I / O interfaces 903 are connected between the processor and the memory and are configured to implement information exchange between the processor and the memory.

[0209] Among them, the processor 901 is a device with data processing capabilities, including but not limited to a central processing unit (CPU); the memory 902 is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), and flash memory (FLASH); the I / O interface (read-write interface) 903 is connected between the processor 901 and the memory 902, and can realize information interaction between the processor 901 and the memory 902, including but not limited to a data bus (Bus), etc.

[0210] In some embodiments, the processor 901 , the memory 902 , and the I / O interface 903 are connected to each other via a bus, and further connected to other components of the computing device.

[0211] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-mentioned methods for determining the validity of satellite navigation data.

[0212] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As is well known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable, and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those skilled in the art that communication media typically embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0213] According to an embodiment of the present disclosure, the present disclosure further provides a computer program product, including a computer program, which implements any of the above-mentioned methods for determining the validity of satellite navigation data when executed by a processor.

[0214] Example embodiments have been disclosed herein, and although specific terms are employed, they are used and should be interpreted only in a general illustrative sense and not for purposes of limitation. In some instances, it will be apparent to those skilled in the art that, unless otherwise expressly indicated, features, characteristics, and / or elements described in conjunction with a particular embodiment may be used alone or in combination with features, characteristics, and / or elements described in conjunction with other embodiments. Therefore, it will be understood by those skilled in the art that various changes in form and detail may be made without departing from the scope of the present disclosure as set forth in the appended claims.

Claims

1. A method for determining the validity of satellite navigation data, comprising: Obtaining a measurement trajectory of the carrier based on measurement data of the carrier by a satellite navigation system; Obtaining an actual trajectory of the carrier based on inertial measurement data; Matching the measured trajectory with the actual trajectory to obtain a trajectory matching result; Obtaining a measured travel distance of the carrier based on measurement data of the carrier by a satellite navigation system; Obtaining an actual travel distance of the carrier based on the inertial measurement data; Calculating the measured driving distance and the actual driving distance to obtain a distance difference; The validity of the measurement data of the satellite navigation system is judged based on the trajectory matching result and the distance difference.

2. The method according to claim 1, wherein: The matching of the measured trajectory and the actual trajectory to obtain a trajectory matching result includes: According to the measurement points on the measurement track, find the actual points on the actual track that are closest to the measurement points, and obtain a set of close-distance point pairs; Adjusting the positions of the measuring points in the close-range point pair set to obtain an adjusted point pair set; Iteratively calculating the average error between the adjustment points and the actual points using the adjustment points in the adjustment point pair set and the corresponding actual points until a preset iteration stop condition is met and an iteration result is obtained; The matching result is obtained based on the iteration result.

3. The method according to claim 2, wherein: The obtaining the matching result based on the iteration result includes: When the iteration result reaches the iteration number threshold, determining that the matching result is that the measured trajectory and the actual trajectory do not match; When the iteration result reaches the error threshold, it is determined that the matching result is that the measured trajectory matches the actual trajectory.

4. The method according to claim 1, wherein: The determining the validity of the measurement data of the satellite navigation system based on the trajectory matching result and the distance difference includes: When the trajectory matching result is a trajectory shape match and the distance difference is less than a preset distance threshold, the measurement data of the satellite navigation system is valid.

5. The method according to claim 4, wherein: In the absence of electrostatic reflection, judging the validity of the measurement data of the satellite navigation system according to the number of satellites, the actual speed of the carrier, the heading angle change value, and the heading angle variance; wherein the heading angle variance is determined based on the measured heading angle; In the presence of electrostatic reflection, the validity of the measurement data of the satellite navigation system is judged based on the number of satellites, the actual speed of the carrier, the heading angle change value, the distance difference, and the heading angle variance.

6. A device for determining the validity of satellite navigation data, comprising: A measurement trajectory acquisition module, used to obtain the measurement trajectory of the carrier based on the measurement data of the carrier by the satellite navigation system; An actual trajectory acquisition module, used for acquiring the actual trajectory of the carrier based on inertial measurement data; A trajectory matching module, used to match the measured trajectory with the actual trajectory to obtain a trajectory matching result; A measured driving distance obtaining module, used for obtaining the measured driving distance of the carrier based on the measurement data of the carrier by the satellite navigation system; An actual driving distance obtaining module, used for obtaining the actual driving distance of the carrier based on the inertial measurement data; A distance difference calculation module, used for calculating the measured driving distance and the actual driving distance to obtain a distance difference; The validity judgment module is used to judge the validity of the measurement data of the satellite navigation system based on the trajectory matching result and the distance difference.

7. The device according to claim 6, wherein: The trajectory matching module comprises: A close point pair set generating unit, configured to find the actual point closest to the measured point on the measured track on the actual track, and obtain the close point pair set; A position adjustment unit, used for adjusting the positions of the measuring points in the close-range point pair set to obtain an adjusted point pair set; A calculation unit, used to iteratively calculate the average error between the adjustment point and the actual point using the adjustment point in the adjustment point pair set and the corresponding actual point until a preset iteration stop condition is met, and obtain an iteration result; A matching result obtaining unit is used to obtain the matching result based on the iteration result.

8. An electronic device, comprising: one or more processors; A storage device having one or more programs stored thereon, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 5; One or more I / O interfaces are connected between the processor and the memory and are configured to implement information interaction between the processor and the memory.

9. A computer readable medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the method according to any one of claims 1 to 5.

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