Auxiliary positioning method, device and equipment for vehicle and medium

Abstract

The invention relates to the technical field of positioning, in particular to an auxiliary positioning method, device and equipment for a vehicle and a medium. Calculating the observation position of the to-be-positioned vehicle at the current moment according to the relative state information between the to-be-positioned vehicle and each preset reference object at the current moment and the position of the to-be-positioned vehicle at the previous moment, and calculating the observation position of the to-be-positioned vehicle at the current moment according to the predicted initial positions of the to-be-positioned vehicle at the current moment and the previous moment; and according to the position of the to-be-positioned vehicle at the previous moment and the observation position of the to-be-positioned vehicle at the current moment, calculating the target position of the to-be-positioned vehicle at the current moment. According to the method and the device, the observation value of the to-be-positioned vehicle in each epoch is obtained based on the reference object in the urban complex environment, the state of the to-be-positioned vehicle is updated according to the predicted value and the observation value of the to-be-positioned vehicle in each epoch obtained by the lost satellite, and the final target position is obtained, so that the problem that the positioning accuracy is high in the complex environment and low in signal-to-noise ratio is solved. Therefore, the calculation precision is improved.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, and in particular to a vehicle auxiliary positioning method, device, equipment and medium. Background Art

[0002] Autonomous driving technology has developed rapidly and has been substantially applied in specific scenarios in recent years. After major manufacturers have successively realized high-speed pilot driving functions, they have begun to tackle more complex urban pilot driving. Compared with open highway scenes, in complex urban environments, when driving in urban canyons, under overpasses, and next to trees on the road, the satellite signals are severely affected by occlusion and multipath, and the dynamic differential positioning ambiguity floating-point solution is difficult to converge in time, and the final accuracy decreases, resulting in inaccurate vehicle positioning. In addition, the existing network cross-domain resource sharing differential stations can easily cause the baseline between the mobile station and the base station to be too long in a driving environment, and the consistency of the satellite signal ionospheric effect decreases, resulting in the failure of differential information. Therefore, in complex urban environments, how to improve positioning accuracy has become an urgent problem to be solved. Summary of the invention

[0003] Based on this, it is necessary to provide a vehicle auxiliary positioning method, device, equipment and medium to address the above technical problems, so as to solve the problem of low positioning accuracy in complex urban environments.

[0004] A first aspect of an embodiment of the present application provides an auxiliary positioning method for a vehicle, the auxiliary positioning method comprising:

[0005] Acquire relative state information between the vehicle to be positioned at the current moment and each of a plurality of reference objects, as well as the position of the vehicle to be positioned at the previous moment, wherein the plurality of reference objects include at least four reference objects, and the relative state information includes relative displacement and relative speed;

[0006] Calculating the observed position of the vehicle to be located at the current moment according to the relative state information and the position of the vehicle to be located at the previous moment;

[0007] The predicted initial position of the vehicle to be located at the current moment and the predicted initial position of the vehicle to be located at the previous moment are obtained, and the target position of the vehicle to be located at the current moment is calculated according to the predicted initial position of the vehicle to be located at the current moment, the predicted initial position of the vehicle to be located at the previous moment, the position of the vehicle to be located at the previous moment and the observed position of the vehicle to be located at the current moment.

[0008] A second aspect of an embodiment of the present application provides an auxiliary positioning device for a vehicle, the auxiliary positioning device for the vehicle comprising:

[0009] an acquisition module, used to acquire relative state information between the vehicle to be positioned at a current moment and each of a plurality of reference objects, and the position of the vehicle to be positioned at a previous moment, wherein the plurality of reference objects include at least four reference objects, and the relative state information includes relative displacement and relative speed;

[0010] A first calculation module, used for calculating the observed position of the vehicle to be located at a current moment according to the relative state information and the position of the vehicle to be located at a previous moment;

[0011] The second calculation module is used to obtain the predicted initial position of the vehicle to be located at the current moment and the predicted initial position of the vehicle to be located at the previous moment, and calculate the target position of the vehicle to be located at the current moment based on the predicted initial position of the vehicle to be located at the current moment, the predicted initial position of the vehicle to be located at the previous moment, the position of the vehicle to be located at the previous moment and the observed position of the vehicle to be located at the current moment.

[0012] A third aspect of an embodiment of the present application provides a computer device, characterized in that the computer device includes a processor, a memory, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the auxiliary positioning method as described in the first aspect is implemented.

[0013] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the auxiliary positioning method as described in the first aspect is implemented.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] The relative state information between the vehicle to be located at the current moment and each of the multiple reference objects, as well as the position of the vehicle to be located at the previous moment, is obtained. The multiple reference objects include at least four reference objects. The relative state information includes relative displacement and relative speed. According to the relative state information and the position of the vehicle to be located at the previous moment, the observed position of the vehicle to be located at the current moment is calculated. The predicted initial position of the vehicle to be located at the current moment and the predicted initial position of the vehicle to be located at the previous moment are obtained. According to the predicted initial position of the vehicle to be located at the current moment, the predicted initial position of the vehicle to be located at the previous moment, the position of the vehicle to be located at the previous moment and the observed position of the vehicle to be located at the current moment, the target position of the vehicle to be located at the current moment is calculated. In the present application, in a complex urban environment, based on the reference object, the observation value of the vehicle to be located at each epoch is obtained. According to the predicted value and the observed value of the vehicle to be located at each epoch obtained by the lost satellite, the state of the vehicle to be located is updated to obtain the final target position, which reduces the influence of the error on the vehicle to be located in a complex environment with a low signal-to-noise ratio and improves the calculation accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0017] Figure 1 This is a schematic diagram of an application environment of a vehicle auxiliary positioning method provided by Embodiment 1 of the present invention;

[0018] Figure 2 It is a flow chart of a vehicle auxiliary positioning method provided by Embodiment 2 of the present invention;

[0019] Figure 3 It is a flow chart of a vehicle auxiliary positioning method provided by Embodiment 3 of the present invention;

[0020] Figure 4 1 is a flow chart of a vehicle auxiliary positioning method provided by Embodiment 4 of the present invention;

[0021] Figure 5 It is a flowchart of a vehicle auxiliary positioning method provided by Embodiment 5 of the present invention;

[0022] Figure 6 It is a flowchart of a vehicle auxiliary positioning method provided by Embodiment 6 of the present invention;

[0023] Figure 7is a structural block diagram of an auxiliary positioning device for a vehicle provided in Embodiment 7 of the present invention;

[0024] Figure 8 It is a structural diagram of a computer device provided in Embodiment 8 of the present invention. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0027] It should also be understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0028] As used in the present specification and the appended claims, the term "if" may be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" may be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]", depending on the context.

[0029] In addition, in the description of the present specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0030] References to "one embodiment" or "some embodiments" etc. described in the present specification mean that one or more embodiments of the present invention include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0031] It should be understood that the order of execution of the steps in the following embodiments does not imply a precedence of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0032] In order to illustrate the technical solution of the present invention, specific embodiments are provided below for illustration.

[0033] See also Figure 1 , is a schematic diagram of an application environment of a vehicle auxiliary positioning method provided by the first embodiment of the present invention. The vehicle auxiliary positioning method provided by the first embodiment of the present invention can be applied in Figure 1 In the application environment, the vehicle to be positioned corresponds to 4 reference objects, namely reference object 1, reference object 2, reference object 3, and reference object 4. The signals received by the vehicle to be positioned include satellite signals sent by 3 satellites and a base station signal. Among them, the satellite signal sent by one satellite is blocked, and the blocked satellite signal is sent to the vehicle to be positioned through the refracted satellite signal.

[0034] See also Figure 2 , is a flow chart of a vehicle auxiliary positioning method provided by Embodiment 2 of the present invention, such as Figure 1 As shown, the auxiliary positioning method may include the following steps.

[0035] S201: Obtaining relative state information between the vehicle to be located at the current moment and each of a plurality of reference objects, as well as the position of the vehicle to be located at the previous moment, the plurality of reference objects including at least four reference objects, and the relative state information including relative displacement and relative speed.

[0036] In step S201, the relative state information between the vehicle to be located at the current moment and each of the multiple reference objects, as well as the position of the vehicle to be located at the previous moment is obtained, wherein the multiple reference objects include at least four reference objects, and the position of the vehicle to be located at the previous moment is the precise position obtained by calculation. If the previous moment is the previous moment before entering an obstructed environment, then the corresponding position of the vehicle to be located is calculated based on the positioning system or auxiliary positioning. If the previous moment is in an obstructed environment, then the position of the vehicle to be located at the previous moment is the position calculated based on the auxiliary positioning.

[0037] In this embodiment, after the vehicle to be positioned enters an obstructed environment, the satellite signal will be blocked during the process of reaching the vehicle, and the positioning accuracy of the vehicle's positioning system will be reduced. Therefore, after the vehicle to be positioned enters an obstructed environment, an auxiliary observation data manager is used to read the relative state information between the vehicle and each preset reference object, that is, the corresponding relative displacement and relative speed. Among them, the auxiliary observation data manager can be a positioning device such as a vehicle-mounted radar, and each preset reference object is a reference object around the vehicle to be positioned. The preset reference object can be a dynamic object, such as other vehicles in the same group, and the preset reference object can also be a static object, such as trees or houses on both sides of the road.

[0038] The relative state information between the vehicle to be located at the current moment and each preset reference object, as well as the position of the vehicle to be located at the previous moment, is obtained, so as to iteratively calculate the position of the vehicle to be located at the current moment according to the position of the vehicle to be located at the previous moment and the relative state information between the vehicle to be located at the current moment and each preset reference object.

[0039] It should be noted that each preset reference object is a reference object with high credibility, and the relative state information between the vehicle to be positioned and the corresponding reference object can be obtained in adjacent epochs.

[0040] See also Figure 3 , is a flow chart of a vehicle auxiliary positioning method provided by Embodiment 3 of the present invention, such as Figure 3 As shown, the step of obtaining the relative state information between the vehicle to be positioned at the current moment and each of the multiple reference objects, as well as the position of the vehicle to be positioned at the previous moment also includes:

[0041] S301: Obtain the satellite observation accuracy at the current moment and determine whether the satellite observation accuracy meets the requirements;

[0042] S302: If the satellite observation accuracy does not meet the requirement, the step of acquiring the relative state information between the vehicle to be located at the current moment and each preset reference object, and the position of the vehicle to be located at the previous moment is executed;

[0043] S303: If the satellite observation accuracy meets the requirement, the global positioning system is used to locate the vehicle to be located.

[0044] In this embodiment, when positioning the vehicle, if the satellite signal received by the vehicle to be positioned is not blocked and the satellite observation accuracy is high, the vehicle can be positioned according to the vehicle positioning system. If the satellite signal received by the vehicle to be positioned is blocked and the satellite observation accuracy is low, the vehicle is auxiliary positioned. Therefore, before obtaining the relative state information between the vehicle to be positioned and each preset reference object at the current moment, it is judged whether the satellite observation accuracy meets the requirements based on the satellite observation accuracy at the current moment.

[0045] It should be noted that the satellite observation accuracy can be determined by calculating the corresponding signal-to-noise ratio. The larger the value of the signal-to-noise ratio, the higher the satellite observation accuracy is considered to be. When the value of the signal-to-noise ratio is smaller, the satellite observation accuracy is considered to be lower.

[0046] In this embodiment, the signal-to-noise ratio of the satellite signal received by the vehicle to be positioned at the current moment is obtained, and based on the signal-to-noise ratio, it is determined whether the signal-to-noise ratio meets the requirements, wherein the signal-to-noise ratio is the ratio of the intensity of the received useful signal to the intensity of the received interference signal (noise and interference). When the satellite is blocked, the received satellite signal is the signal after the signal is refracted through the obstruction or the signal after the signal is reflected by the obstruction, that is, the signal after interference, and the corresponding signal-to-noise ratio will be reduced. Therefore, it is possible to determine whether the signal-to-noise ratio meets the requirements based on the size of the signal-to-noise ratio. If the signal-to-noise ratio is less than the preset threshold, it is considered that the signal-to-noise ratio is small, the received satellite signal is interfered, and the satellite observation accuracy does not meet the requirements. At this time, auxiliary positioning is performed on the vehicle to be positioned.

[0047] If the signal-to-noise ratio is not less than the preset threshold, it is considered that the signal-to-noise ratio is large, the received satellite signal is not interfered with, and the satellite observation accuracy meets the requirements. At this time, the corresponding positioning system can be used directly for positioning.

[0048] It should be noted that when using the corresponding positioning system for positioning, the vehicle is positioned based on multiple satellite signals received. Before using multiple satellites for positioning, the satellites need to be screened. When the satellite signals are not blocked, the satellites are screened by satellite observation accuracy, and the vehicle is positioned using satellites with higher satellite observation accuracy. When screening, the satellite observation accuracy is screened. When the satellite observation accuracy is greater than the observation accuracy threshold, the corresponding satellite can be used to position the vehicle. When the satellite observation accuracy is not greater than the observation accuracy threshold, the corresponding satellite cannot be used to position the vehicle.

[0049] It should be noted that when calculating the satellite observation accuracy, the altitude angle change function between the satellite and the vehicle can be used for calculation, that is, the satellite observation accuracy is expressed as the altitude angle change function between the satellite and the vehicle. The calculation formula of the altitude angle change function is as follows:

[0050] σ 2 =a 2 +b 2 cos 2 E

[0051] Among them, σ is the observation accuracy, a and b are parameters, generally integers, and E is the altitude angle between the satellite and the vehicle. If σ is greater than the observation accuracy threshold, the corresponding satellite can be used to locate the vehicle.

[0052] It should be noted that when using the positioning system to locate the vehicle, at least 4 satellites are required to locate the vehicle. Therefore, when using the positioning system to locate the vehicle, at least 4 satellites need to have an observation accuracy greater than the observation accuracy threshold. If the number of satellites with an observation accuracy greater than the observation accuracy threshold is less than 4, auxiliary positioning is performed on the vehicle.

[0053] S202: Calculate the observed position of the vehicle to be located at the current moment according to the relative state information and the position of the vehicle to be located at the previous moment.

[0054] In step S202, the observed position of the vehicle to be located at the current moment is calculated based on the relative state information and the position of the vehicle to be located at the previous moment, wherein the observed position of the vehicle to be located at the current moment is the precise position obtained by calculation, that is, the observed position of the vehicle to be located at the current moment can be used to calculate the data of the position of the vehicle to be located at the next moment.

[0055] In this embodiment, the observed position of the vehicle to be located at the current moment is calculated based on the relative state information and the position of the vehicle to be located at the previous moment, and the observed position of the vehicle to be located at the current moment calculated based on the reference object is used as the corresponding observation value, that is, the observation value used to predict the target position of the vehicle to be located at the current moment.

[0056] When calculating the observed position of the vehicle to be located at the current moment based on the position and relative status information of the vehicle to be located at the previous moment, the position of each reference object at the previous moment can be calculated based on the relative position between the position of the vehicle to be located at the previous moment and each reference object, and the position of the vehicle to be located at the previous moment; the position of each reference object at the current moment can be calculated based on the estimated real-time position of the vehicle to be located and the relative speed in the relative status information; the position of the vehicle to be located at the current moment can be calculated based on the position of each reference object at the current moment and the relative position in the relative status information.

[0057] See also Figure 4, is a flow chart of a vehicle auxiliary positioning method provided by Embodiment 4 of the present invention, such as Figure 4 As shown, the step of calculating the observed position of the vehicle to be located at the current moment according to the relative state information and the position of the vehicle to be located at the previous moment includes:

[0058] S401: Obtain the relative position of the vehicle to be positioned and each reference object at the previous moment, and calculate the position of each reference object at the previous moment according to the relative position of the vehicle to be positioned and each reference object at the previous moment and the position of the vehicle to be positioned at the previous moment;

[0059] S402: Obtain the speed of the vehicle to be positioned at the previous moment, and calculate the position of each reference object at the current moment according to the speed of the vehicle to be positioned at the previous moment, the position of each reference object at the previous moment, and the relative speed;

[0060] S403: Calculate the observation position of the vehicle to be positioned at the current moment according to the position and phase position of each reference object at the current moment.

[0061] In this embodiment, the relative state information includes relative position and relative speed, and the relative position of the vehicle to be positioned and each reference object at the previous moment is obtained. According to the relative position of the vehicle to be positioned and each reference object at the previous moment, and the position of the vehicle to be positioned at the previous moment, the position of each reference object at the previous moment is calculated. The speed of the vehicle to be positioned at the previous moment is obtained, and the speed of each reference object at the previous moment can be calculated according to the speed of the vehicle to be positioned at the previous moment and the relative speed, and the position of each reference object at the current moment is calculated according to the speed of each reference object at the previous moment and the position of each reference object at the previous moment.

[0062] According to the position and phase position of each reference object at the current moment, the observation position of the vehicle to be positioned at the current moment is calculated. When calculating, since the observation position of the vehicle to be positioned at the current moment includes three parameters, namely, parameters of three directions and an error parameter, four parameters need to be calculated when calculating the observation position of the vehicle to be positioned at the current moment.

[0063] S203: Obtain the predicted initial position of the vehicle to be located at the current moment and the predicted initial position of the vehicle to be located at the previous moment, and calculate the target position of the vehicle to be located at the current moment based on the predicted initial position of the vehicle to be located at the current moment, the predicted initial position of the vehicle to be located at the previous moment, the position of the vehicle to be located at the previous moment and the observed position of the vehicle to be located at the current moment.

[0064] In step S203, the predicted initial position of the vehicle to be located at the current moment and the predicted initial position of the vehicle to be located at the previous moment are the positions obtained after the satellite loses the fixed solution of the whole cycle from the satellite to the vehicle to be located. According to the predicted initial position of the vehicle to be located at the current moment, the predicted initial position of the vehicle to be located at the previous moment, the position of the vehicle to be located at the previous moment and the observed position of the vehicle to be located at the current moment, the corresponding Kalman filter equation is constructed, and Kalman filter processing is performed to obtain the target position of the vehicle to be located at the current moment.

[0065] In this embodiment, the double difference predicted value of the pseudorange and the double difference predicted value of the carrier phase are calculated based on the predicted initial position of the vehicle to be located at the current moment and the predicted initial position of the vehicle to be located at the previous moment. The double difference observed value of the pseudorange and the double difference observed value of the carrier phase are calculated based on the position of the vehicle to be located at the previous moment and the observed position of the vehicle to be located at the current moment.

[0066] The target position of the vehicle to be located at the current moment is calculated through Kalman filtering based on the predicted value of the double difference of the pseudorange and the predicted value of the double difference of the carrier phase, as well as the observed value of the double difference of the pseudorange and the observed value of the double difference of the carrier phase.

[0067] See also Figure 5 , is a flow chart of a vehicle auxiliary positioning method provided by Embodiment 5 of the present invention, such as Figure 4 As shown, the step calculates the target position of the vehicle to be positioned at the current moment according to the predicted initial position of the vehicle to be positioned at the current moment, the predicted initial position of the vehicle to be positioned at the previous moment, the position of the vehicle to be positioned at the previous moment and the observed position of the vehicle to be positioned at the current moment, including:

[0068] S501: Calculate a pseudorange double difference prediction value and a carrier phase double difference prediction value according to the predicted initial position of the vehicle to be positioned at the current moment and the predicted initial position of the vehicle to be positioned at the previous moment;

[0069] S502: Calculate the relative position between the position of the vehicle to be located at the previous moment and the observed position of the vehicle to be located at the current moment, take the relative position as the observation value, and calculate the target position of the vehicle to be located at the current moment based on the observation value, the pseudorange double difference prediction value and the carrier phase double difference prediction value.

[0070] In this embodiment, according to the predicted initial position of the vehicle to be located at the current moment and the predicted initial position of the vehicle to be located at the previous moment, a pseudorange double difference prediction equation and a carrier phase double difference prediction equation are constructed, and the corresponding pseudorange double difference prediction value is calculated according to the pseudorange double difference prediction equation, and the corresponding carrier phase double difference prediction value is calculated according to the carrier phase double difference prediction equation. Among them, the pseudorange double difference prediction equation and the carrier phase double difference prediction equation are as follows:

[0071]

[0072] Among them, Δ represents the single difference operator between the predicted initial position of the vehicle to be positioned at the previous moment and the satellite, is the single difference operator between the predicted initial position of the vehicle to be positioned at the previous moment and the satellite, is the pseudo-range observation value between the vehicle to be positioned and the satellite i in the satellite system S, is the pseudorange double difference prediction value, ρ S,i is the pseudorange between the vehicle to be positioned and satellite i in the satellite system S, is the pseudo-range observation error between the vehicle to be positioned and satellite i in the satellite system S, The carrier phase observation value between the vehicle to be positioned and satellite i in the satellite system S, is the carrier phase double difference prediction value, is the carrier wavelength, is the integer number of carrier cycles between the vehicle to be positioned and satellite i in the satellite system S, is the carrier phase observation error between the vehicle to be positioned and satellite i in the satellite system S, and j is the frequency.

[0073] in, It can be calculated based on the predicted initial position of the vehicle to be positioned at the current moment and the predicted initial position of the vehicle to be positioned at the previous moment. and It can be calculated based on the error in the pseudorange observation value equation and the carrier phase observation value equation, and will not be explained in this implementation.

[0074] Calculate the relative position between the position of the vehicle to be located at the previous moment and the observed position of the vehicle to be located at the current moment, take the relative position as the observation value, and calculate the target position of the vehicle to be located at the current moment based on the observation value, pseudorange double difference prediction value and carrier phase double difference prediction value. According to the corresponding observation value and prediction value, use Kalman filtering to update the state of the prediction value, and calculate the target position of the vehicle to be located at the current moment based on the observation value, pseudorange double difference prediction value and carrier phase double difference prediction value.

[0075] See also Figure 6 , is a flow chart of a vehicle auxiliary positioning method provided by Embodiment 6 of the present invention, such as Figure 6 As shown, the steps for calculating the target position of the vehicle to be positioned at the current moment include:

[0076] S601: Determine a prediction value update state matrix according to a pseudorange double difference prediction value and a carrier phase double difference prediction value;

[0077] S602: Update the state matrix according to the predicted value and calculate the covariance matrix of the satellite ambiguity;

[0078] S603: Calculate the integer ambiguity according to the covariance matrix;

[0079] S604: Optimize the relative state information according to the integer ambiguity to obtain optimized state information;

[0080] S605: Using the optimized state information as relative state information, executing the step of calculating the observed position of the vehicle to be located at the current moment according to the relative state information and the position of the vehicle to be located at the previous moment, until the target position converges to obtain the final target position.

[0081] In this embodiment, when calculating the target position of the vehicle to be located at the current moment, the radar signal is used to constrain the relative position between the position of the vehicle to be located at the previous moment and the observed position of the vehicle to be located at the current moment, so that the calculated relative position is as close as possible to the relative position obtained based on the radar signal. By introducing the relative position constraint after the radar signal conversion, the accuracy of the integer cycle number solution can be effectively improved, the integer cycle number search space can be compressed, and the success rate and reliability of the integer cycle number fixation can be improved.

[0082] When calculating the integer number of cycles, the prediction value update state matrix is ​​determined based on the pseudorange double difference prediction value and the carrier phase double difference prediction value. The prediction value update state matrix is ​​as follows:

[0083]

[0084] in, Update the state for the predicted value, is the transfer coefficient, H P is the transfer coefficient of position error, is the transfer coefficient of velocity error, H N is the transfer coefficient of the covariance error of the integer number of cycles, e is the Earth-centered Earth-fixed coordinate system, and the subscript i is the inertial reference system. is the position error between the e coordinate system and the i inertial reference system, is the velocity error between the e coordinate system and the i inertial reference system, is the attitude misalignment angle, δb P ,δb L is the hardware error, is the covariance error of the integer number of carrier cycles, is the error matrix, is the error in double difference in pseudorange, is the error in the double difference of the carrier phase, ε lidar is the radar signal error.

[0085] According to the predicted value, the state matrix is ​​updated, the covariance matrix of the satellite ambiguity is calculated, and the integer ambiguity is calculated according to the covariance matrix. According to the optimal estimation result and the least squares principle, the covariance matrix of the satellite ambiguity is solved. The formula of the covariance matrix of the satellite ambiguity is as follows:

[0086]

[0087] According to the position change of the satellite between adjacent epochs, the integer ambiguity is calculated, and the satellite integer ambiguity that can be solved is as follows:

[0088]

[0089] Among them, H P is the transfer coefficient of position error, H N is the transfer coefficient of the covariance error of the integer number of cycles, and They are the variance matrix of pseudorange observations and the variance matrix of carrier phase observations respectively.

[0090] In this embodiment, by introducing the prior relative position constraint after radar signal conversion, the accuracy of the ambiguity floating-point solution can be effectively improved, the ambiguity search space can be compressed, and the success rate and reliability of integer ambiguity fixation can be improved.

[0091] According to the integer ambiguity, the relative state information is optimized to obtain the optimized state information, wherein when optimizing the relative state information, the calculated integer ambiguity is used to determine the relative position between the previous moment and the current moment, and the integer ambiguity is obtained based on filtering calculation. It is better than the relative position obtained by radar observation, so the optimized state information can correct the observation error caused by transmission delay and calculation in radar ranging and speed measurement.

[0092] The optimized state information is used as relative state information, and the observed position of the vehicle to be located at the current moment is calculated based on the relative state information and the position of the vehicle to be located at the previous moment, and the predicted initial position of the vehicle to be located at the current moment and the predicted initial position of the vehicle to be located at the previous moment are obtained, and the target position of the vehicle to be located at the current moment is calculated based on the predicted initial position of the vehicle to be located at the current moment, the predicted initial position of the vehicle to be located at the previous moment, the position of the vehicle to be located at the previous moment, and the observed position of the vehicle to be located at the current moment. The new target position is recalculated until the target position converges within the KPI range, and the final target position is determined.

[0093] It should be noted that after the vehicle to be positioned drives out of the obstructed environment, if the satellite observation accuracy is detected to be greater than the threshold, that is, the satellite observation accuracy meets the requirements, the auxiliary observation mode is exited and the global positioning system is used to locate the vehicle to be positioned.

[0094] Obtain the relative state information between the vehicle to be located at the current moment and each preset reference object, as well as the position of the vehicle to be located at the previous moment, calculate the observed position of the vehicle to be located at the current moment based on the relative state information and the position of the vehicle to be located at the previous moment, obtain the predicted initial position of the vehicle to be located at the current moment and the predicted initial position of the vehicle to be located at the previous moment, calculate the target position of the vehicle to be located at the current moment based on the predicted initial position of the vehicle to be located at the current moment, the predicted initial position of the vehicle to be located at the previous moment, the position of the vehicle to be located at the previous moment and the observed position of the vehicle to be located at the current moment. In the present application, in a complex urban environment, based on reference objects, the observed value of the vehicle to be located at each epoch is obtained, and based on the predicted value and observed value of the vehicle to be located at each epoch obtained by the lost satellite, the state of the vehicle to be located is updated to obtain the final target position, thereby reducing the influence of errors on the vehicle to be located in a complex environment with a low signal-to-noise ratio, and improving the calculation accuracy.

[0095] See also Figure 7 , Figure 7 1 is a structural block diagram of a vehicle auxiliary positioning device provided by Embodiment 7 of the present invention. For the sake of convenience, only the parts related to the embodiment of the present invention are shown. Figure 7 The auxiliary positioning device 70 includes: a first acquisition module 71, a first calculation module 72, and a second calculation module 73.

[0096] The first acquisition module 71 is used to obtain the relative state information between the vehicle to be located at the current moment and each of the multiple reference objects, as well as the position of the vehicle to be located at the previous moment. The multiple reference objects include at least four reference objects. The relative state information includes relative displacement and relative speed.

[0097] The first calculation module 72 is used to calculate the observed position of the vehicle to be located at the current moment according to the relative state information and the position of the vehicle to be located at the previous moment.

[0098] The second calculation module 73 is used to obtain the predicted initial position of the vehicle to be located at the current moment and the predicted initial position of the vehicle to be located at the previous moment, and calculate the target position of the vehicle to be located at the current moment based on the predicted initial position of the vehicle to be located at the current moment, the predicted initial position of the vehicle to be located at the previous moment, the position of the vehicle to be located at the previous moment and the observed position of the vehicle to be located at the current moment.

[0099] Optionally, the auxiliary positioning device further includes:

[0100] The second acquisition module is used to determine whether the satellite observation accuracy meets the requirements at the current moment.

[0101] The first judgment module is used to execute the step of obtaining the relative state information between the vehicle to be located at the current moment and each preset reference object, as well as the position of the vehicle to be located at the previous moment, if the satellite observation accuracy does not meet the requirements.

[0102] The second judgment module is used to use the global positioning system to locate the vehicle to be located if the satellite observation accuracy meets the requirements.

[0103] Optionally, the first calculation module 72 includes:

[0104] The acquisition unit is used to acquire the relative position of the vehicle to be positioned and each reference object at the previous moment, and calculate the position of each reference object at the previous moment according to the relative position of the vehicle to be positioned and each reference object at the previous moment and the position of the vehicle to be positioned at the previous moment.

[0105] The first calculation unit is used to obtain the speed of the vehicle to be positioned at the previous moment, and calculate the position of each reference object at the current moment according to the speed of the vehicle to be positioned at the previous moment, the position of each reference object at the previous moment and the relative speed.

[0106] The second calculation unit is used to calculate the observation position of the vehicle to be positioned at the current moment according to the position and phase position of each reference object at the current moment.

[0107] Optionally, the second calculation module 73 includes:

[0108] The third calculation unit is used to calculate the pseudorange double difference prediction value and the carrier phase double difference prediction value according to the predicted initial position of the vehicle to be positioned at the current moment and the predicted initial position of the vehicle to be positioned at the previous moment.

[0109] The fourth calculation unit is used to calculate the relative position between the position of the vehicle to be located at the previous moment and the observed position of the vehicle to be located at the current moment, and use the relative position as the observation value to calculate the target position of the vehicle to be located at the current moment based on the observation value, the pseudorange double difference prediction value and the carrier phase double difference prediction value.

[0110] Optionally, the fourth calculation unit includes:

[0111] The determination subunit is used to determine the prediction value update state matrix according to the pseudorange double difference prediction value and the carrier phase double difference prediction value.

[0112] The first calculation subunit is used to update the state matrix according to the predicted value and calculate the covariance matrix of the satellite ambiguity.

[0113] The second calculation subunit is used to calculate the integer ambiguity according to the covariance matrix.

[0114] The optimization subunit is used to optimize the relative state information according to the integer ambiguity to obtain the optimized state information.

[0115] The execution subunit is used to use the optimized state information as relative state information, and execute the step of calculating the observed position of the vehicle to be located at the current moment according to the relative state information and the position of the vehicle to be located at the previous moment, until the target position converges to obtain the final target position.

[0116] It should be noted that the information interaction, execution process and other contents between the above modules are based on the same concept as the embodiment of the method of the present invention. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0117] Figure 8 This is a schematic diagram of the structure of a computer device provided in Embodiment 8 of the present invention. Figure 8 As shown, the computer device of this embodiment includes: at least one processor ( Figure 8 Only one is shown), a memory, and a computer program stored in the memory and executable on at least one processor, wherein when the processor executes the computer program, the auxiliary positioning method for any of the above-mentioned vehicles and the steps in the computing method embodiment are implemented.

[0118] The computer device may include, but is not limited to, a processor and a memory. Those skilled in the art will appreciate that Figure 8 This is merely an example of a computer device and does not constitute a limitation on the computer device. The computer device may include more or fewer components than those shown in the figure, or a combination of certain components, or different components, for example, it may also include a network interface, etc.

[0119] The processor may be a CPU, or other general-purpose processors, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0120] The memory includes a readable storage medium, an internal memory, etc., wherein the internal memory may be the memory of a computer device, and the internal memory provides an environment for the operation of an operating system and computer-readable instructions in the readable storage medium. The readable storage medium may be a hard disk of a computer device, and in other embodiments may also be an external storage device of a computer device, for example, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on a computer device. Further, the memory may also include both an internal storage unit of a computer device and an external storage device. The memory is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as program codes of computer programs, etc. The memory may also be used to temporarily store data that has been output or is to be output.

[0121] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention. The specific working process of the units and modules in the above-mentioned device can refer to the corresponding process in the above-mentioned method embodiment, which will not be repeated here. If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned method embodiment can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying computer program code, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0122] The present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by a computer program product. When the computer program product runs on a computer device, the computer device can implement the steps in the above-mentioned method embodiment when executing.

[0123] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0124] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0125] In the embodiments provided by the present invention, it should be understood that the disclosed devices / computer equipment and methods can be implemented in other ways. For example, the device / computer equipment embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0126] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0127] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

Claims

1. A vehicle auxiliary positioning method, characterized in that: The auxiliary positioning method comprises: Acquire relative state information between the vehicle to be positioned at the current moment and each of a plurality of reference objects, as well as the position of the vehicle to be positioned at the previous moment, wherein the plurality of reference objects include at least four reference objects, and the relative state information includes relative displacement and relative speed; Calculating the observed position of the vehicle to be located at the current moment according to the relative state information and the position of the vehicle to be located at the previous moment; The predicted initial position of the vehicle to be located at the current moment and the predicted initial position of the vehicle to be located at the previous moment are obtained, and the target position of the vehicle to be located at the current moment is calculated according to the predicted initial position of the vehicle to be located at the current moment, the predicted initial position of the vehicle to be located at the previous moment, the position of the vehicle to be located at the previous moment and the observed position of the vehicle to be located at the current moment.

2. The auxiliary positioning method according to claim 1, characterized in that: Before obtaining the relative state information between the vehicle to be positioned at the current moment and each of the multiple reference objects, and the position of the vehicle to be positioned at the previous moment, the method further includes: Obtain the satellite observation accuracy at the current moment, and determine whether the satellite observation accuracy meets the requirements; If the satellite observation accuracy does not meet the requirement, the step of acquiring the relative state information between the vehicle to be located at the current moment and each preset reference object, as well as the position of the vehicle to be located at the previous moment is executed; If the satellite observation accuracy meets the requirements, the global positioning system is used to locate the vehicle to be located.

3. The auxiliary positioning method according to claim 1, characterized in that: The step of calculating the observed position of the vehicle to be located at the current moment according to the relative state information and the position of the vehicle to be located at the previous moment comprises: Obtaining the relative position of the vehicle to be positioned and each reference object at the previous moment, and calculating the position of each reference object at the previous moment according to the relative position of the vehicle to be positioned and each reference object at the previous moment and the position of the vehicle to be positioned at the previous moment; Acquire the speed of the vehicle to be positioned at the previous moment, and calculate the position of each reference object at the current moment according to the speed of the vehicle to be positioned at the previous moment, the position of each reference object at the previous moment and the relative speed; According to the positions and relative positions of the reference objects at the current moment, the observed position of the vehicle to be positioned at the current moment is calculated.

4. The auxiliary positioning method according to claim 1, characterized in that: The step of calculating the target position of the vehicle to be positioned at the current moment according to the predicted initial position of the vehicle to be positioned at the current moment, the predicted initial position of the vehicle to be positioned at the previous moment, the position of the vehicle to be positioned at the previous moment and the observed position of the vehicle to be positioned at the current moment comprises: Calculate the pseudorange double difference prediction value and the carrier phase double difference prediction value according to the predicted initial position of the vehicle to be positioned at the current moment and the predicted initial position of the vehicle to be positioned at the previous moment; The relative position between the position of the vehicle to be located at the previous moment and the observed position of the vehicle to be located at the current moment is calculated, and the relative position is used as the observation value. According to the observation value, the pseudorange double difference prediction value and the carrier phase double difference prediction value, the target position of the vehicle to be located at the current moment is calculated.

5. The auxiliary positioning method according to claim 4, characterized in that: The calculating the target position of the vehicle to be located at the current moment includes: Determine a prediction value update state matrix according to the pseudorange double difference prediction value and the carrier phase double difference prediction value; updating a state matrix according to the predicted values ​​and calculating a covariance matrix of satellite ambiguities; Calculating integer ambiguity according to the covariance matrix; Optimizing the relative state information according to the integer ambiguity to obtain optimized state information; The optimized state information is used as relative state information, and the step of calculating the observed position of the vehicle to be located at the current moment according to the relative state information and the position of the vehicle to be located at the previous moment is performed until the target position converges to obtain the final target position.

6. A vehicle auxiliary positioning device, characterized in that: The auxiliary positioning device comprises: A first acquisition module is used to acquire relative state information between the vehicle to be positioned at a current moment and each of a plurality of reference objects, and the position of the vehicle to be positioned at a previous moment, wherein the plurality of reference objects include at least four reference objects, and the relative state information includes relative displacement and relative speed; A first calculation module, used for calculating the observed position of the vehicle to be located at a current moment according to the relative state information and the position of the vehicle to be located at a previous moment; The second calculation module is used to obtain the predicted initial position of the vehicle to be located at the current moment and the predicted initial position of the vehicle to be located at the previous moment, and calculate the target position of the vehicle to be located at the current moment based on the predicted initial position of the vehicle to be located at the current moment, the predicted initial position of the vehicle to be located at the previous moment, the position of the vehicle to be located at the previous moment and the observed position of the vehicle to be located at the current moment.

7. The auxiliary positioning device according to claim 6, characterized in that: The auxiliary positioning device also includes: The second acquisition module is used to obtain the satellite observation accuracy at the current moment and determine whether the satellite observation accuracy meets the requirements; A first judgment module is used for executing the step of obtaining relative state information between the vehicle to be located at the current moment and each preset reference object, as well as the position of the vehicle to be located at the previous moment, if the satellite observation accuracy does not meet the requirement; The second judgment module is used to use the global positioning system to locate the vehicle to be located if the satellite observation accuracy meets the requirement.

8. The auxiliary positioning device according to claim 6, characterized in that: The first calculation module includes: an acquisition unit, used to acquire the relative position of the vehicle to be positioned and each reference object at the previous moment, and calculate the position of each reference object at the previous moment according to the relative position of the vehicle to be positioned and each reference object at the previous moment and the position of the vehicle to be positioned at the previous moment; A first calculation unit is used to obtain the speed of the vehicle to be positioned at a previous moment, and calculate the position of each reference object at a current moment according to the speed of the vehicle to be positioned at a previous moment, the position of each reference object at a previous moment and the relative speed; The second calculation unit is used to calculate the observed position of the vehicle to be positioned at the current moment according to the position and relative position of each reference object at the current moment.

9. A computer device, characterized in that: The computer device includes a processor, a memory, and a computer program stored in the memory and executable on the processor, and the processor implements the auxiliary positioning method according to claims 1 to 5 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the assisted positioning method according to claims 1 to 5 is implemented.

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