Inertial navigation system state determination method and device, equipment, medium and vehicle

Abstract

The invention relates to an inertial navigation system state determination method and device, equipment, a medium and a vehicle. The method comprises the following steps: acquiring first driving data which is corrected, calculated and determined by a navigation filter in an inertial navigation system, and acquiring second driving data which is not corrected, calculated and determined by the navigation filter; wherein the first driving data and the second driving data are data representing the same driving type; and if the first driving data and the second driving data do not meet the preset matching condition, determining that the state of the inertial navigation system is an abnormal state. According to the embodiment of the invention, the driving data determined by the navigation filter in the inertial navigation system is compared with the driving data not determined by the navigation filter, and the state of the inertial navigation system is determined to be abnormal under the condition that the two kinds of driving data are not matched. The state of the inertial navigation system can be fed back in time according to driving data.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular to a method, device, equipment, medium and vehicle for determining a state of an inertial navigation system. Background Art

[0002] With the development of intelligent vehicles, intelligent driving functions are becoming increasingly common, and in the process of realizing intelligent driving, high-precision positioning of vehicles is required; currently, the inertial navigation system (INS) is used in the high-precision positioning of vehicles; the software algorithm of the inertial navigation system is the inertial navigation system algorithm, in which the role of the navigation filter is particularly critical.

[0003] In the related technology, due to the accumulation of errors, the output results of the navigation filter diverge or errors, etc., the data output by the inertial navigation system will be inaccurate, that is, the state of the inertial navigation system is abnormal at this time. If the inertial navigation system is not handled, it will cause a series of problems in intelligent driving. Therefore, how to determine the state of the inertial navigation system in time has become an urgent problem to be solved. Summary of the invention

[0004] In order to solve the above technical problems, the present disclosure provides a method, device, equipment, medium and vehicle for determining the state of an inertial navigation system.

[0005] In a first aspect, the present disclosure provides a method for determining a state of an inertial navigation system, the method comprising:

[0006] Acquire first driving data that is corrected and calculated by a navigation filter in an inertial navigation system, and acquire second driving data that is not corrected and calculated by the navigation filter; wherein the first driving data and the second driving data are data representing the same driving type;

[0007] If the first driving data and the second driving data do not satisfy a preset matching condition, it is determined that the state of the inertial navigation system is an abnormal state.

[0008] In a second aspect, the present disclosure provides an inertial navigation system state determination device, the device comprising:

[0009] A first acquisition module is used to acquire first driving data that has been corrected and calculated by a navigation filter in an inertial navigation system, and to acquire second driving data that has not been corrected and calculated by the navigation filter; wherein the first driving data and the second driving data are data representing the same driving type;

[0010] The first determining module is configured to determine that the state of the inertial navigation system is an abnormal state if the first driving data and the second driving data do not satisfy a preset matching condition.

[0011] In a third aspect, an embodiment of the present disclosure further provides an electronic device, including:

[0012] processor;

[0013] A memory for storing executable instructions;

[0014] The processor is used to read executable instructions from the memory and execute the executable instructions to implement the inertial navigation system state determination method of the first aspect.

[0015] In a fourth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, wherein the storage medium stores a computer program. When the computer program is executed by a processor, the processor implements the inertial navigation system state determination method of the first aspect.

[0016] In a fifth aspect, an embodiment of the present disclosure further provides a vehicle, comprising at least one of the following: the above-mentioned inertial navigation system state determination device; the above-mentioned electronic device; and the above-mentioned computer-readable storage medium.

[0017] Compared with the prior art, the technical solution provided by the embodiment of the present disclosure has the following advantages: an inertial navigation system state determination method, device, equipment and storage medium of the embodiment of the present disclosure, the method includes: obtaining first driving data that has been corrected and calculated by a navigation filter in the inertial navigation system, and obtaining second driving data that has not been corrected and calculated by the navigation filter; wherein the first driving data and the second driving data are data representing the same driving type; if the first driving data and the second driving data do not meet the preset matching condition, the state of the inertial navigation system is determined to be an abnormal state. Using the above technical solution, the driving data determined by the navigation filter in the inertial navigation system is compared with the driving data that has not been determined by the navigation filter, and when the two driving data do not match, it is determined that the state of the inertial navigation system is abnormal. According to the mismatch of the two data representing the same driving type, it is determined that the inertial navigation system is in an abnormal state, and the state of the inertial navigation system can be fed back in time according to the driving data. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0020] Figure 1 A schematic diagram of a flow chart of a method for determining a state of an inertial navigation system provided in an embodiment of the present disclosure;

[0021] Figure 2 A schematic diagram of a method for determining whether a preset matching condition is met provided in an embodiment of the present disclosure;

[0022] Figure 3 A schematic diagram of another method for determining whether a preset matching condition is satisfied provided by an embodiment of the present disclosure;

[0023] Figure 4 A schematic diagram of another method for determining whether a preset matching condition is met provided in an embodiment of the present disclosure;

[0024] Figure 5 A flowchart of another method for determining the state of an inertial navigation system provided by an embodiment of the present disclosure;

[0025] Figure 6 A schematic diagram of the structure of an inertial navigation system state determination device provided in an embodiment of the present disclosure;

[0026] Figure 7 A schematic diagram of the hardware circuit structure of an inertial navigation system state determination device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0028] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0029] In order to solve the problems in the prior art, the embodiments of the present disclosure provide a method, apparatus, device, medium and vehicle for determining the state of an inertial navigation system.

[0030] Figure 1The present invention provides a flowchart of an inertial navigation system state determination method, which can be executed by an inertial navigation system state determination device, a vehicle, etc., wherein the inertial navigation system state determination device can be implemented by software and / or hardware, and can generally be integrated into an electronic device, and the inertial navigation system state determination device and / or the electronic device can be configured in a vehicle. Figure 1 As shown, the method includes:

[0031] Step 101, obtaining first driving data that has been corrected and calculated by a navigation filter in an inertial navigation system, and obtaining second driving data that has not been corrected and calculated by the navigation filter; wherein the first driving data and the second driving data are data representing the same driving type.

[0032] The present embodiment does not limit the target vehicle equipped with the inertial navigation system, for example, the energy supply type of the vehicle may be pure electric power or hybrid power, etc. The present embodiment does not limit the type of the vehicle, for example, the type of the vehicle may be a sports utility vehicle (SUV) or a sedan, etc.

[0033] The inertial navigation system may be a system for realizing vehicle positioning integrated in a positioning box (P-Box). The inertial navigation system may include at least one navigation subsystem. The navigation subsystem may include: one or more of a navigation satellite system (Global Navigation Satellite System, GNSS), an inertial measurement unit (Inertial Measurement Unit, IMU), and a wheel speed system. The navigation filter is also called a combined navigation filter. There are many types of navigation filters, which are not limited in this embodiment. For example, the navigation filter may be a Kalman filter. The navigation filter in the inertial navigation system can perform error correction on the data generated by each navigation subsystem, thereby obtaining the first driving data after correction calculation. The driving type may be understood as the driving characteristics of the vehicle, which includes: at least one of speed, attitude, and position. Among them, the attitude data may be data for recording the three-dimensional motion attitude of the vehicle, and there are many forms of expression of the attitude data, which are not limited in this embodiment. For example, the expression form of the attitude data may include: any one of a rotation matrix, Euler angles, and quaternions. The first driving data may include: one or more of first speed data, first position data, and first attitude data.

[0034] In this embodiment, the second driving data may be driving data generated by a target system in the target vehicle, and the target system may be a navigation subsystem in an inertial navigation system, and the navigation subsystem may include: a wheel speed system, a navigation satellite system, and an inertial measurement unit. The second driving data may be driving data generated by a navigation subsystem in the inertial navigation system, and not corrected and calculated by a navigation filter. The first driving data may be data obtained after error correction of the second driving data by a navigation filter in the inertial navigation system. For example, if the first driving data is the first position data, the target system may be a navigation satellite system in the inertial navigation system.

[0035] Alternatively, the target system may be other vehicle systems other than the inertial navigation system and the navigation subsystem. For example, if the first driving data is first speed data, the target system may be an anti-lock braking system (ABS) system, through which the vehicle speed can be measured.

[0036] In the disclosed embodiment, the inertial navigation system of the vehicle can locate the target vehicle in real time. During the positioning process, the first driving data determined after the error correction by the navigation filter in the inertial navigation system is obtained, and the second driving data representing the same driving type as the first driving data is obtained through the target system of the target vehicle. In the process of generating the second driving data by the target system, the navigation filter is not used for data processing. For example, the first driving data and the second driving data can both be data representing speed, or both are data representing posture, or both are data representing position. It should be noted that the first moment corresponding to the first driving data and the second moment corresponding to the second driving data can be the same moment, or the first moment and the second moment can be moments when the difference in time is less than a threshold value of the time difference, and the threshold value of the time difference can be set according to user needs, etc. That is, the first driving data and the second driving data represent the same driving characteristics of the target vehicle at the same or similar moments.

[0037] In an optional implementation, the target system is a navigation subsystem of an inertial navigation system. The inertial navigation system state determination device can obtain second driving data of the navigation subsystem and obtain first driving data determined after the inertial navigation system algorithm performs correction calculation on the second driving data.

[0038] Step 102: If the first driving data and the second driving data do not satisfy a preset matching condition, determining that the state of the inertial navigation system is an abnormal state.

[0039] Among them, the preset matching condition may be a condition pre-set to characterize that the vehicle driving condition corresponding to the first driving data and the vehicle driving condition corresponding to the second driving data are consistent. The preset matching condition may also be understood as a condition for determining the state of the inertial navigation system based on the first driving data and the second driving data. There may be multiple preset matching conditions, which may be set according to driving type, user needs, etc., and this embodiment does not impose any limitation.

[0040] In the embodiment of the present disclosure, after acquiring the first driving data and the second driving data, the inertial navigation system status determination device determines whether the first driving data and the second driving data meet the preset matching conditions. If so, it means that the driving condition of the vehicle represented by the first driving data and the driving condition of the vehicle represented by the second driving data match, and the state of the inertial navigation system is normal; otherwise, it means that the driving condition of the vehicle represented by the first driving data and the driving condition of the vehicle represented by the second driving data do not match, and the state of the inertial navigation system is abnormal.

[0041] In some embodiments of the present disclosure, in order to facilitate subsequent abnormal state analysis of the inertial navigation system, after determining that the state of the inertial navigation system is an abnormal state, the inertial navigation system state determination method also includes: acquiring vehicle state data, and generating abnormal record information including vehicle state data and driving type; wherein the vehicle state data includes: second speed data determined by a wheel speed system, third speed data determined by a navigation satellite system, and at least one of the number of satellite searches of the navigation satellite system.

[0042] Among them, the vehicle state data may include at least one of environmental data and driving data. The environmental data may be data that characterizes the environment in which the vehicle is located. The environmental data may include the number of satellite searches of the navigation satellite system. It can be understood that if the number of satellite searches is greater than the threshold value of the number of satellite searches, it means that the target vehicle is in an open area with a good navigation satellite signal. If the number of satellite searches is not greater than the threshold value of the number of satellite searches, it means that the target vehicle is in a closed area with a poor navigation satellite signal. The driving data may include the second speed data determined by the wheel speed system, and the second speed data may characterize the theoretical moving speed of the vehicle driven by its own wheels. The driving data may also include the third speed data determined by the navigation satellite system, and the third speed data may characterize the actual moving speed of the vehicle. If the speed difference between the third speed data and the second speed data is less than the first difference (which is a preset value), it means that the vehicle is currently moving by its own driving force. If the second speed data is 0 and the third speed data is not 0, it means that the vehicle may be parked on a mobile platform (such as a ship) and is relatively stationary with the mobile platform, and the mobile platform is currently moving. It can be seen that the environment and driving conditions of the target vehicle can be determined based on the environment data and driving data when the inertial navigation system is abnormal. The abnormal record information can be information used to record the vehicle condition when the inertial navigation system is abnormal.

[0043] In this embodiment, after determining that the inertial navigation system is in an abnormal state, the inertial navigation system state determination device collects vehicle state data of the target vehicle within the abnormal time period, and determines corresponding abnormal record information according to the vehicle state data and the driving type.

[0044] In the above scheme, the vehicle status and the specific abnormal dimension of the vehicle are recorded in the abnormal record information, thereby creating a basis for the subsequent determination of the cause of the abnormality.

[0045] Optionally, after determining that the state of the inertial navigation system is an abnormal state, the inertial navigation system state determination method further includes: resetting a navigation filter in the inertial navigation system algorithm, and performing parameter initialization processing on the reset navigation filter to restore the inertial navigation system to a normal state.

[0046] The method for determining the state of an inertial navigation system provided in an embodiment of the present disclosure includes: obtaining first driving data that has been corrected and calculated by a navigation filter in the inertial navigation system, and obtaining second driving data that has not been corrected and calculated by the navigation filter; wherein the first driving data and the second driving data are data that characterize the same driving type; if the first driving data and the second driving data do not meet a preset matching condition, then the state of the inertial navigation system is determined to be an abnormal state. In an embodiment of the present disclosure, the driving data determined by the navigation filter in the inertial navigation system is compared with the driving data that has not been determined by the navigation filter, and when the two types of driving data do not match, it is determined that the state of the inertial navigation system is abnormal. Based on the mismatch between the two types of data that characterize the same driving type, it is determined that the inertial navigation system is in an abnormal state, and the state of the inertial navigation system can be fed back in a timely manner based on the driving data.

[0047] In addition, in the related art, in order to determine the state of the inertial navigation system, the driving data determined by the inertial navigation system is matched with the high-precision map. This matching process is time-consuming. The inertial navigation system state determination method provided in the embodiment of the present disclosure avoids this time-consuming matching process and has a shorter time consumption.

[0048] In some embodiments of the present disclosure, if the driving types of the first driving data and the second driving data include speed, the first driving data includes first speed data, and the second driving data includes second speed data; optionally, the target system may include a wheel speed system;

[0049] Correspondingly, the first driving data and the second driving data do not meet the preset matching conditions, including: when the gear position identifier is a forward gear identifier, the speed difference between the first speed data and the second speed data is continuously greater than a first time length of a preset speed difference threshold value, if the first time length is greater than the speed difference time length threshold value, it is determined that the first speed data and the second speed data do not meet the preset matching conditions.

[0050] The first speed data may be speed data determined by correction calculation of a navigation filter in an inertial navigation system, and the second speed data may be speed data determined by a wheel speed system. In some embodiments, if there are four wheels, four candidate speed data may be obtained, and the maximum and minimum values ​​of the four candidate speed data may be deleted to obtain two intermediate speed data, and the average value of the two intermediate speed data may be used as the second speed data.

[0051] The gear position mark may be a mark indicating the gear position of the target vehicle, and the gear position mark may include a forward gear mark and a reverse gear mark, wherein the forward gear mark indicates that the gear position of the vehicle is a forward gear position, and the reverse gear mark indicates that the gear position of the vehicle is a reverse gear position.

[0052] The speed difference may be the absolute value of the difference between the first speed data and the second speed data. The preset speed difference threshold may be the maximum speed difference when the first speed data and the second speed data are consistent. The preset speed difference threshold may be understood as the maximum value of the speed difference when the state of the inertial navigation system is in a normal state. The preset speed difference threshold may be set according to user needs, etc., and is not limited in this embodiment. For example, the preset speed difference threshold may be 20 meters per second. The speed difference duration threshold may be the minimum value of the duration when the first speed data and the second speed data are inconsistent. The speed difference duration threshold may be understood as the minimum value of the time length during which the speed difference remains greater than the preset speed difference threshold when the state of the inertial navigation system is in an abnormal state. The speed difference duration threshold may be set according to user needs, etc., and is not limited in this embodiment. For example, the speed difference duration threshold may be 3 seconds.

[0053] In this embodiment, if the target vehicle is on a moving platform, in reverse, etc., there is a certain difference between the vehicle speed determined by the inertial navigation system algorithm and the actual speed of the target vehicle. When the gear position of the target vehicle is marked as a forward gear, it means that the target vehicle is moving forward by the driving force of its own wheels, and the vehicle is not on a moving platform, in reverse, etc. When the state of the inertial navigation system is normal, the difference between the first speed data determined by the inertial navigation system algorithm and the actual speed of the target vehicle is small.

[0054] The inertial navigation system state determination device can update the first speed data and the second speed data in real time when determining that the target vehicle is in the forward gear, and calculate the speed difference between the first speed data and the second speed data in real time, and compare the speed difference with a preset speed difference threshold. If the speed difference is greater than the preset speed difference threshold, then record the first time length that the speed difference continues to be greater than the preset speed difference threshold, and determine whether the first time length is greater than the speed difference time length threshold. If so, it means that the first speed data and the second speed data do not meet the preset matching condition; if the speed difference is not greater than the preset speed difference threshold, or the first time length is not greater than the speed difference time length threshold, it means that the current first speed data and the second speed data still meet the preset matching condition.

[0055] In the above scheme, the gear position indicator is used to determine that the driving state of the vehicle has little effect on the accuracy of the speed data determined by the inertial navigation system algorithm. Then, the second speed data determined by the wheel speed system is used as a reference value, and the first speed data determined by the inertial navigation system algorithm is compared with the reference value to determine whether the preset matching conditions are met.

[0056] In some embodiments of the present disclosure, the method for determining the state of the inertial navigation system further includes: obtaining first speed data that is continuously greater than a first speed threshold for a second time period, and if the speeding time period is greater than the speed time period threshold, determining that the state of the inertial navigation system is an abnormal state.

[0057] Among them, the first speed threshold can be a threshold that characterizes that the vehicle speed is abnormally high. The first speed threshold can be set according to user needs, etc., and this embodiment does not impose any restrictions. For example, the first speed threshold can be 70 meters per second. The speeding duration threshold can be the minimum duration when the vehicle speed is abnormally high. The speeding duration threshold can be set according to user needs, etc., and this embodiment does not impose any restrictions. For example, the speeding duration threshold can be 3 seconds.

[0058] In this embodiment, the inertial navigation system state determination device can obtain the first speed data of the target vehicle determined by the inertial navigation system algorithm in real time, compare the first speed data with the first speed threshold, and if the first speed data is greater than the first speed threshold, then record the speeding duration during which the first speed data is continuously greater than the first speed threshold, and determine whether the speeding duration is greater than the speed duration threshold. If so, it indicates that the state of the inertial navigation system is abnormal; if the first speed data is not greater than the first speed threshold, or the speeding duration is not greater than the speed duration threshold, it indicates that the state of the inertial navigation system is normal.

[0059] In the above solution, whether the inertial navigation system is in an abnormal state is determined by the first speed data itself, so that when the data is abnormal, it can be determined in time that the inertial navigation system is abnormal.

[0060] In some embodiments of the present disclosure, the driving type includes posture, the first driving data includes first posture data, the second driving data includes second posture data, and the second posture data is data determined based on a navigation satellite system;

[0061] Correspondingly, the first driving data and the second driving data do not meet the preset matching conditions, including: when the gear position identifier is the forward gear identifier, the real-time dynamic solution of the navigation satellite system is a fixed solution, and the current speed is greater than the second speed threshold, the heading angle difference between the first posture data and the second posture data is continuously greater than the second time period of the preset heading angle difference threshold. If the second time period is greater than the posture time period threshold, it is determined that the first posture data and the second posture data do not meet the preset matching conditions; wherein the second speed threshold is the minimum speed of the vehicle when the accuracy of the second posture data is greater than the accuracy threshold.

[0062] Among them, the first attitude data can be data of an attitude type determined by an inertial navigation system correction calculation, and the second attitude data can be data of an attitude type determined by a navigation satellite system. The current speed can be the speed of the vehicle when the second attitude data is determined. The real-time dynamic solution is the RTK solution, and the fixed solution can be an RTK solution that characterizes that the integer ambiguity has been resolved and the measurement has been initialized. It can be understood that if the real-time dynamic solution is a fixed solution, it means that the accuracy of the second attitude data is higher. The speed of the target vehicle can be the speed determined by the wheel speed system or the speed determined by the navigation satellite system.

[0063] The heading angle difference can be the absolute value of the difference between the heading angle of the first posture data and the heading angle of the second posture data. The preset heading angle difference threshold can be the maximum heading angle difference when the first posture data and the second posture data are consistent. The heading angle difference threshold can be understood as the maximum heading angle difference when the state of the inertial navigation system is in a normal state. The preset heading angle difference threshold can be set according to user needs, etc., and the present embodiment is not limited. For example, the preset heading angle difference threshold can be 20 degrees. The heading angle difference duration threshold can be the minimum value of the duration when the first posture data and the second posture data are inconsistent. The heading angle difference threshold can be understood as the minimum time length that the heading angle difference remains greater than the preset heading angle difference threshold when the state of the inertial navigation system is in an abnormal state. The heading angle difference duration threshold can be set according to user needs, etc., and the present embodiment is not limited. For example, the heading angle difference duration threshold can be 5 seconds.

[0064] At lower vehicle speeds, the accuracy of the second posture data determined by the navigation satellite system is lower. The second speed threshold may be the minimum speed at which the accuracy of the second posture data is not affected by the vehicle speed or is less affected by the vehicle speed. The second speed threshold may be set based on user experience, etc., and is not limited in this embodiment.

[0065] In this embodiment, if the target vehicle is on a moving platform, in reverse, etc., there is a certain difference between the vehicle posture determined by the inertial navigation system algorithm and the actual vehicle posture of the target vehicle. When the gear position of the target vehicle is marked as a forward gear, the target vehicle moves forward by the driving force of its own wheels, and the vehicle is not on a moving platform, in reverse, etc. In this case, if the state of the inertial navigation system is normal, the difference between the first speed data determined by the inertial navigation system algorithm and the actual speed of the target vehicle is small.

[0066] The inertial navigation system state determination device obtains the real-time dynamic solution of the navigation satellite system and the speed of the target vehicle. If the real-time dynamic solution is a fixed solution, it means that the accuracy of the data determined based on the navigation satellite system is high. If the current speed of the target vehicle is greater than the second speed threshold, it means that the speed of the vehicle has little effect on the attitude data determined based on the navigation satellite system. When the real-time dynamic solution is a fixed solution and the current speed of the target vehicle is greater than the second speed threshold, the accuracy of the second attitude threshold determined by the navigation satellite system is high. The inertial navigation system state determination device updates the first posture data and the second posture data in real time, and calculates the heading angle difference between the first posture data and the second posture data in real time, compares the heading angle difference with a preset heading angle difference threshold, and if the heading angle difference is greater than the preset heading angle difference threshold, records the second time duration that the heading angle difference continues to be greater than the preset heading angle difference threshold, and determines whether the second time duration is greater than the heading angle difference time duration threshold. If so, it means that the first heading angle data and the second heading angle data do not meet the preset matching condition; if the heading angle difference is not greater than the preset heading angle difference threshold, or the second time duration is not greater than the speed difference time duration threshold, it means that the current first heading angle data and the second heading angle data still meet the preset matching condition.

[0067] In the above scheme, the gear position indicator is the forward gear indicator, which determines that the driving state of the vehicle has little effect on the posture data determined by the inertial navigation system algorithm. In addition, the real-time dynamic solution of the navigation satellite system is a fixed solution, and the speed of the target vehicle is greater than the second speed threshold, which determines that the second posture data corresponding to the navigation satellite system is highly accurate. Then, the second posture data determined by the navigation satellite system is used as a reference value, and the first posture data determined by the inertial navigation system algorithm is compared with the reference value to determine whether the preset matching condition is met.

[0068] In some embodiments of the present disclosure, the driving type includes a location, the first driving data includes first location data, the second driving data includes second location data, and the second location data is data determined based on a navigation satellite system.

[0069] Correspondingly, the first driving data and the second driving data do not meet the preset matching conditions, including: when the real-time dynamic solution of the navigation satellite system is a fixed solution, the position difference between the first position data and the second position data is continuously greater than the third time length of the preset position difference threshold; if the third time length is greater than the position time length threshold, it is determined that the first position data and the second position data do not meet the preset matching conditions.

[0070] The first position data may be data of a position type determined by correction by a navigation filter in an inertial navigation system, and the second position data may be data of a position type determined by a navigation satellite system and not processed by a navigation filter.

[0071] The position difference may be the distance between the first position data and the second position data. The preset position difference threshold may be the maximum position difference when the first position data and the second position data are consistent. The position difference threshold may be understood as the maximum position difference when the state of the inertial navigation system is in a normal state. The preset position difference threshold may be set according to user needs, etc., and is not limited in this embodiment. For example, the preset position difference threshold may be 1000 meters. The position duration threshold may be the minimum value of the duration when the first position data and the second position data are inconsistent. The position duration threshold may be understood as the minimum value of the time length during which the position difference remains greater than the preset position difference threshold when the state of the inertial navigation system is in an abnormal state. The position difference duration threshold may be set according to user needs, etc., and is not limited in this embodiment. For example, the position difference duration threshold may be 5 seconds.

[0072] In this embodiment, the inertial navigation system state determination device can update the first position data and the second position data in real time when determining that the real-time dynamic solution is a fixed solution, and calculate the position difference between the first position data and the second position data in real time, and compare the position difference with the preset position difference threshold. If the position difference is greater than the preset position difference threshold, then the third time duration that the position difference continues to be greater than the preset position difference threshold is recorded, and it is determined whether the third time duration is greater than the position duration threshold. If so, it means that the first position data and the second position data do not meet the preset matching condition; if the position difference is not greater than the preset position difference threshold, or the first time duration is not greater than the position difference duration threshold, it means that the current first position data and the second position data still meet the preset matching condition.

[0073] In the above scheme, the real-time dynamic solution is used as a fixed solution to determine that the second position data confirmed by the navigation satellite system has a higher accuracy. Then, using the second position data as a reference value, the first position data determined by the inertial navigation system algorithm is compared with the reference value to determine whether the preset matching conditions are met.

[0074] Next, the method for determining the state of the inertial navigation system in the embodiment of the present disclosure is explained through a specific example. In this example, if the first driving data and the second driving data do not meet the preset matching conditions, it means that the navigation filter in the inertial navigation system algorithm may diverge, and the corresponding divergence flag is determined according to the driving type corresponding to the first driving data. Among them, if the divergence flag is 1, 3, and 4, the corresponding driving types are speed, posture, and position, respectively, indicating that the preset matching conditions are not met. If the divergence flag is 2, it means that the state of the inertial navigation system can be determined to be an abnormal state based on the first speed data itself.

[0075] Figure 2A schematic diagram of a method for determining whether a preset matching condition is met is provided in an embodiment of the present disclosure, such as Figure 2 As shown, the method includes:

[0076] Step 201: Acquire first velocity data of an inertial navigation system.

[0077] Step 202, determine whether the gear position mark is a forward gear mark and the first time length is greater than 3 seconds. If so, execute step 204, otherwise, execute step 201.

[0078] Specifically, first speed data and second speed data determined by the wheel speed system are obtained, a speed difference between the first speed data and the second speed data is calculated, and a time duration during which the speed difference is continuously greater than a preset speed difference threshold is determined as a first time duration.

[0079] Step 203, determine whether the gear position mark is a forward gear mark and the overspeed duration is greater than 3 seconds. If so, execute step 205, otherwise, execute step 201.

[0080] The speeding duration is the duration that the first speed data is continuously greater than the first speed threshold.

[0081] Step 204: the divergence flag is set to 1.

[0082] Step 205, the divergence flag position is 2.

[0083] Figure 3 A schematic diagram of another method for determining whether a preset matching condition is met provided in an embodiment of the present disclosure, such as Figure 3 As shown, the method includes:

[0084] Step 301: Acquire first attitude data of an inertial navigation system.

[0085] Step 302, determine whether the navigation satellite system attitude determination condition is met and the second time length is greater than 3 seconds. If so, execute step 303, otherwise, execute step 301.

[0086] Specifically, the navigation satellite system attitude determination conditions include: the gear position mark of the target vehicle is a forward gear mark, the real-time dynamic solution of the navigation satellite system is a fixed solution, and the speed of the target vehicle is greater than a second speed threshold. The second duration is the duration for which the heading angle difference between the first attitude data and the second attitude data is continuously greater than a preset heading angle difference threshold.

[0087] Step 303, the divergence flag position is 3

[0088] Figure 4 A schematic diagram of another method for determining whether a preset matching condition is met is provided in an embodiment of the present disclosure, such as Figure 3 As shown, the method includes:

[0089] Step 401: Acquire first position data of an inertial navigation system.

[0090] Step 402, determine whether the real-time dynamic solution is a fixed solution and the third time length is greater than 5 seconds. If so, execute step 403, otherwise, execute step 401.

[0091] Specifically, the third duration is the duration during which the position difference between the first position data and the second position data is continuously greater than a preset position difference threshold.

[0092] Step 403, the divergence flag position is 4.

[0093] It should be noted that, if the divergence flag is set to any value between 1 and 4, the state of the inertial navigation system is determined to be an abnormal state, that is, it is considered that the filter in the inertial navigation system algorithm diverges.

[0094] Figure 5 A flow chart of another method for determining the state of an inertial navigation system provided in an embodiment of the present disclosure is shown in FIG. Figure 5 As shown, the inertial navigation system state determination method includes:

[0095] Step 501, the P-Box is powered on.

[0096] Step 502, determine whether the inertial navigation system initialization is completed. If yes, execute step 503, otherwise, continue to execute step 502.

[0097] Step 503: Perform inertial navigation system filter divergence detection.

[0098] Step 504, determine whether the inertial navigation system filter is divergent. If yes, execute step 505, otherwise, execute step 503.

[0099] Step 505, determine the divergence flag.

[0100] Step 506, determine whether the inertial navigation system reset is completed. If so, execute step 507, otherwise, continue to execute step 506.

[0101] Step 507: The divergence flag is reset.

[0102] The above-mentioned resetting process of the inertial navigation system may include: resetting the inertial navigation system, and initializing the inertial navigation system when an initialization condition is met.

[0103] In the above scheme, it is possible to automatically determine whether the inertial navigation system is in an abnormal state, thereby creating a basis for subsequent correction of the inertial navigation system algorithm and creating a basis for the normal operation of the navigation function and the automatic driving function.

[0104] Figure 6 A schematic structural diagram of an inertial navigation system state determination device provided by an embodiment of the present disclosure is shown.

[0105] In some embodiments of the present disclosure, Figure 6 The inertial navigation system state determination device shown can be executed by an electronic device or a server. The electronic device may include but is not limited to mobile terminals such as smart phones, laptops, personal digital assistants (PDAs), tablet computers (PADs), portable multimedia players (PMPs), vehicle terminals (such as vehicle navigation terminals), wearable devices, etc., and fixed terminals such as digital TVs, desktop computers, smart home devices, etc. The server can be a server cluster or a cloud server.

[0106] like Figure 6 As shown, the inertial navigation system state determination device 600 may include: a first acquisition module 601 and a first determination module 602.

[0107] A first acquisition module 601 is used to acquire first driving data that has been corrected and calculated by a navigation filter in an inertial navigation system, and to acquire second driving data that has not been corrected and calculated by the navigation filter; wherein the first driving data and the second driving data are data representing the same driving type;

[0108] The first determining module 602 is configured to determine that the state of the inertial navigation system is an abnormal state if the first driving data and the second driving data do not satisfy a preset matching condition.

[0109] Optionally, the driving type includes at least one of speed, posture, and position.

[0110] Optionally, if the driving type includes speed, the first driving data includes first speed data, and the second driving data includes second speed data;

[0111] Correspondingly, the first driving data and the second driving data do not meet the preset matching conditions, including: when the gear position identifier is a forward gear identifier, obtaining a first time duration during which the speed difference between the first speed data and the second speed data is continuously greater than a preset speed difference threshold; if the first time duration is greater than the speed difference time duration threshold, determining that the first speed data and the second speed data do not meet the preset matching conditions.

[0112] Optionally, the device further comprises:

[0113] The second determination module is used to obtain the speeding duration when the first speed data is continuously greater than a first speed threshold, and if the speeding duration is greater than the speed duration threshold, determine that the state of the inertial navigation system is the abnormal state.

[0114] Optionally, the driving type includes posture, the first driving data includes first posture data, the second driving data includes second posture data, and the second posture data is data determined based on a navigation satellite system;

[0115] Correspondingly, the first driving data and the second driving data do not meet the preset matching condition, including: when the gear position identifier is a forward gear identifier, the real-time dynamic solution of the navigation satellite system is a fixed solution, and the current speed is greater than a second speed threshold, obtaining a second time period for which the heading angle difference between the first posture data and the second posture data is continuously greater than a preset heading angle difference threshold, if the second time period is greater than the posture time period threshold, determining that the first posture data and the second posture data do not meet the preset matching condition; wherein the second speed threshold is the minimum speed of the vehicle when the accuracy of the second posture data is greater than the accuracy threshold.

[0116] Optionally, the driving type includes a location, the first driving data includes first location data, the second driving data includes second location data, and the second location data is data determined based on a navigation satellite system;

[0117] Correspondingly, the first driving data and the second driving data do not meet the preset matching conditions, including: when the real-time dynamic solution of the navigation satellite system is a fixed solution, obtaining a third time duration for which the position difference between the first position data and the second position data is continuously greater than a preset position difference threshold; if the third time duration is greater than the position time duration threshold, determining that the first position data and the second position data do not meet the preset matching conditions.

[0118] Optionally, the device further comprises:

[0119] The second acquisition module is used to acquire vehicle status data and generate abnormal record information including the vehicle status data and the driving type; wherein the vehicle status data includes: at least one of: second speed data determined by a wheel speed system, third speed data determined by a navigation satellite system, and the number of satellite searches of the navigation satellite system.

[0120] The inertial navigation system state determination device provided in the embodiments of the present disclosure can execute the inertial navigation system state determination method provided in any embodiment of the present disclosure, and has the corresponding functional modules and beneficial effects of the execution method.

[0121] Figure 7A schematic diagram of the hardware circuit structure of an inertial navigation system state determination device provided by an embodiment of the present disclosure is shown.

[0122] like Figure 7 As shown, the inertial navigation system state determination device 700 may include a controller 701 and a memory 702 storing computer program instructions.

[0123] Specifically, the controller 701 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0124] The memory 702 may include a large capacity memory for information or instructions. By way of example and not limitation, the memory 702 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory 702 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 702 may be inside or outside the integrated gateway device. In a specific embodiment, the memory 702 is a non-volatile solid-state memory. In a specific embodiment, the memory 702 includes a read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (Electrically Erasable Programmable ROM, EEPROM), an electrically rewritable ROM (EAROM) or a flash memory, or a combination of two or more of these.

[0125] The controller 701 reads and executes the computer program instructions stored in the memory 702 to perform the steps of the method for determining the state of the inertial navigation system provided in the embodiment of the present disclosure.

[0126] In one example, the inertial navigation system state determination device 700 may further include a transceiver 703 and a bus 704. Figure 7 As shown, the controller 701, the memory 702 and the transceiver 703 are connected via a bus 704 and communicate with each other.

[0127] The bus 704 includes hardware, software, or both. For example, but not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses or a combination of two or more of these. Where appropriate, the bus 704 may include one or more buses. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.

[0128] The following is an embodiment of a computer-readable storage medium provided in an embodiment of the present disclosure. The computer-readable storage medium and the inertial navigation system state determination method of the above-mentioned embodiments belong to the same inventive concept. For details not described in detail in the embodiment of the computer-readable storage medium, reference can be made to the embodiment of the lane keeping method mentioned above.

[0129] This embodiment provides a storage medium including computer executable instructions, which are used to perform a method for determining the state of an inertial navigation system when executed by a computer processor.

[0130] Of course, the computer executable instructions of a storage medium containing computer executable instructions provided in an embodiment of the present disclosure are not limited to the above method operations, and can also execute related operations in the inertial navigation system state determination method provided in any embodiment of the present disclosure.

[0131] Through the above description of the implementation methods, the technical personnel in the relevant field can clearly understand that the present disclosure can be implemented by means of software and necessary general hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, a read-only memory (ROM), a random access memory (RAM), a flash memory (FLASH), a hard disk or an optical disk, etc., including a number of instructions for a computer cloud platform (which can be a personal computer, a server, or a network cloud platform, etc.) to execute the inertial navigation system state determination method provided by each embodiment of the present disclosure.

[0132] The disclosed embodiment also provides a vehicle, comprising at least one of the following: the above-mentioned inertial navigation system state determination device; the above-mentioned electronic device; and the above-mentioned computer-readable storage medium.

[0133] Note that the above are only preferred embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure is described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A method for determining the state of an inertial navigation system, characterized in that: include: Acquire first driving data that is corrected and calculated by a navigation filter in an inertial navigation system, and acquire second driving data that is not corrected and calculated by the navigation filter; wherein the first driving data and the second driving data are data representing the same driving type; If the first driving data and the second driving data do not satisfy a preset matching condition, it is determined that the state of the inertial navigation system is an abnormal state.

2. The method according to claim 1, characterized in that The driving type includes at least one of speed, posture, and position.

3. The method according to claim 2, characterized in that If the driving type includes speed, the first driving data includes first speed data, and the second driving data includes second speed data; Correspondingly, the first driving data and the second driving data do not meet the preset matching condition, including: When the gear position identifier is a forward gear identifier, a first time duration during which the speed difference between the first speed data and the second speed data is continuously greater than a preset speed difference threshold is obtained. If the first time duration is greater than the speed difference time duration threshold, it is determined that the first speed data and the second speed data do not meet the preset matching condition.

4. The method according to claim 3, characterized in that The method further comprises: The speeding duration during which the first speed data is continuously greater than a first speed threshold is obtained, and if the speeding duration is greater than the speed duration threshold, it is determined that the state of the inertial navigation system is the abnormal state.

5. The method according to claim 2, characterized in that: The driving type includes posture, the first driving data includes first posture data, the second driving data includes second posture data, and the second posture data is data determined based on a navigation satellite system; Correspondingly, the first driving data and the second driving data do not meet the preset matching condition, including: When the gear position identifier is a forward gear identifier, the real-time dynamic solution of the navigation satellite system is a fixed solution, and the current speed is greater than a second speed threshold, a second time duration during which the heading angle difference between the first posture data and the second posture data is continuously greater than a preset heading angle difference threshold is obtained; if the second time duration is greater than the posture time duration threshold, it is determined that the first posture data and the second posture data do not meet the preset matching condition; wherein the second speed threshold is the minimum speed of the vehicle when the accuracy of the second posture data is greater than the accuracy threshold.

6. The method according to claim 2, characterized in that The driving type includes a position, the first driving data includes first position data, the second driving data includes second position data, and the second position data is data determined based on a navigation satellite system; Correspondingly, the first driving data and the second driving data do not meet the preset matching condition, including: When the real-time dynamic solution of the navigation satellite system is a fixed solution, the position difference between the first position data and the second position data is obtained to be continuously greater than a preset position difference threshold for a third time period, and if the third time period is greater than the position time period threshold, it is determined that the first position data and the second position data do not meet the preset matching condition.

7. The method according to claim 1, characterized in that After determining that the state of the inertial navigation system is an abnormal state, the method further includes: Acquire vehicle status data and generate abnormal record information including the vehicle status data and the driving type; wherein the vehicle status data includes: at least one of: second speed data determined by a wheel speed system, third speed data determined by a navigation satellite system, and the number of satellite searches of the navigation satellite system.

8. An inertial navigation system state determination device, characterized in that: include: A first acquisition module is used to acquire first driving data that has been corrected and calculated by a navigation filter in an inertial navigation system, and to acquire second driving data that has not been corrected and calculated by the navigation filter; wherein the first driving data and the second driving data are data representing the same driving type; The first determining module is configured to determine that the state of the inertial navigation system is an abnormal state if the first driving data and the second driving data do not satisfy a preset matching condition.

9. An electronic device, characterized in that: The electronic device comprises: Processor and memory; The processor is used to execute the steps of the method according to any one of claims 1 to 7 by calling the program or instruction stored in the memory.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program or instruction, and the program or instruction enables a computer to execute the steps of the method according to any one of claims 1 to 7.

11. A vehicle, characterized in that: Include at least one of the following: The inertial navigation system state determination device as described in claim 8 above; The electronic device as claimed in claim 9; The computer readable storage medium of claim 10.

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