Vehicle positioning method and vehicle-mounted positioning system

Abstract

The invention relates to a vehicle positioning method, a vehicle-mounted positioning system and a vehicle. The vehicle positioning method comprises the following steps: S1, receiving a satellite positioning signal by using a positioning antenna; s2, converting the satellite positioning signal into first position information; and S3, based on parameters sensed by the sensor, correcting the first position information by using an inertial navigation algorithm to obtain second position information.

Description

Technical Field

[0001] The present disclosure relates to the field of positioning, and in particular to a vehicle positioning method, a vehicle-mounted positioning system and a vehicle. Background Art

[0002] At present, vehicle positioning systems are increasingly providing basic capabilities for navigation and various Internet of Vehicles applications. Vehicle positioning systems (such as positioning systems based on the Global Positioning System (GPS)) receive signals from no less than three positioning satellites and complete positioning through their own calculations. When a vehicle enters an area with poor signal, such as an underground garage or tunnel, it is expected that the vehicle positioning can also achieve high accuracy. Summary of the invention

[0003] In view of the above problems, the present invention aims to provide a vehicle positioning method, a vehicle-mounted positioning system and a vehicle.

[0004] According to a first aspect of the present disclosure, a vehicle positioning method is provided, comprising the following steps: S1: receiving a satellite positioning signal using a positioning antenna; S2: converting the satellite positioning signal into first position information; and S3: correcting the first position information using an inertial navigation algorithm based on parameters sensed by a sensor to obtain second position information.

[0005] According to the method of an embodiment of the present invention, step S3 further includes: based on the parameters sensed by the sensor and the vehicle driving data, using the inertial navigation algorithm, correcting the first position information to obtain the second position information, wherein the vehicle driving data includes one or more of the following: steering wheel angle, vehicle speed, vehicle yaw angle, vehicle acceleration, braking pressure, engine speed, vehicle body tilt angle, and vehicle height.

[0006] According to the method of the embodiment of the present invention, wherein the satellite positioning signal comprises a plurality of positioning signals from a plurality of satellites, step S1 further comprises: selectively receiving a positioning signal having an elevation angle higher than a first angle threshold among the plurality of positioning signals.

[0007] According to the method of the embodiment of the present invention, the selective reception includes: using a conjugate coil or a metal groove to physically isolate the positioning signal from the satellite below the first angle threshold.

[0008] According to the method of an embodiment of the present invention, the selective reception comprises: identifying positioning signals from satellites below a first angle threshold based on the received ephemeris information, and filtering out positioning signals from satellites below the first angle threshold.

[0009] According to the method of the embodiment of the present invention, the method further comprises: when the inertial navigation positioning accuracy is improved, reducing the value of the first angle threshold.

[0010] According to the method of the embodiment of the present invention, wherein the satellite positioning signal comprises a plurality of positioning signals from a plurality of satellites, step S1 further comprises: selectively receiving a positioning signal having a signal strength higher than a first signal strength threshold among the plurality of positioning signals.

[0011] According to the method of the embodiment of the present invention, the method further comprises: when the inertial navigation positioning accuracy is improved, reducing the value of the first signal strength threshold.

[0012] According to the method of the embodiment of the present invention, the positioning antenna includes a dual-frequency positioning antenna.

[0013] According to a second aspect of the present disclosure, a vehicle-mounted positioning system is provided, comprising a processor and a memory, wherein the memory stores instructions, and when the instructions are executed by the processor, the vehicle positioning method according to any of the aforementioned embodiments is implemented.

[0014] According to a third aspect of the present disclosure, a vehicle is provided, comprising the vehicle-mounted positioning system described according to any one of the aforementioned embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The above and other objects and advantages of the present disclosure will become more fully apparent from the following detailed description taken in conjunction with the accompanying drawings, wherein the same or similar elements are denoted by the same reference numerals.

[0016] Figure 1 A schematic flow chart of a vehicle positioning method 100 according to some embodiments is shown. DETAILED DESCRIPTION

[0017] The description of the following specific embodiments is merely exemplary in nature and is not intended to limit the disclosed technology or the application and use of the disclosed technology. In addition, it is not intended to be bound by any express or implied theory presented in the aforementioned technical field, background technology or the following specific embodiments.

[0018] In the following detailed description of the embodiments, many specific details are set forth in order to provide a more thorough understanding of the disclosed technology. However, it is apparent to one of ordinary skill in the art that the disclosed technology can be practiced without these specific details. In other instances, well-known features are not described in detail to avoid unnecessarily complicating the description.

[0019] Terms such as “comprise” and “include” indicate that in addition to the units and steps directly and explicitly stated in the specification, the technical solution of the present invention does not exclude the situation where it has other units and steps that are not directly or explicitly stated.

[0020] In this article, "connection" may include direct connection, indirect connection, communication connection, and electrical connection, unless otherwise specified.

[0021] Hereinafter, exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

[0022] Figure 1 A flow chart of a vehicle positioning method 100 according to some embodiments is shown. The method comprises the following steps: S1: receiving a satellite positioning signal using a positioning antenna; S2: converting the satellite positioning signal into first position information; and S3: correcting the first position information using an inertial navigation algorithm based on parameters sensed by a sensor to obtain second position information. Each step can be specifically performed, for example, as described below.

[0023] In step S1, a positioning antenna is used to receive a satellite positioning signal. For example, a vehicle-mounted antenna (eg, a global navigation satellite system GNSS antenna) can receive radio frequency signals from one or more satellites and transmit the radio frequency signals to a receiver via a wiring harness.

[0024] In step S2, the satellite positioning signal is converted into first position information. For example, a receiver can be used to convert a radio frequency signal from a satellite into presentable or usable position information, such as position information in the form of longitude and latitude.

[0025] In step S3, based on the parameters sensed by the sensor, the first position information is corrected using an inertial navigation algorithm to obtain the second position information. For example, based on the parameters sensed by various sensors deployed on the vehicle, these parameters may include various parameters sensed by devices such as angle sensors, laser radars, millimeter wave radars, and height sensors. The sensor (such as a six-axis sensor) monitors the steering wheel angle, speed, yaw angle, and other parameters of the vehicle in real time, and transmits these data to the inertial navigation system. The inertial navigation system uses this information, combined with the first position information obtained in the aforementioned step S2, to correct possible errors through some algorithms. For example, the inertial navigation system uses a Kalman filter or other filtering technology to integrate sensor data into the positioning algorithm to correct the accumulated errors in the satellite positioning information. In some examples, the inertial navigation algorithm is an algorithm that uses the data of an inertial measurement unit (IMU) to infer the position, attitude, and speed of a carrier (such as a vehicle), such as a Kalman filter algorithm, an extended Kalman filter algorithm, and the like. By combining sensor data and an inertial navigation algorithm, the positioning accuracy can be significantly improved, especially in the case of poor satellite signals, and a high positioning accuracy can be maintained.

[0026] In some embodiments, step S3 may further include: based on the parameters sensed by the sensor and the vehicle driving data, using the inertial navigation algorithm, correcting the first position information to obtain the second position information, wherein the vehicle driving data includes one or more of the following: steering wheel angle, vehicle speed, vehicle yaw angle, vehicle acceleration, braking pressure, engine speed, vehicle body tilt angle, and vehicle height. That is to say, the vehicle driving data can be further referenced in the process of position correction. Among them, based on the steering wheel angle, it can mean that the turning radius of the vehicle can be estimated by monitoring the steering wheel angle, thereby assisting in calculating the vehicle trajectory; based on the vehicle speed, it can mean that the vehicle's speed sensor provides the vehicle's instantaneous speed, which is conducive to calculating the vehicle displacement; the vehicle yaw angle reflects the vehicle's lateral steering situation, which helps to improve the positioning accuracy; the vehicle acceleration can be used to compensate the measurement results of the accelerometer to improve the accuracy of speed estimation; the brake pressure refers to monitoring the pressure change of the brake system, which can be used to determine whether the vehicle is in a deceleration state, and then adjust the speed estimation in the inertial navigation algorithm; the engine speed (RPM): can indirectly reflect the vehicle's speed change and provide auxiliary information for the inertial navigation system; the body tilt angle can reflect the vehicle's posture change on the slope, which helps to calculate the vehicle's vertical displacement; the vehicle height is determined by measuring the height of the vehicle chassis from the ground, which can be used to determine whether the vehicle passes through a bumpy road section or the bottom of a bridge, etc., to further improve the positioning accuracy.

[0027] In some examples, the correction process can include fusing the data of accelerometers, gyroscopes and other sensors through filters to eliminate their respective noise and deviations and improve the consistency and reliability of the data. In addition, the comprehensive use of vehicle driving data, such as speed, acceleration, steering wheel angle, etc., assists the inertial navigation algorithm in making more accurate position estimates. In addition, the results of the inertial navigation algorithm can also be periodically corrected in combination with data from GPS or other positioning systems to reduce cumulative errors.

[0028] Based on the above, inertial navigation algorithms can be used to improve positioning accuracy and continue to provide reliable positioning services when GPS signals are poor or missing. This comprehensive positioning method can significantly improve the robustness and reliability of the vehicle positioning system, and is suitable for a variety of application scenarios with high-precision positioning requirements, such as unmanned driving and lane-level navigation, and is also suitable for indoor scenarios where satellite signals are poor.

[0029] In some embodiments, the satellite positioning signal includes multiple positioning signals from multiple satellites, and step S1 further includes: selectively receiving positioning signals with elevation angles higher than a first angle threshold among the multiple positioning signals. Satellite positioning signals usually come from multiple satellites, which are distributed in different orbits to ensure that ground users can receive enough signals for positioning. However, not all satellite signals are equally suitable for high-precision positioning. Low-elevation satellite signals are susceptible to atmospheric delays and multipath effects due to their long signal paths, which leads to increased positioning errors. Therefore, in order to improve positioning accuracy, a method of selectively receiving high-elevation satellite signals can be used. Specifically, when receiving satellite signals, the system will screen out signals with elevation angles higher than a preset first angle threshold (for example, 10°, 15°), and signals below the first angle threshold will be eliminated when the positioning algorithm is calculated.

[0030] Among them, in some embodiments, selective reception includes: using a conjugate coil or a metal groove to physically isolate the positioning signal from the satellite below the first angle threshold. For example, by designing a specific conjugate coil, a field with a phase opposite to the low-elevation satellite signal can be created at the front end of the receiver, so that these signals cancel each other out at the receiving antenna. For another example, a metal groove of a specific shape is designed around the antenna to reflect or absorb signals from the low-elevation direction, thereby preventing these signals from entering the receiver. Through the physical isolation method, the present method can effectively reduce the impact of low-elevation satellite signals on positioning accuracy, and the physical isolation is not affected by other settings.

[0031] And wherein, in some embodiments, the selective reception includes: identifying positioning signals from satellites below a first angle threshold based on the received ephemeris information, and filtering out positioning signals from satellites below the first angle threshold. Using the ephemeris data stored in the satellite positioning receiver, the elevation angle of each satellite relative to the receiver can be calculated in real time. By setting an angle threshold, the system can identify satellite signals with elevation angles below the threshold and filter them at the algorithm level. The advantage of the algorithm identification method is that it does not require additional hardware support, can be implemented through software, and the angle threshold can be flexibly adjusted according to actual needs.

[0032] In some embodiments, method 100 further includes: when the inertial navigation positioning accuracy is improved, reducing the value of the first angle threshold. In practical applications, in order to further optimize the positioning accuracy, the system can also dynamically adjust the angle threshold according to the positioning accuracy of the inertial navigation system. If the accuracy of the inertial navigation system is high, it means that the error generated by itself is small. At this time, the elevation angle requirement of the satellite signal can be appropriately lowered, allowing more satellite signals to participate in the positioning calculation, thereby improving the availability and redundancy of the system. On the contrary, if the accuracy of the inertial navigation system is low, in order to reduce the impact of low-quality satellite signals on positioning, the elevation angle threshold can be selectively increased, and only high-elevation satellite signals are allowed to participate in the calculation, thereby improving the reliability of positioning.

[0033] By selectively receiving high-elevation satellite signals and combining the dynamic adjustment mechanism of the inertial navigation system, this embodiment can significantly improve the accuracy and stability of the vehicle-mounted positioning system. For example, it can reduce the multipath effect. Low-elevation satellite signals are easily reflected by buildings or other obstacles, resulting in multipath effects. Selectively receiving high-elevation signals can effectively reduce this phenomenon; it can improve positioning accuracy. High-elevation satellite signals have shorter paths and are less affected by the atmosphere, so they can provide more accurate location information; it can enhance system robustness. By dynamically adjusting the angle threshold, the system can optimize the selection of satellite signals according to actual conditions to ensure the best positioning effect in different environments.

[0034] In some embodiments, the satellite positioning signal includes multiple positioning signals from multiple satellites, and step S1 further includes: selectively receiving a positioning signal whose signal strength is higher than a first signal strength threshold among the multiple positioning signals. The positioning system usually receives signals transmitted by multiple satellites, and the quality of these signals varies. Signal strength is an important indicator for measuring signal quality. The higher the signal strength, the better the signal quality and the higher the positioning accuracy. Therefore, selecting a satellite signal with high signal strength in the receiving stage can significantly improve the accuracy of positioning. Specifically, for example, a signal strength threshold (first signal strength threshold) can be set, and only satellite signals with signal strength higher than this threshold will be received by the receiver and used for subsequent positioning calculations. This ensures that the received signal has a high quality and reduces the positioning error caused by weak signals. Among them, this can also, for example, involve signal quality evaluation, by performing quality evaluation on the received multiple satellite signals, selecting a signal with a higher signal strength for processing, such as measuring the signal-to-noise ratio of the received signal, and the higher the signal-to-noise ratio, the better the signal quality.

[0035] In some embodiments, method 100 further includes: when the inertial navigation positioning accuracy is improved, reducing the value of the first signal strength threshold. That is to say, when the inertial navigation positioning accuracy is improved, reducing the value of the first signal strength threshold, which means that when the positioning accuracy of the inertial navigation system is high, the signal strength requirements for the received satellite signals can be relaxed, allowing more signals to participate in the positioning calculation. Doing so can increase the number of available satellite signals while maintaining a high positioning accuracy, thereby improving the robustness and availability of the system. If the positioning accuracy of the inertial navigation system is low, in order to ensure the reliability of the positioning results, the signal strength threshold can be increased, and only the satellite signal with the best signal quality can be selected for positioning calculation, thereby reducing the positioning error caused by poor signal quality. By selectively receiving positioning signals with signal strengths higher than the first signal strength threshold, and combining the dynamic adjustment mechanism of the inertial navigation system, this embodiment can significantly improve the accuracy and stability of the vehicle-mounted positioning system.

[0036] In some embodiments, the positioning antenna includes a dual-frequency positioning antenna. The dual-frequency antenna can simultaneously receive satellite signals of two different frequencies, overcome the limitations of traditional single-frequency antennas in positioning accuracy, and improve the accuracy and reliability of positioning by utilizing the characteristics of different frequency signals.

[0037] According to another aspect of the present disclosure, a vehicle positioning system is provided, which includes a memory and a processor, wherein the memory stores instructions, and when the instructions are executed by the processor, the processor executes any one of the vehicle positioning methods described above. The computer-readable medium (and memory) referred to in the present disclosure includes various types of computer storage media, which can be any available medium that can be accessed by a general-purpose or special-purpose computer. For example, the computer-readable medium may include RAM, ROM, EPROM, EEPROM, etc. 2 PROM, register, hard disk, removable disk, CD-ROM or other optical disk storage, disk storage or other magnetic storage device, or can be used to carry or store the desired program code unit in the form of instruction or data structure and can be accessed by general or special computer, or general or special processor. As used herein, the disk usually copies data magnetically, while the dish uses laser to optically copy data. The above combination should also be included in the protection scope of computer-readable medium. Exemplary storage medium is coupled to the processor so that the processor can read and write information from / to the storage medium. In an alternative solution, the storage medium can be integrated into the processor. The processor and storage medium can reside in the ASIC. The ASIC can reside in the user terminal. In an alternative solution, the processor and storage medium can reside in the user terminal or the vehicle-mounted system (vehicle-mounted computer) as discrete components.

[0038] According to another aspect of the present disclosure, a vehicle is provided, which may include a vehicle-mounted positioning system according to any of the foregoing embodiments. Vehicles generally include motor vehicles, such as passenger cars including sports utility vehicles (SUVs), buses, trucks, various commercial vehicles, ships including various boats, ships, aircraft, etc., and include hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (e.g., fuels derived from non-petroleum energy sources). As mentioned herein, a hybrid vehicle is a vehicle having two or more power sources, such as both gasoline-powered and electric-powered vehicles.

[0039] The above are only specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Those skilled in the art can think of other feasible changes or substitutions based on the technical scope disclosed in the present disclosure, and such changes or substitutions are all included in the protection scope of the present disclosure. In the absence of conflict, the embodiments of the present disclosure and the features in the embodiments can also be combined with each other. The protection scope of the present disclosure shall be based on the records of the claims.

Claims

1. A vehicle positioning method, characterized in that: The vehicle positioning method comprises the following steps: S1: Receive satellite positioning signals using positioning antenna; S2: converting the satellite positioning signal into first position information; and S3: Based on the parameters sensed by the sensor, using an inertial navigation algorithm, correct the first position information to obtain second position information.

2. The vehicle positioning method according to claim 1, characterized in that: The step S3 further comprises: Based on the parameters sensed by the sensor and the vehicle driving data, the first position information is corrected using an inertial navigation algorithm to obtain the second position information, wherein the vehicle driving data includes one or more of the following: steering wheel angle, vehicle speed, vehicle yaw angle, vehicle acceleration, braking pressure, engine speed, vehicle body tilt angle, and vehicle height.

3. The vehicle positioning method according to claim 1 or 2, characterized in that: The satellite positioning signal includes multiple positioning signals from multiple satellites, and the step S1 further includes: Selectively receive positioning signals with elevation angles higher than a first angle threshold among the multiple positioning signals.

4. The vehicle positioning method according to claim 3, characterized in that: The selective reception includes: using a conjugate coil or a metal groove to physically isolate positioning signals from satellites below the first angle threshold.

5. The vehicle positioning method according to claim 3, characterized in that: The selective reception includes: identifying positioning signals from satellites below the first angle threshold based on the received ephemeris information, and filtering out the positioning signals from satellites below the first angle threshold.

6. The vehicle positioning method according to claim 3, characterized in that: The method further includes: when the inertial navigation positioning accuracy is improved, reducing the value of the first angle threshold.

7. The vehicle positioning method according to claim 1 or 2, characterized in that: The satellite positioning signal includes multiple positioning signals from multiple satellites, and the step S1 further includes: Selectively receive positioning signals with signal strength higher than a first signal strength threshold among the multiple positioning signals.

8. The vehicle positioning method according to claim 7, characterized in that: The method further includes: when the inertial navigation positioning accuracy is improved, reducing the value of the first signal strength threshold.

9. The vehicle positioning method according to claim 1, characterized in that: The positioning antenna includes a dual-frequency positioning antenna.

10. A vehicle-mounted positioning system, characterized in that: The vehicle positioning system comprises a processor and a memory, wherein the memory stores instructions, and when the instructions are executed by the processor, the vehicle positioning method according to any one of claims 1 to 9 is implemented.

11. A vehicle, characterized in that: The vehicle comprises the vehicle-mounted positioning system according to claim 10.

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