GNSS and INS combined positioning method and device, electronic equipment and storage medium

Abstract

The application discloses a GNSS and INS combined positioning method and device, electronic equipment and a storage medium. The method comprises the following steps: generating a second pulse signal and counting the second pulse signal; calculating a GNSS positioning result of a first GNSS time according to acquired GNSS data and the first GNSS time corresponding to the GNSS data; calculating an INS positioning result of a second GNSS time according to the counting result of the second pulse signal, the first system time corresponding to the acquired IMU data and the second system time corresponding to the second pulse signal; determining a third GNSS time corresponding to the second pulse signal according to the counting result of the second pulse signal; and calculating a combined positioning result corresponding to the third GNSS time according to the GNSS positioning result and the INS positioning result. The application drives the GNSS and INS combination output by the second pulse signal, improves the output frequency of the combined navigation result, and reduces the output delay and jitter of the data.

Description

Technical Field

[0001] This application relates to the field of GNSS and INS navigation technology, specifically to a GNSS and INS combined positioning method, apparatus, electronic device, and storage medium. Background Technology

[0002] GNSS (Global Navigation Satellite System) uses GNSS satellite signals for positioning, offering advantages such as all-weather operation, real-time performance, high accuracy, and no error accumulation over time. However, its positioning accuracy is susceptible to environmental interference. INS (Inertial Navigation System) is an autonomous navigation system, possessing advantages such as immunity to external interference and strong autonomy. However, its positioning error accumulates over time, preventing long-term independent navigation. Therefore, combining GNSS and INS for positioning and navigation can provide higher positioning rates, accuracy, and data update rates, improving overall navigation reliability.

[0003] Traditional GNSS and INS combined positioning systems are limited by radio frequency (RF) and baseband chips. GNSS data sampling rates cannot reach above 50 Hz. Although IMU (Inertial Measurement Unit) data update rates can reach above 500 Hz, the sampling time of IMU data cannot be aligned with absolute integer times and requires time-scale synchronization with GNSS data. Therefore, the data update rate of traditional GNSS and INS combined positioning systems is limited by the GNSS data sampling rate, making it difficult to reach above 100 Hz, thus wasting the high-frequency data update rate of the IMU. Furthermore, the low update rate of GNSS and INS combined positioning systems cannot promptly reflect the motion state and position of the vehicle in highly dynamic scenarios. Summary of the Invention

[0004] In view of the above problems, this application provides a GNSS and INS combined positioning method, apparatus, electronic device and storage medium to solve the technical problem of low update frequency of positioning results in GNSS and INS combined positioning.

[0005] In a first aspect, this application provides a GNSS and INS combined positioning method, the method comprising:

[0006] Generate a second pulse signal and count the second pulse signal;

[0007] Based on the acquired GNSS data and the first GNSS time corresponding to the GNSS data, the GNSS positioning result for the first GNSS time is calculated; and based on the counting result of the second pulse signal, the first system time corresponding to the acquired IMU data, and the second system time corresponding to the second pulse signal, the second GNSS time is obtained, and the INS positioning result for the second GNSS time is calculated.

[0008] The third GNSS time corresponding to the second pulse signal is determined based on the counting result of the second pulse signal, and the combined positioning result of the third GNSS time is calculated based on the GNSS positioning result and the INS positioning result.

[0009] Secondly, this application provides a GNSS and INS combined positioning device, the device comprising:

[0010] A second pulse generation unit is used to generate a second pulse signal and count the second pulse signal;

[0011] The first processing unit is configured to calculate the GNSS positioning result of the first GNSS time based on the acquired GNSS data and the first GNSS time corresponding to the GNSS data; and to obtain the second GNSS time based on the counting result of the second pulse signal, the first system time corresponding to the acquired IMU data, and the second system time corresponding to the second pulse signal, and to calculate the INS positioning result of the second GNSS time.

[0012] The second processing unit is used to determine the third GNSS time corresponding to the second pulse signal based on the counting result of the second pulse signal, and to calculate the combined positioning result of the third GNSS time based on the GNSS positioning result and the INS positioning result.

[0013] Thirdly, this application provides an electronic device, characterized in that it includes a memory and a processor, wherein:

[0014] The memory is used to store computer programs;

[0015] The processor is used to read the computer program in the memory and execute the steps of the GNSS and INS combined positioning method provided in the first aspect above.

[0016] Fourthly, this application provides a computer-readable storage medium having a readable computer program stored thereon, which, when executed by a processor, implements the steps of the GNSS and INS combined positioning method provided in the first aspect above.

[0017] The GNSS and INS combined positioning method provided in this application uses a high-frequency second pulse signal to drive the output of the combined GNSS and INS positioning results. The generation frequency of the second pulse signal can easily reach over 100 Hz, solving the technical problem of low update frequency and difficulty in reaching over 100 Hz in traditional GNSS and INS combined positioning results, making it suitable for high dynamic scenarios. Furthermore, since the GNSS and INS combined positioning results are based on the frequency of the second pulse signal, the output delay and jitter of the combined positioning results are reduced, and the data interval of the combined positioning results is more uniform.

[0018] Furthermore, this embodiment of the application synchronizes the timescale of IMU data and GNSS data based on the second pulse signal, reducing the synchronization error between the IMU data and GNSS data timescale and improving the time accuracy from the millisecond level to the microsecond level. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A flowchart of the GNSS and INS combined positioning method provided in an embodiment of this application is shown.

[0021] Figure 2 A task block diagram of the GNSS and INS combined positioning method provided in an embodiment of this application is shown.

[0022] Figure 3 A flowchart illustrating how the combined positioning task provided in this application converts a first system time into a second GNSS time is shown.

[0023] Figure 4 A time axis diagram of the parameters of the GNSS and INS combined positioning method provided in the embodiments of this application is shown.

[0024] Figure 5 Another task block diagram of the GNSS and INS combined positioning method provided in the embodiments of this application is shown.

[0025] Figure 6 A flowchart illustrating how the combined positioning task provided in this application converts a second system time into a third GNSS time is shown.

[0026] Figure 7 This illustrates another task block diagram of the GNSS and INS combined positioning method provided in an embodiment of this application.

[0027] Figure 8 A schematic diagram of the GNSS and INS combined positioning device provided in an embodiment of this application is shown.

[0028] Figure 9 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown.

[0029] Figure 10 A schematic diagram of the structure of a computer-readable storage medium provided in an embodiment of this application is shown. Detailed Implementation

[0030] To enable those skilled in the art to better understand the solutions of this application, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0031] In the embodiments of this application, it should be noted that, in this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0032] It should be noted that in the embodiments of this application, "and / or" describes the relationship between associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. In addition, the character " / ", unless otherwise specified, generally indicates that the associated objects before and after it are in an "or" relationship.

[0033] Figure 1 A flowchart of the GNSS and INS combined positioning method provided in an embodiment of this application is shown, as follows: Figure 1 As shown, the GNSS and INS combined positioning method provided in this application includes:

[0034] Step S10: Generate a second pulse signal and count the second pulse signal. Optionally, a counter based on a crystal oscillator can be selected when counting the second pulse signal. The time interval between two second pulse signals can be calculated based on the counter, and in the event of an interrupt (such as triggering after the second pulse signal is received), the time from the triggering of the second pulse signal to the receipt of the second pulse interrupt can be calculated. The working principle of the counter is as follows: the counter counts a number at fixed intervals, and this fixed interval is related to the crystal oscillator frequency. Because the counting time period of the counter (referring to the fixed time) is constant, a time interval can be obtained by multiplying the count value by the counting time period after a certain period. The time interval between two pulses is a time interval, such as: (count value of the first count - count value of the second count) * time period, where "-" represents the subtraction sign and "*" represents the multiplication sign.

[0035] Step S20: Based on the acquired GNSS data and the first GNSS time corresponding to the GNSS data, calculate the GNSS positioning result for the first GNSS time; and based on the counting result of the second pulse signal, the first system time corresponding to the acquired IMU data, and the second system time corresponding to the second pulse signal, obtain the second GNSS time, and calculate the INS positioning result for the second GNSS time; Optionally, the GNSS data and the first GNSS time can be obtained by parsing GNSS satellite signals. The GNSS data includes ephemeris and observation data of multiple systems required by the GNSS positioning algorithm. The GNSS positioning algorithm obtains the GNSS positioning result from the GNSS data. The first GNSS time is used to represent the GNSS positioning result at a certain moment (such as the first GNSS time). The IMU data is used for INS positioning. The system time is the power-on time, such as the first second after power-on, the second second after power-on, etc., which can be used to represent the IMU data at a certain moment (such as the first system time). The initially acquired GNSS data is timed using GNSS time, while the IMU data is timed using system time. In order to unify the timescale of the GNSS positioning results and the INS positioning results, this embodiment converts the system time corresponding to the IMU data into GNSS time, that is, converts the first system time into the second GNSS time.

[0036] Step S30: Determine the third GNSS time corresponding to the second pulse signal based on the counting result of the second pulse signal, and calculate the combined positioning result of the third GNSS time based on the GNSS positioning result and the INS positioning result; Optionally, the second pulse signal is counted by a counter, and in order to synchronize with the time scale of the GNSS positioning result and the INS positioning result, the GNSS time of the second pulse signal can be calculated from the counting result of the second pulse signal.

[0037] The GNSS and INS combined positioning method provided in this application uses a high-frequency second pulse signal to drive the output of the combined GNSS and INS positioning results. The generation frequency of the second pulse signal can easily reach over 100 Hz, solving the technical problem of low update frequency of traditional GNSS and INS combined positioning results, which is difficult to reach over 100 Hz. This method is suitable for high-dynamic positioning scenarios. Furthermore, since the GNSS and INS combined positioning results are based on the frequency of the second pulse signal, the output delay and jitter of the combined positioning results are reduced, and the data interval of the combined positioning results is more uniform.

[0038] Furthermore, in this embodiment, the time stamps of IMU data and GNSS data are synchronized based on the second pulse signal, which reduces the synchronization error between the time stamps of IMU data and GNSS data and improves the time accuracy from the millisecond level to the microsecond level.

[0039] In some embodiments, Figure 2 The following is a task block diagram of the GNSS and INS combined positioning method provided in an embodiment of this application, as shown in the figure. Figure 2 As shown, in step S20: based on the acquired GNSS data and the first GNSS time corresponding to the GNSS data, the GNSS positioning result corresponding to the first GNSS time is calculated, including:

[0040] The GNSS data receiving task receives GNSS data and the first GNSS time corresponding to the GNSS data, outputs the GNSS data to the GNSS positioning and parsing task, and outputs the first GNSS time to the combined positioning task.

[0041] The GNSS positioning analysis task calculates the GNSS positioning result and outputs the GNSS positioning result to the combined positioning task.

[0042] The combined positioning task is used to store the first GNSS time and GNSS positioning results.

[0043] The GNSS data receiving task, GNSS positioning and parsing task, and combined positioning task can be set to actively acquire data, such as the GNSS data receiving task being triggered at a certain frequency to actively acquire GNSS data and the first GNSS time. They can also be set to be woken up by data, such as the GNSS data and / or the first GNSS time being output to the GNSS data receiving task at a certain frequency, the GNSS data receiving task being woken up by GNSS data to execute the output of GNSS data to the GNSS positioning and parsing task, and being woken up by the first GNSS time to execute the output of the first GNSS time to the combined positioning task.

[0044] In some embodiments, such as Figure 2 As shown, the methods for obtaining IMU data and the corresponding first system time include:

[0045] The IMU data receiving task receives IMU data and the corresponding first system time, and outputs the IMU data and the first system time to the combined positioning task. Optionally, the IMU data and the first system time can be acquired by setting the IMU sensor, and the IMU data receiving task can be set to be triggered at a certain frequency to actively acquire data, or it can be set to be woken up by the IMU data and the first system time output by the IMU sensor at a certain frequency to execute the output of the IMU data and the first system time to the combined positioning task.

[0046] The combined positioning task is used to store IMU data and the first system time corresponding to the IMU data.

[0047] In some embodiments, such as Figure 2 As shown, in step S20: the second GNSS time is obtained based on the counting result of the second pulse signal, the first system time corresponding to the acquired IMU data, and the second system time corresponding to the second pulse signal, including:

[0048] The GNSS data receiving task receives the first counting result of the second pulse signal and outputs the first counting result to the integrated positioning task. The first counting result is the counting result continuously acquired by the GNSS data receiving task at a certain frequency. Optionally, the GNSS data receiving task can actively acquire or be awakened by data to execute the receiving of the first counting result of the second pulse signal and output the first counting result to the integrated positioning task.

[0049] The second pulse processing task receives the second pulse signal, acquires the second count result of the second pulse signal and the second system time corresponding to the second pulse signal, and outputs the second count result and the second system time to the combined positioning task. Specifically, the second count result is the count result reacquired by the second pulse processing task after receiving the second pulse. The process of the second pulse processing task acquiring the second pulse signal can be set to actively acquire the second pulse signal by triggering at a certain frequency, and then acquire the second count result and the second system time of the second pulse signal to output to the combined positioning task, or it can be set to be awakened by the second pulse signal output at a certain frequency, and then acquire the second count result and the second system time of the second pulse signal to output to the combined positioning task.

[0050] The combined positioning task converts the first system time into the second GNSS time based on the count result of the second pulse signal sent by the GNSS data receiving task, the first system time corresponding to the IMU data sent by the IMU data receiving task, and the second system time corresponding to the second pulse signal. Figure 3 The flowchart illustrating the conversion of a first system time to a second GNSS time using a combined positioning task provided in an embodiment of this application is shown, as follows: Figure 3As shown, the process includes:

[0051] The first GNSS time error is determined based on the time difference between the first system time corresponding to the IMU data and the second system time corresponding to the second pulse signal, as well as the first GNSS time conversion coefficient; optionally, the first GNSS time error = (first system time - second system time) / F1;

[0052] The second GNSS time error is determined based on the difference between the second and first counting results and the second GNSS time conversion coefficient; optionally, the second GNSS time error = (second second pulse time - first second pulse time) / F2;

[0053] The second GNSS time is determined based on the first GNSS time, the first GNSS time error, and the second GNSS time error; optionally, the second GNSS time = the first GNSS time + (the first system time - the second system time) / F1 + (the second second pulse time - the first second pulse time) / F2;

[0054] To illustrate the above formula, Figure 4 This paper presents a time-axis diagram illustrating the parameters of the GNSS and INS combined positioning method provided in an embodiment of this application. Figure 4 As shown, the first GNSS time represents the GNSS time acquired by the GNSS data receiving task, and the first counting result represents the counting result of the second pulse signal corresponding to the first GNSS time. That is, the first counting result has the same output frequency as the first GNSS time, where the first GNSS time corresponds to the first counting result. Figure 2 The nth second pulse signal; the second counting result represents the counting result obtained by the second pulse processing task after acquiring the second pulse signal, where the second counting result corresponds to Figure 2 The (n+m)th second pulse signal; the first system time represents the system time corresponding to the IMU data acquired by the IMU data receiving task, and the second GNSS time represents the GNSS time corresponding to the IMU data acquired by the IMU data receiving task; the second system time represents the system time when the second pulse processing task acquires the second pulse signal, where the second system time corresponds to Figure 2 The system time at the (n+m)th second pulse signal. F1 represents the frequency of the crystal oscillator used for system time; F2 represents the frequency of the crystal oscillator used for the second pulse counter; " / " represents the division symbol; "+" represents the addition symbol; "-" represents the subtraction symbol; F1 and F2 can be the same crystal oscillator frequency.

[0055] In some embodiments, Figure 5 Another task block diagram of the GNSS and INS combined positioning method provided in the embodiments of this application is shown, such as... Figure 5As shown, the second pulse processing task includes the second pulse interrupt task and the second pulse response task;

[0056] The second pulse interrupt task receives the second pulse signal, obtains the second count result of the second pulse signal and the second system time corresponding to the second pulse signal, and outputs the second count result and the second system time to the second pulse response task.

[0057] The second pulse response task receives the second count result of the second pulse signal output by the second pulse interrupt task and the second system time corresponding to the second pulse signal, and outputs the second count result and the second system time to the combined positioning task. Optionally, the second pulse response task can execute the output of the second count result of the second pulse signal output by the second pulse interrupt task and the second system time corresponding to the second pulse signal to the combined positioning task by actively acquiring data or being awakened by data.

[0058] The GNSS and INS combined positioning method provided in this application effectively avoids the high latency problem caused by setting a single task by processing the second pulse signal, the second counting result of the second pulse signal, and the second system time corresponding to the second pulse signal through interruption task and second pulse response task.

[0059] In some embodiments, Figure 6 The flowchart illustrating the conversion of a second system time to a third GNSS time using a combined positioning task provided in an embodiment of this application is shown, as follows: Figure 6 As shown, step S30: Determine the third GNSS time corresponding to the second pulse signal based on the counting result of the second pulse signal, including:

[0060] The difference between the first counting results of two adjacent second pulse signals is obtained. Based on the difference between the two adjacent first counting results and the first GNSS time conversion coefficient, the third GNSS time error is determined. In this embodiment, the GNSS data receiving task is used to receive the first counting result. The two adjacent first counting results are the two first counting results received consecutively by the GNSS data receiving task. Optionally, the third GNSS time error = (first counting result n - first counting result n-1) / F1.

[0061] The third GNSS time is determined based on the error between the first GNSS time and the third GNSS time; optionally, the third GNSS time = the first GNSS time + (the first counting result n - the first counting result n-1) / F1.

[0062] Wherein, the third GNSS time represents the GNSS time corresponding to the second pulse signal received by the second pulse processing task or the second pulse interruption task; the first GNSS time represents the GNSS time corresponding to the GNSS data acquired by the GNSS data receiving task; the first counting result n represents the counting result of the latest second pulse signal acquired by the GNSS data receiving task; the first counting result n-1 represents the counting result of the second pulse signal acquired by the GNSS data receiving task before the first second pulse time n; F1 represents the frequency of the crystal oscillator used by the second pulse counter; " / " represents the division symbol; "+" represents the addition symbol; and "-" represents the subtraction symbol.

[0063] The GNSS and INS combined positioning method provided in this application provides combined positioning output based on the scheduling between various tasks, which further realizes high-frequency output of combined positioning and lower data output latency of the combined positioning results.

[0064] In some embodiments, Figure 7 This illustrates another task block diagram of the GNSS and INS combined positioning method provided in an embodiment of this application, such as... Figure 7 As shown, the GNSS and INS combined positioning method provided in this application embodiment, after step S30, further includes:

[0065] The combined positioning output task receives the combined positioning result corresponding to the third GNSS time and outputs the combined positioning result corresponding to the third GNSS time.

[0066] The GNSS and INS combined positioning method provided in this application outputs the combined positioning results to the next-level system / module through a combined positioning output task to facilitate the development of the next-level system / module and improve the interconnectivity with external devices.

[0067] In some embodiments, the GNSS and INS combined positioning method provided in this application, before step S10, further includes:

[0068] Determine the task priorities for GNSS data reception, GNSS positioning and parsing, IMU data reception, second pulse interruption, second pulse response, combined positioning, and combined positioning output tasks;

[0069] The task priorities, from highest to lowest, are: second pulse interruption task, GNSS data reception task, second pulse response task, IMU data reception task, combined positioning task, and GNSS positioning analysis task.

[0070] When the GNSS and INS combined positioning method also includes a combined positioning output task, the task priorities from high to low are as follows: second pulse interruption task, GNSS data reception task, second pulse response task, IMU data reception task, combined positioning task, combined positioning output task, and GNSS positioning parsing task.

[0071] The GNSS data receiving task, GNSS positioning parsing task, IMU data receiving task, second pulse interruption task, second pulse response task, combined positioning task, and combined positioning output task can be implemented by programming to perform the corresponding functions of each task, or they can be established by relying on the system / module / chip, etc., that apply the method described in the embodiments of this application.

[0072] In this embodiment of the application, each task is prioritized according to its execution time and real-time requirements. By establishing task priorities, data conflicts between tasks are effectively avoided.

[0073] In some embodiments, the acquisition frequency of the first GNSS time corresponding to the GNSS data and the counting result of the second pulse signal are the same; the acquisition frequency of the IMU data and the first system time corresponding to the IMU data are the same; the generation frequency of the second pulse signal, the acquisition frequency of the GNSS data, the acquisition frequency of the first GNSS time corresponding to the GNSS data and the counting result of the second pulse signal, and the acquisition frequency of the IMU data and the first system time corresponding to the IMU data are different; that is, in the GNSS and INS combined positioning method described in any of the above embodiments, the frequency at which the GNSS data receiving task receives GNSS data, the frequency at which the GNSS data receiving task receives the first GNSS time and the first counting result of the second pulse signal, the frequency at which the IMU data receiving task receives IMU data and the first system time, and the frequency at which the second pulse interruption task receives the second pulse signal are all different. Optionally, the frequency at which the IMU data receiving task receives IMU data and the first system time is greater than the frequency at which the second pulse interruption task receives the second pulse signal, which is greater than the frequency at which the GNSS data receiving task receives GNSS data, which is greater than the frequency at which the GNSS data receiving task receives the first GNSS time and the first counting result of the second pulse signal.

[0074] It should be clarified that, in the embodiments of this application, the difference between the first counting result and the second counting result of the second pulse signal is that the first counting result is output to the GNSS data receiving task at the third frequency, while the second counting result is the counting result actively obtained by the second pulse interrupt task after it is triggered by the second pulse signal.

[0075] The embodiments of this application output the combined GNSS and INS positioning results according to the output frequency of the second pulse signal, and the generation frequency of the second pulse signal can easily reach more than 100 Hz, which greatly improves the output frequency of the combined positioning.

[0076] In some embodiments, the GNSS positioning resolution task calculates the GNSS positioning result corresponding to the first GNSS time using the PVT((Position, Velocity, Time)) algorithm, the combined positioning task calculates the INS positioning result corresponding to the second GNSS time using the inertial navigation mechanical orchestration algorithm, and the combined positioning and navigation task further calculates the combined positioning result corresponding to the third GNSS time using the extended Kalman filter algorithm based on the GNSS positioning result and the INS positioning result.

[0077] It should be clarified that in the embodiments of this application, the PVT algorithm, the inertial navigation mechanical arrangement algorithm, and the extended Kalman filter algorithm are algorithms commonly used in the prior art for calculating positioning results. Moreover, the purpose of the embodiments of this application is not to obtain positioning results from GNSS data or IMU data, nor is it to obtain a combined positioning result of GNSS positioning results and INS positioning results. The purpose of the embodiments of this application is to use a second pulse signal to drive the output of the combined positioning result of GNSS and INS. Therefore, the calculation content of the positioning result in the embodiments of this application will not be described in detail.

[0078] The GNSS and INS combined positioning method provided in this application uses a high-frequency second pulse signal to drive the output of the combined GNSS and INS positioning results. The generation frequency of the second pulse signal can easily reach over 100 Hz, solving the technical problem that the traditional GNSS and INS combined positioning results have a low update frequency and are difficult to reach over 100 Hz, making it suitable for high dynamic scenarios. Furthermore, since the GNSS and INS combined positioning results are based on the frequency of the second pulse signal, the output delay and jitter of the combined positioning results are reduced, and the data interval of the combined positioning results is more uniform.

[0079] Furthermore, in this embodiment, the time stamps of IMU data and GNSS data are synchronized based on the second pulse signal, which reduces the synchronization error between the time stamps of IMU data and GNSS data and improves the time accuracy from the millisecond level to the microsecond level.

[0080] Furthermore, the GNSS and INS combined positioning method provided in this application embodiment includes a task scheduling system. After the second processing unit receives the second pulse signal, it outputs the combined positioning result according to the scheduling between application tasks, which further realizes high-frequency output and low data output delay of the combined positioning result.

[0081] Based on the above-described GNSS and INS combined positioning method, this application embodiment also provides a GNSS and INS combined positioning device, which is used to execute the GNSS and INS combined positioning method provided in the above embodiment. Figure 8 A schematic diagram of the GNSS and INS combined positioning device provided in an embodiment of this application is shown, as follows: Figure 8 As shown, the device includes:

[0082] The second pulse generation unit is used to generate second pulse signals and count the second pulse signals;

[0083] The first processing unit is configured to calculate the GNSS positioning result of the first GNSS time based on the acquired GNSS data and the first GNSS time corresponding to the GNSS data; and to obtain the second GNSS time based on the counting result of the second pulse signal, the first system time corresponding to the acquired IMU data, and the second system time corresponding to the second pulse signal, and calculate the INS positioning result of the second GNSS time.

[0084] The second processing unit is used to determine the third GNSS time corresponding to the second pulse signal based on the counting result of the second pulse signal, and to calculate the combined positioning result of the third GNSS time based on the GNSS positioning result and the INS positioning result.

[0085] The GNSS and INS combined positioning device provided in this application uses a high-frequency second pulse signal to drive the output of the combined GNSS and INS positioning results. The generation frequency of the second pulse signal can easily reach over 100 Hz, solving the technical problem of low update frequency of traditional GNSS and INS combined positioning results, which is difficult to reach over 100 Hz. This makes it suitable for high-dynamic scenarios. Furthermore, since the GNSS and INS combined positioning results are based on the frequency of the second pulse signal, the output delay and jitter of the combined positioning results are reduced, and the data interval of the combined positioning results is more uniform.

[0086] Furthermore, the GNSS and INS combined positioning device provided in this application synchronizes the time stamps of IMU data and GNSS data according to the second pulse signal, reducing the synchronization error between the IMU data and GNSS data time stamps and improving the time accuracy from the millisecond level to the microsecond level.

[0087] For other details regarding the implementation of the above technical solution by each unit in the above GNSS and INS combined positioning device, please refer to the description in the GNSS and INS combined positioning method provided in the above embodiments, which will not be repeated here.

[0088] Based on the above-described GNSS and INS combined positioning method, this application also provides an electronic device. Figure 9A schematic diagram of the structure of the electronic device provided in an embodiment of this application is shown, such as... Figure 9 As shown, the electronic device includes a processor 91 and a memory 92 coupled to the processor 91. The memory 92 stores a computer program that, when executed by the processor 91, causes the processor 91 to perform the steps of the GNSS and INS combined positioning method in the above embodiments.

[0089] For other details regarding the implementation of the above technical solution by the processor 91 in the above electronic device, please refer to the description of the GNSS and INS combined positioning method provided in the above embodiments of the invention, which will not be repeated here.

[0090] The processor 91 can also be called a CPU (Central Processing Unit). The processor 91 may be an integrated circuit chip with signal processing capabilities. The processor 91 can also be a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor, or the processor 91 can be any conventional processor.

[0091] This application also provides a computer-readable storage medium. Figure 10 A schematic diagram of the structure of a computer-readable storage medium provided in an embodiment of this application is shown, such as... Figure 10 As shown, the computer storage medium stores a readable computer program 101. This computer program 101 can be stored in the storage medium as a software product, including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, magnetic disks or optical disks, ROM (Read-Only Memory), RAM (Random Access Memory), or terminal devices such as computers, servers, mobile phones, and tablets.

[0092] The above description, in conjunction with specific embodiments, provides a further detailed explanation of this application and should not be construed as limiting the specific implementation of this application to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of this application, and all such modifications and substitutions should be considered within the scope of protection of this application.

Claims

1. A GNSS and INS combined positioning method, characterized in that, include: Generate a second pulse signal and count the second pulse signal; Based on the acquired GNSS data and the first GNSS time corresponding to the GNSS data, the GNSS positioning result for the first GNSS time is calculated; and based on the counting result of the second pulse signal, the first system time corresponding to the acquired IMU data, and the second system time corresponding to the second pulse signal, the second GNSS time is obtained, and the INS positioning result for the second GNSS time is calculated. The third GNSS time corresponding to the second pulse signal is determined based on the counting result of the second pulse signal, and the combined positioning result of the third GNSS time is calculated based on the GNSS positioning result and the INS positioning result. The generation frequency of the second pulse signal is greater than the acquisition frequency of the GNSS data and less than the acquisition frequency of the IMU data. The step of determining the third GNSS time corresponding to the second pulse signal based on the counting result of the second pulse signal includes: The combined positioning task obtains the difference between the first count results of two adjacent second pulse signals, determines the third GNSS time error based on the difference and the first GNSS time conversion coefficient, and determines the third GNSS time corresponding to the second pulse signal based on the first GNSS time and the third GNSS time error. After calculating the combined positioning result of the third GNSS time based on the GNSS positioning result and the INS positioning result, the method further includes: The combined positioning output task receives the combined positioning result corresponding to the third GNSS time and outputs the combined positioning result corresponding to the third GNSS time.

2. The method as described in claim 1, characterized in that, The step of calculating the GNSS positioning result for the first GNSS time based on the acquired GNSS data and the first GNSS time corresponding to the GNSS data includes: The GNSS data receiving task receives GNSS data and the first GNSS time corresponding to the GNSS data, outputs the GNSS data to the GNSS positioning parsing task, and outputs the first GNSS time to the combined positioning task. The GNSS positioning analysis task calculates the GNSS positioning result for the first GNSS time and outputs the GNSS positioning result to the combined positioning task.

3. The method as described in claim 1, characterized in that, The step of obtaining the second GNSS time based on the counting result of the second pulse signal, the first system time corresponding to the acquired IMU data, and the second system time corresponding to the second pulse signal includes: The second pulse processing task receives the second pulse signal, obtains the second counting result and the second system time of the second pulse signal, and outputs the second counting result and the second system time to the combined positioning task. The combined positioning task determines a first GNSS time error based on the first system time corresponding to the IMU data sent by the IMU data receiving task and the second system time corresponding to the second pulse signal; determines a second GNSS time error based on the second counting result and the first counting result of the second pulse signal sent by the GNSS data receiving task; and determines a second GNSS time based on the first GNSS time, the first GNSS time error, and the second GNSS time error.

4. The method as described in claim 3, characterized in that, The second pulse processing task includes a second pulse interrupt task and a second pulse response task; The second pulse interrupt task receives the second pulse signal, obtains the second count result of the second pulse signal and the second system time corresponding to the second pulse signal, and outputs the second count result and the second system time to the second pulse response task. The second pulse response task outputs the second counting result and the second system time to the combined positioning task.

5. The method according to any one of claims 1 to 4, characterized in that, Before the step of generating a second pulse signal and counting the second pulse signal, the method further includes: Determine the task priorities for GNSS data reception, GNSS positioning and parsing, IMU data reception, second pulse interruption, second pulse response, and combined positioning tasks; The tasks, in descending order of priority, are: the second pulse interruption task, the GNSS data reception task, the second pulse response task, the IMU data reception task, the combined positioning task, and the GNSS positioning parsing task.

6. A GNSS and INS combined positioning device, characterized in that, include: A second pulse generation unit is used to generate a second pulse signal and count the second pulse signal; The first processing unit is used to calculate the GNSS positioning result of the first GNSS time based on the acquired GNSS data and the first GNSS time corresponding to the GNSS data. Furthermore, based on the counting result of the second pulse signal, the first system time corresponding to the acquired IMU data, and the second system time corresponding to the second pulse signal, the second GNSS time is obtained, and the INS positioning result of the second GNSS time is calculated. The second processing unit is used to determine the third GNSS time corresponding to the second pulse signal based on the counting result of the second pulse signal, and to calculate the combined positioning result of the third GNSS time based on the GNSS positioning result and the INS positioning result. The generation frequency of the second pulse signal is greater than the acquisition frequency of the GNSS data and less than the acquisition frequency of the IMU data. The second processing unit determines the third GNSS time corresponding to the second pulse signal based on the counting result of the second pulse signal, including: The combined positioning task obtains the difference between the first count results of two adjacent second pulse signals, determines the third GNSS time error based on the difference and the first GNSS time conversion coefficient, and determines the third GNSS time corresponding to the second pulse signal based on the first GNSS time and the third GNSS time error. After the second processing unit calculates the combined positioning result of the third GNSS time based on the GNSS positioning result and the INS positioning result, it further includes: The combined positioning output task receives the combined positioning result corresponding to the third GNSS time and outputs the combined positioning result corresponding to the third GNSS time.

7. An electronic device, characterized in that, Includes memory and processor, wherein: The memory is used to store computer programs; The processor is used to read the computer program in the memory and execute the steps of the GNSS and INS combined positioning method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, It stores a readable computer program that, when executed by a processor, implements the steps of the GNSS and INS combined positioning method as described in any one of claims 1 to 5.

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