A combined navigation method based on data analysis

Abstract

The invention relates to the field of navigation technology, and in particular to a combined navigation method based on data analysis, comprising: determining a dangerous vehicle according to an attitude change coefficient and environmental complexity; determining a navigation state according to a dangerous vehicle reference value and a satellite processing coefficient, and determining a navigation mode according to the navigation state, wherein the navigation mode is to select a navigation satellite according to an influence coefficient and a processing reference value, or to select a navigation satellite according to a distance reference value and a conflict reference value; determining whether to perform satellite switching for a navigated vehicle according to a vehicle boundary coefficient and a coordination difference, and when performing satellite switching for the navigated vehicle, determining a switching mode according to a radiation satellite processing coefficient, wherein the switching mode is to select a radiation satellite with a minimum total cumulative error value for switching or to determine an optimization mode according to a crossover coefficient; and the optimization mode is to perform a single switch according to a crossover threshold or to perform a secondary switch according to the number of matching satellites. The invention can improve the efficiency of satellite navigation positioning.

Description

Technical Field

[0001] The present invention relates to the field of navigation technology, and in particular to a combined navigation method based on data analysis. Background Art

[0002] With the rapid development of the automotive field, the requirements for vehicle navigation and positioning technology are also increasing. At present, the combined navigation system based on the inertial navigation system and the global satellite navigation system is the main technical means to achieve vehicle navigation. However, in practical applications, due to the combined influence of multiple complex factors such as vehicle navigation difficulty, satellite processing capabilities, and environmental interference, when facing complex navigation tasks, signal interruptions may occur, which not only reduces the continuity of navigation, but also seriously affects the stability and reliability of the combined navigation and positioning results. Therefore, how to adapt the navigation mode and task allocation of the combined navigation system according to the difficulty of the vehicle navigation task is a technical problem that needs to be solved by technicians in this field.

[0003] Chinese patent publication number CN112114945A discloses an inertial / satellite combined navigation task scheduling method based on a multi-task real-time operating system, including: the inertial / satellite combined navigation system is a multi-task system, and the service is divided; the priority of each service is determined according to the task cycle and running time of each service divided, and each service is divided into different partitions, and the scheduling order of the partition is determined according to the priority of the service in the partition, and the time length of the main time frame of the partition is determined; according to the obtained service partition and the scheduling priority of each partition, combined with the priority preemptive scheduling mechanism and polling scheduling mechanism of the multi-task real-time operating system, the combined navigation task scheduling design is performed. It can be seen that the above technical solution has the following problems: the navigation difficulty of the vehicle is not considered when scheduling the navigation task, and the satellite navigation method cannot be adaptively adjusted according to the actual navigation difficulty, resulting in poor efficiency of satellite navigation positioning. Summary of the invention

[0004] To this end, the present invention provides a combined navigation method based on data analysis to overcome the problem that the vehicle navigation difficulty is not considered when scheduling navigation tasks in the prior art, and the satellite navigation mode cannot be adaptively adjusted according to the actual navigation difficulty, resulting in poor efficiency of satellite navigation positioning.

[0005] To achieve the above object, the present invention provides a combined navigation method based on data analysis, comprising:

[0006] Determine the environmental complexity based on the vehicle impact coefficient, and determine the dangerous vehicle based on the posture change coefficient and environmental complexity;

[0007] Determine a navigation state according to a dangerous vehicle reference value and a satellite processing coefficient, and determine a navigation mode according to the navigation state, wherein the navigation mode is to select a navigation satellite according to an influence coefficient and a processing reference value, or to select a navigation satellite according to a distance reference value and a conflict reference value;

[0008] Determine whether to switch satellites for the navigated vehicle based on the vehicle boundary coefficient and the coordination difference. When switching satellites for the navigated vehicle, determine the switching method based on the radiation satellite processing coefficient. The switching method is to select the radiation satellite with the smallest total cumulative error value for switching or determine the optimization method based on the cross coefficient.

[0009] The optimization method is to perform a single switch based on the crossing threshold or a secondary switch based on the number of matching satellites;

[0010] When performing secondary switching according to the number of coincident satellites, the first switching satellite is used as the navigation satellite of the target vehicle for navigation, and the navigation switching mode of the second pre-switching group is determined according to the processing difficulty coefficient of the second radiating satellite. The navigation switching mode is to select the second switching satellite with the smallest difficulty threshold for switching or to determine the secondary switching mode according to the number of coincident satellites. The secondary switching mode is to select the coincident satellite according to the attitude change coefficient or to increase the allocation time for the unallocated vehicle.

[0011] The first switching satellite is determined according to the accumulated error difference and the attitude evaluation value.

[0012] Furthermore, the dangerous vehicle is a vehicle that meets preset conditions, and the preset conditions are that the posture change coefficient is greater than or equal to a preset posture change coefficient or the environmental complexity is greater than or equal to a preset environmental complexity.

[0013] Further, the environmental complexity is determined according to the vehicle impact coefficient;

[0014] If the vehicle influence coefficient is greater than or equal to the preset vehicle influence coefficient, the environmental complexity is determined according to the combined interference coefficient and the limit reference value;

[0015] If the vehicle impact coefficient is less than the preset vehicle impact coefficient, the environmental complexity is determined according to the restricted reference value.

[0016] Further, when the navigation state is that the dangerous vehicle reference value is greater than or equal to the preset dangerous vehicle reference value or the satellite processing coefficient is less than the preset satellite processing coefficient, the navigation mode is to select a navigation satellite according to the influence coefficient and the processing reference value;

[0017] Wherein, the priority coefficient for selecting the navigation satellite for the similar vehicle group is determined according to the comprehensive evaluation value, and for a single similar vehicle group, a matching satellite with the largest processing reference value and which has not performed navigation for the similar vehicle group is selected as the navigation satellite, wherein the matching satellite is a satellite with an influence coefficient less than a preset influence coefficient;

[0018] The priority coefficient of the navigation satellite selected by the similar vehicle group is positively correlated with the comprehensive evaluation value, and the similar vehicle group is determined according to the path similarity coefficient and the interval distance.

[0019] Further, when the navigation state is that the dangerous vehicle reference value is less than the preset dangerous vehicle reference value and the satellite processing coefficient is greater than or equal to the preset satellite processing coefficient, the navigation mode is to select a navigation satellite according to the distance reference value and the conflict reference value;

[0020] Among them, satellite matching is performed for each vehicle. When satellite matching is performed for a single vehicle, the vehicle is recorded as a to-be-matched vehicle, and the to-be-matched satellite with the smallest distance reference value to the to-be-matched vehicle is selected as the navigation satellite. The to-be-matched satellite is a satellite whose conflict reference value with the to-be-matched vehicle is greater than a preset conflict reference value.

[0021] Furthermore, when performing satellite switching for a single navigated vehicle, the navigated vehicle is recorded as a target vehicle, the navigation satellite of the target vehicle is recorded as a target satellite, and the switching mode is determined according to the radiation satellite processing coefficient corresponding to the target satellite;

[0022] If the radiation satellite processing coefficient is greater than or equal to the preset radiation satellite processing coefficient, the switching method is to select the first radiation satellite with the smallest total cumulative error value for switching;

[0023] If the radiation satellite processing coefficient is less than the preset radiation satellite processing coefficient, the switching mode is to determine the optimization mode according to the cross coefficient;

[0024] The first radiation satellite is a satellite whose conflict reference value with the target vehicle is less than a preset conflict reference value and is within the first satellite range.

[0025] Further, an optimization method is determined according to the cross coefficient;

[0026] If the cross coefficient is greater than or equal to the preset cross coefficient, the optimization method is to perform a switch according to the cross threshold. When performing a switch according to the cross threshold, the target satellite is used as the navigation satellite of the first pre-switching group corresponding to the first radiation satellite with the largest cross threshold, and the first radiation satellite with the largest cross threshold is used as the navigation satellite of the target vehicle;

[0027] If the crossover coefficient is less than the preset crossover coefficient, the optimization method is to perform a secondary switch according to the number of matching satellites;

[0028] The first pre-switching group is determined according to a vehicle evaluation value.

[0029] Further, determining the navigation switching mode of the second pre-switching group according to the processing difficulty coefficient of the second radiating satellite;

[0030] If the processing difficulty coefficient is greater than or equal to the preset processing difficulty coefficient, the navigation switching mode is to select the second switching satellite with the smallest difficulty threshold for switching;

[0031] If the processing difficulty coefficient is less than the preset processing difficulty coefficient, the navigation switching mode is to determine the secondary switching mode according to the number of coincident satellites;

[0032] The second radiating satellite is a satellite whose influence coefficient with the second pre-switching group is less than the preset influence coefficient and is within the second satellite range. The matching satellite is a second radiating satellite whose satellite evaluation coefficient is greater than the preset satellite evaluation coefficient. The second pre-switching group is determined according to the difficulty threshold.

[0033] Further, the first switching satellite is determined according to the accumulated error difference and the attitude evaluation value;

[0034] If the cumulative error difference is greater than or equal to the preset cumulative error difference or the attitude evaluation value is greater than or equal to the preset attitude evaluation value, select the first radiating satellite with the smallest comprehensive evaluation value as the first switching satellite;

[0035] If the accumulated error difference is less than the preset accumulated error difference and the attitude evaluation value is less than the preset attitude evaluation value, the first radiation satellite with the smallest fluctuation evaluation value is selected as the first switching satellite.

[0036] Further, a secondary switching mode is determined according to the number of coincident satellites;

[0037] If the number of matching satellites is greater than or equal to the number of vehicles in the second pre-switching group, the secondary switching mode is to select matching satellites according to the attitude change coefficient. When selecting matching satellites according to the attitude change coefficient, when selecting matching satellites for a single vehicle to be assigned, the matching satellite with the smallest attitude change coefficient and no assigned vehicle to be assigned is selected as the navigation satellite;

[0038] If the number of matching satellites is less than the number of vehicles in the second pre-switching group, the secondary switching method is to increase the allocation time for the unallocated vehicles;

[0039] The increase in the allocation time of unallocated vehicles is negatively correlated with the minimum reference value of processing difficulty.

[0040] Compared with the prior art, the beneficial effect of the present invention lies in that, in the technical scheme of the present invention, the influence of the vehicle is reflected by the vehicle influence coefficient, and then the environmental complexity is determined based on the vehicle influence coefficient, so that the method of confirming the environmental complexity is more in line with the actual application scenario, and then the posture change coefficient and the environmental complexity are effectively reflected to reflect the degree of influence of the vehicle's environment, and then the dangerous vehicle is determined based on the posture change coefficient and the environmental complexity, so that the determination of the subsequent navigation state is more in line with the actual application scenario, thereby improving the stability and reliability of the positioning results.

[0041] Furthermore, in the present invention, the navigation state is determined according to the dangerous vehicle reference value and the satellite processing coefficient, and the navigation difficulty of the vehicle in the current monitoring period and the processing capacity of the satellite are effectively reflected through the dangerous vehicle reference value and the satellite processing coefficient, and then different navigation modes are adaptively selected according to the navigation state, so that the selection of the navigation mode is more in line with the actual application scenario, avoiding the problem of navigation signal interruption caused by poor processing capacity of the navigation satellite selected when the vehicle navigation difficulty is high, thereby improving the stability of the navigation result.

[0042] Furthermore, the present invention effectively reflects the conflict between the driving range of the navigated vehicle and the navigation range of the navigation satellite through the vehicle boundary coefficient and the coordination difference, and then performs satellite switching for the navigated vehicle whose vehicle boundary coefficient is greater than or equal to the preset vehicle boundary coefficient and the coordination difference is greater than or equal to the preset coordination difference, thereby avoiding the problem of satellite navigation signal interruption caused by the conflict between the driving range of the target vehicle and the navigation range of the target satellite, and effectively reflects the processing capacity of the first radiation satellite through the radiation satellite processing coefficient, and then adaptively selects different switching methods according to the radiation satellite processing coefficient, so that the selection of the switching method is more in line with the actual application scenario, avoiding the problem of navigation signal interruption caused by failure to switch to other suitable satellites in time when the target vehicle is about to exceed the navigation range of the target satellite, thereby improving the stability of navigation.

[0043] Furthermore, the present invention effectively reflects the degree of overlap between the target satellite and the navigation range of the first radiation satellite through the cross coefficient, and then adaptively selects different optimization methods according to the cross coefficient, so that the selection of the optimization method is more in line with the actual application scenario, avoiding the problem of poor navigation stability caused by the poor processing capability of the first radiation satellite, improving the overall performance of the satellite navigation system, and thus improving the stability and accuracy of navigation.

[0044] Furthermore, in the present invention, when performing secondary switching according to the number of matching satellites, the navigation difficulty of the navigated vehicle corresponding to the first switching satellite is effectively reflected through the accumulated error difference and the attitude evaluation value, and then the first switching satellite is determined according to the accumulated error difference and the attitude evaluation value, so that the selection of the first switching satellite is more in line with the actual application scenario, avoiding navigation errors caused by unstable satellite signals, and improving the stability and reliability of the positioning results. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A schematic diagram of a combined navigation method based on data analysis according to the present invention;

[0046] Figure 2 A flow chart of determining the environmental complexity according to the vehicle influence coefficient of the present invention;

[0047] Figure 3 A flow chart of determining a navigation mode according to a navigation state in the present invention;

[0048] Figure 4 The present invention is a flow chart for determining a switching mode according to a radiation satellite processing coefficient. DETAILED DESCRIPTION

[0049] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0050] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0051] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0052] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] See also Figures 1 to 4 As shown, the present invention provides a combined navigation method based on data analysis, comprising:

[0054] Determine the environmental complexity based on the vehicle impact coefficient, and determine the dangerous vehicle based on the posture change coefficient and environmental complexity;

[0055] Determine a navigation state according to a dangerous vehicle reference value and a satellite processing coefficient, and determine a navigation mode according to the navigation state, wherein the navigation mode is to select a navigation satellite according to an influence coefficient and a processing reference value, or to select a navigation satellite according to a distance reference value and a conflict reference value;

[0056] Determine whether to switch satellites for the navigated vehicle based on the vehicle boundary coefficient and the coordination difference. When switching satellites for the navigated vehicle, determine the switching method based on the radiation satellite processing coefficient. The switching method is to select the radiation satellite with the smallest total cumulative error value for switching or determine the optimization method based on the cross coefficient.

[0057] The optimization method is to perform a single switch based on the crossing threshold or a secondary switch based on the number of matching satellites;

[0058] When performing secondary switching according to the number of coincident satellites, the first switching satellite is used as the navigation satellite of the target vehicle for navigation, and the navigation switching mode of the second pre-switching group is determined according to the processing difficulty coefficient of the second radiating satellite. The navigation switching mode is to select the second switching satellite with the smallest difficulty threshold for switching or to determine the secondary switching mode according to the number of coincident satellites. The secondary switching mode is to select the coincident satellite according to the attitude change coefficient or to increase the allocation time for the unallocated vehicle.

[0059] The first switching satellite is determined according to the accumulated error difference and the attitude evaluation value.

[0060] The application scenario of the present invention is the selection of navigation satellites corresponding to vehicles performing combined navigation. A continuous cyclic monitoring period is provided in the present invention. The data status is determined once at the end of each monitoring period. The duration of the monitoring period can be set according to user needs. The greater the user's demand for monitoring accuracy, the shorter the duration of the monitoring period. A value of the monitoring period is provided, and the monitoring period is 1 minute.

[0061] In the present invention, several historical records are correspondingly provided, and any one of the historical records records the attitude change coefficient, environmental complexity, vehicle impact coefficient, dangerous vehicle reference value, satellite processing coefficient, cross coefficient and processing difficulty coefficient, etc., in the historical process of selecting the navigation satellite corresponding to the vehicle performing combined navigation at least once, and each historical record has a corresponding qualified mark, which records whether the stability and accuracy of the vehicle navigation result meet the user requirements, and the qualified mark can be recorded manually.

[0062] A deep learning network is applied in the present invention. Users can perform deep learning according to historical records according to actual needs to obtain the effects of different parameters on the complexity of the environment and the degree of navigation conflict. This is content that is easy for technicians in this field to understand and will not be elaborated on in detail.

[0063] The navigation state in the present invention includes a first navigation state and a second navigation state. The first navigation state is a first navigation state in which the dangerous vehicle reference value is greater than or equal to a preset dangerous vehicle reference value or the satellite processing coefficient is less than a preset satellite processing coefficient. The second navigation state is a first navigation state in which the dangerous vehicle reference value is less than the preset dangerous vehicle reference value and the satellite processing coefficient is greater than or equal to the preset satellite processing coefficient.

[0064] It should be noted that when determining whether to perform satellite switching for a navigated vehicle based on the vehicle boundary coefficient and the coordination difference, satellite switching is performed for a navigated vehicle whose vehicle boundary coefficient is greater than or equal to the preset vehicle boundary coefficient and whose coordination difference is greater than or equal to the preset coordination difference, and satellite switching is not performed for a navigated vehicle whose vehicle boundary coefficient is less than the preset vehicle boundary coefficient or whose coordination difference is less than the preset coordination difference;

[0065] The values ​​of the preset vehicle boundary coefficient and the preset coordination difference can be determined by the user according to the actual application scenario. The greater the user's demand for improving the stability of satellite navigation, the smaller the values ​​of the preset vehicle boundary coefficient and the preset coordination difference. A value of the preset vehicle boundary coefficient and the preset coordination difference is provided, and the historical records of not performing satellite switching for the navigated satellite are detected. The average value of the vehicle boundary coefficient corresponding to the historical records that can meet the user's needs is recorded as the preset vehicle boundary coefficient, and the average value of the coordination difference corresponding to the historical records that can meet the user's needs is recorded as the preset coordination difference.

[0066] Specifically, the dangerous vehicle is a vehicle that meets preset conditions, and the preset conditions are that the posture change coefficient is greater than or equal to the preset posture change coefficient or the environment complexity is greater than or equal to the preset environment complexity.

[0067] Among them, the standard deviations of the heading angle, pitch angle and roll angle of the vehicle corresponding to each monitoring point in the current monitoring period are detected respectively, and the maximum value of each standard deviation is recorded as the attitude change coefficient; the heading angle, pitch angle and roll angle are all measured by a gyroscope, which is easy to understand for computer personnel in this field and will not be described in detail; among them, the monitoring point is set by the user, and a method for setting a monitoring point is provided, the start time of the current monitoring period is recorded as a monitoring point, and in the order of time from early to late, each 1s is recorded as a monitoring point, that is, the heading angle, pitch angle and roll angle are recorded once every 1s;

[0068] The values ​​of the preset posture change coefficient and the preset environment complexity can be determined by the user according to the actual application scenario. The smaller the values ​​of the preset posture change coefficient and the preset environment complexity are, the greater the need for the user to judge the vehicle as a dangerous vehicle. The values ​​of the preset posture change coefficient and the preset environment complexity are provided, and the historical records of judging the vehicle as a Class II vehicle are detected. The average value of the posture change coefficients corresponding to the historical records that can meet the user's needs is recorded as the preset posture change coefficient, and the average value of the environment complexity corresponding to the historical records that can meet the user's needs is recorded as the preset environment complexity.

[0069] Specifically, the environmental complexity is determined based on the vehicle impact coefficient;

[0070] If the vehicle influence coefficient is greater than or equal to the preset vehicle influence coefficient, the environmental complexity is determined according to the combined interference coefficient and the limit reference value;

[0071] If the vehicle impact coefficient is less than the preset vehicle impact coefficient, the environmental complexity is determined according to the restricted reference value.

[0072] Among them, the vehicle impact coefficient is the maximum value of the vehicle impact reference values ​​corresponding to each monitoring point in the current monitoring period. The method for confirming the vehicle impact reference value is as follows: at a single monitoring point, for a single vehicle, the vehicle is recorded as the vehicle to be analyzed, and other vehicles other than the vehicle to be analyzed are recorded as reference vehicles. Reference vehicles whose vehicle spacing with the vehicle to be analyzed is less than the preset vehicle spacing are recorded as interference vehicles, and the number of interference vehicles is recorded as the vehicle impact reference value; the vehicle spacing is the shortest distance from a single reference vehicle to the vehicle to be analyzed. The value of the preset vehicle spacing can be determined by the user according to actual needs. A value of a preset vehicle spacing is provided, and the preset vehicle spacing is 20m; the value of the preset vehicle impact coefficient can be determined by the user according to the actual application scenario. The larger the value of the preset vehicle impact coefficient, the greater the user's need to determine the environmental complexity according to the restricted reference value. A value of a preset vehicle impact coefficient is provided, and the historical records of determining the environmental complexity according to the restricted reference value are detected, and the value of the vehicle impact coefficient corresponding to the historical records that can meet the user's needs is recorded as the preset vehicle impact coefficient;

[0073] When the vehicle influence coefficient is greater than or equal to the preset vehicle influence coefficient, the environmental complexity = combined interference coefficient × first coefficient + limit reference value × second coefficient;

[0074] When the vehicle impact coefficient is less than the preset vehicle impact coefficient, the environmental complexity is positively correlated with the limit reference value;

[0075] The joint interference coefficient is the maximum value of the sub-joint interference coefficients corresponding to each monitoring point in the current monitoring cycle; the sub-joint interference coefficient = (maximum interference angle / number of associated combinations) + the average value of the maximum vehicle height corresponding to each associated combination;

[0076] At a single monitoring point, for any two interfering vehicle directions, the minimum angle between the two interfering vehicle directions is recorded as the reference angle, the angles of each reference angle are identified, and the reference angle with the largest angle is recorded as the maximum interference angle;

[0077] The direction of the interfering vehicle is confirmed by, at a single monitoring point, for a single interfering vehicle, the direction of the ray that takes the center position of the vehicle to be analyzed as the endpoint and passes through the center position of the interfering vehicle is recorded as the direction of the interfering vehicle; the center position of a single vehicle is the center of the circumscribed sphere of the vehicle;

[0078] The confirmation method of the associated combination is to perform an associated analysis on each interfering vehicle direction of a single monitoring point, wherein when performing the associated analysis on a single interfering vehicle direction, the interfering vehicle direction is recorded as the target interfering vehicle direction, the direction deviation value between each interfering vehicle direction and the target interfering vehicle direction is detected, the interfering vehicle direction with a direction deviation value less than a preset direction deviation value is recorded as the associated interfering vehicle direction, and the target interfering vehicle direction and the associated interfering vehicle direction are recorded as an associated combination;

[0079] If there is an associated combination corresponding to the target interfering vehicle direction or there is no associated interfering vehicle direction whose direction deviation value is less than the preset direction deviation value, it is determined that the association analysis of the target interfering vehicle direction is completed, and the association analysis is continued for other interfering vehicle directions that are not recorded as associated combinations until all interfering vehicle directions are recorded as associated combinations;

[0080] The direction deviation value is the minimum reference angle between the directions of two interfering vehicles. The value of the preset direction deviation value can be determined by the user according to actual needs. A preset direction deviation value is provided, and the preset direction deviation value is 45°;

[0081] The maximum vehicle height corresponding to a single associated combination is the maximum height of each interfering vehicle corresponding to the interfering vehicle direction in the associated combination at a single monitoring point;

[0082] The confirmation method of the limit reference value is as follows: for a single vehicle, the vehicle is recorded as the first target vehicle, and the limit reference value corresponding to the first target vehicle = slope fluctuation value + obstacle ratio, the slope fluctuation value is the standard deviation of the inclination angle corresponding to each monitoring point of the first target vehicle in the current monitoring period, and the inclination angle corresponding to a single monitoring point is measured by a gyroscope. In addition, the content that is easy to understand by those skilled in the art is not described in detail; obstacle ratio = area of ​​obstacles in the reference area / area of ​​the reference area, and the minimum rectangle that can contain the influence area corresponding to each monitoring point in the current monitoring period is recorded as the reference area. The influence area corresponding to a single monitoring point is a circle with the center position of the first target vehicle as the center and a preset length as the radius at the monitoring point. The value of the preset length can be determined by the user according to actual needs. A value of the preset length is provided, and the preset length is 20m. Obstacles include but are not limited to buildings, trees and peaks. The area of ​​obstacles in the reference area and the area of ​​the reference area are both determined by remote sensing imaging technology. This is content that is easy to understand by those skilled in the art and is not described in detail;

[0083] The values ​​of the first coefficient and the second coefficient can be obtained by the user through deep learning convolutional neural network learning based on historical records. It can be understood that the present invention reflects the complexity of the environment through the joint interference coefficient and the restriction reference value. The user can use deep learning to obtain the influence of the joint interference coefficient and the restriction reference value on the complexity of the environment according to the historical records, and then select the values ​​of the first coefficient and the second coefficient accordingly. The larger the values ​​of the first coefficient and the second coefficient, the greater the influence on the complexity of the environment. Among them, the first coefficient + the second coefficient = 1, and a value of the first coefficient and the second coefficient is provided, and the first coefficient is 0.6 and the second coefficient is 0.4.

[0084] Specifically, when the navigation state is that the dangerous vehicle reference value is greater than or equal to the preset dangerous vehicle reference value or the satellite processing coefficient is less than the preset satellite processing coefficient, the navigation mode is to select a navigation satellite according to the influence coefficient and the processing reference value;

[0085] Wherein, the priority coefficient for selecting the navigation satellite for the similar vehicle group is determined according to the comprehensive evaluation value, and for a single similar vehicle group, a matching satellite with the largest processing reference value and which has not performed navigation for the similar vehicle group is selected as the navigation satellite, wherein the matching satellite is a satellite with an influence coefficient less than a preset influence coefficient;

[0086] The priority coefficient of the navigation satellite selected by the similar vehicle group is positively correlated with the comprehensive evaluation value, and the similar vehicle group is determined according to the path similarity coefficient and the interval distance.

[0087] The reference value of dangerous vehicles is the number of dangerous vehicles that need to select navigation satellites during the current monitoring period;

[0088] The satellite processing coefficient is the sum of the processing reference values ​​corresponding to each satellite; the processing reference value corresponding to a single satellite = 1 / the sum of the difficulty thresholds corresponding to the vehicle being navigated by the satellite in the current monitoring period, where the difficulty threshold = attitude change coefficient + environmental complexity;

[0089] The values ​​of the preset dangerous vehicle reference value and the preset satellite processing coefficient can be determined by the user according to the actual application scenario. The smaller the value of the preset dangerous vehicle reference value and the larger the value of the preset satellite processing coefficient, the greater the user's need to select the navigation satellite corresponding to the similar vehicle group according to the influence coefficient and the processing reference value. A value of the preset dangerous vehicle reference value and the preset satellite processing coefficient is provided, and the historical records of selecting the navigation satellite corresponding to the similar vehicle group according to the influence coefficient and the processing reference value are detected, and the average value of the dangerous vehicle reference values ​​corresponding to the historical records that can meet the user's needs is recorded as the preset dangerous vehicle reference value, and the average value of the satellite processing coefficients corresponding to the historical records that can meet the user's needs is recorded as the preset satellite processing coefficient;

[0090] The impact coefficient is the average value of the conflict reference values ​​corresponding to each vehicle in a single similar vehicle group, and the comprehensive evaluation value is the sum of the difficulty thresholds corresponding to each vehicle in a single similar vehicle group in the current monitoring period;

[0091] The conflict reference value corresponding to a single vehicle = collaborative difference × difference coefficient + vehicle boundary coefficient × vehicle coefficient. The collaborative difference is the average value of the sub-vector angles corresponding to each monitoring point in the current monitoring period. For a single vehicle and a single satellite, the vehicle is recorded as the second target vehicle, and the satellite is recorded as the first target satellite. The moving trajectories of the second target vehicle and the first target satellite in the current monitoring period are detected. The position of the second target vehicle at each monitoring point is recorded as a reference point, and the position of the first target satellite at each monitoring point is recorded as a satellite point. The vector angle corresponding to each reference point is detected. The confirmation method for the vector angle corresponding to a single reference point is as follows: for a reference point, the reference point is recorded as a target reference point, the satellite point corresponding to the monitoring point where the target reference point is located is detected, and the satellite point is recorded as a target satellite point. The vector angle corresponding to the target satellite point is recorded as The vector corresponding to the target reference point The angle ε between them is recorded as the vector angle, , the vectors corresponding to each reference point and satellite point are tangent to the corresponding moving trajectory and the direction of the vector is the same as the moving direction. The sub-vector angle is the average value of the vector angles corresponding to each reference point of a single monitoring point, where i is the i-th monitoring point;

[0092] The vehicle boundary coefficient is the average value of the sub-distances corresponding to each monitoring point in the current monitoring cycle. The method for confirming the sub-vehicle boundary coefficient is as follows: at a single monitoring point, the range that the first target satellite can navigate is recorded as the reference range, the center of the reference range is recorded as the reference center, and the shortest distance from the center position of a single vehicle to the reference center is recorded as the sub-distance;

[0093] The values ​​of the difference coefficient and the vehicle coefficient can be obtained by the user through deep learning convolutional neural network learning for historical records. It can be understood that the present invention reflects the degree of navigation conflict through the collaborative difference and the vehicle boundary coefficient. The user can respectively select the values ​​of the difference coefficient and the vehicle coefficient according to the influence of the collaborative difference and the vehicle boundary coefficient on the degree of navigation conflict. The larger the values ​​of the difference coefficient and the vehicle coefficient, the greater the influence on the degree of navigation conflict. Among them, the difference coefficient + vehicle coefficient = 1, and a value of the difference coefficient and the vehicle coefficient is provided, the difference coefficient is 0.5, and the vehicle coefficient is 0.5;

[0094] The value of the preset influence coefficient can be determined by the user according to the actual application scenario. The greater the user's demand for improving the stability of satellite navigation, the smaller the value of the preset influence coefficient. A value of the preset influence coefficient is provided, and the historical records of selecting navigation satellites according to the influence coefficient and the processing reference value are detected, and the average value of the influence coefficients corresponding to the historical records that can meet the user's needs is recorded as the preset influence coefficient.

[0095] The similar vehicle group is determined according to the path similarity coefficient and the interval distance, wherein the vehicles that need to be navigated in the current monitoring period are recorded as vehicles to be navigated, and similarity analysis is performed on each vehicle to be navigated. When similarity analysis is performed on a single vehicle to be navigated, the vehicle to be navigated is recorded as a target vehicle to be navigated, and a set of reference vehicles to be navigated whose path similarity coefficient with the target vehicle to be navigated is greater than a preset path similarity coefficient and whose interval distance is less than a preset interval distance and the target vehicle to be navigated are recorded as a similar vehicle group, and similarity analysis is continued for the vehicles to be navigated that are not recorded in the similar vehicle group until all vehicles to be navigated are recorded in the similar vehicle group;

[0096] The method for confirming the path similarity coefficient is as follows: for two vehicles to be navigated, the paths of the two vehicles to be navigated to the destination are detected, which are recorded as the first path and the second path respectively; the path similarity coefficient = the length of the overlapping path of the first path and the second path / the larger value of the length corresponding to the first path and the second path; the interval distance is the shortest distance between the corresponding center positions of the two vehicles to be navigated;

[0097] The values ​​of the preset path similarity coefficient and the preset interval distance can be determined by the user according to the actual application scenario. The greater the user's demand for improving the similarity of the vehicles to be navigated in the similar vehicle group, the smaller the values ​​of the preset path similarity coefficient and the preset interval distance are. Provided are values ​​of the preset path similarity coefficient and the preset interval distance, the preset path similarity coefficient is 60%, and the preset interval distance is 200m.

[0098] Specifically, when the navigation state is that the dangerous vehicle reference value is less than the preset dangerous vehicle reference value and the satellite processing coefficient is greater than or equal to the preset satellite processing coefficient, the navigation mode is to select a navigation satellite according to the distance reference value and the conflict reference value;

[0099] Among them, satellite matching is performed for each vehicle. When satellite matching is performed for a single vehicle, the vehicle is recorded as a to-be-matched vehicle, and the to-be-matched satellite with the smallest distance reference value to the to-be-matched vehicle is selected as the navigation satellite. The to-be-matched satellite is a satellite whose conflict reference value with the to-be-matched vehicle is greater than a preset conflict reference value.

[0100] Among them, the distance reference value is the shortest distance from a single vehicle to a single satellite. The value of the preset conflict reference value can be determined by the user according to the actual application scenario. The greater the user's demand for improving navigation stability, the smaller the value of the preset conflict reference value. A value of the preset conflict reference value is provided, and the historical records of selecting navigation satellites based on the distance reference value and the conflict reference value are detected. The average value of the conflict reference values ​​corresponding to the historical records that can meet the user's needs is recorded as the preset conflict reference value.

[0101] Specifically, when performing satellite switching for a single navigated vehicle, the navigated vehicle is recorded as a target vehicle, the navigation satellite of the target vehicle is recorded as a target satellite, and the switching method is determined according to the radiation satellite processing coefficient corresponding to the target satellite;

[0102] If the radiation satellite processing coefficient is greater than or equal to the preset radiation satellite processing coefficient, the switching method is to select the first radiation satellite with the smallest total cumulative error value for switching;

[0103] If the radiation satellite processing coefficient is less than the preset radiation satellite processing coefficient, the switching mode is to determine the optimization mode according to the cross coefficient;

[0104] The first radiation satellite is a satellite whose conflict reference value with the target vehicle is less than a preset conflict reference value and is within the first satellite range.

[0105] Among them, the first satellite range is the set of other satellites except the target satellite, the navigated vehicle is a vehicle that has selected the corresponding navigation satellite, the radiation satellite processing coefficient is the minimum value of the processing reference values ​​corresponding to the first radiation satellites, and the value of the preset radiation satellite processing coefficient can be determined by the user according to the actual application scenario. The larger the value of the preset radiation satellite processing coefficient, the greater the user's demand for determining the optimization method according to the cross coefficient. A value of the preset radiation satellite processing coefficient is provided, and the historical records of selecting the first radiation satellite with the smallest total cumulative error value for switching are detected, and the average value of the radiation satellite processing coefficients corresponding to the historical records that can meet the user's needs is recorded as the preset radiation satellite processing coefficient;

[0106] The total cumulative error value is the sum of the cumulative error reference values ​​corresponding to the vehicle being navigated by a single satellite. The cumulative error reference value corresponding to a single vehicle being navigated is the maximum value of the heading angle deviation corresponding to each monitoring point in the current monitoring period. The heading angle deviation is the absolute value of the difference between the heading angle measured by the gyroscope and the heading angle measured by GPS.

[0107] The cross coefficient is the minimum value of the cross thresholds corresponding to the first radiation satellites. The cross threshold is confirmed by, for a single first radiation satellite, recording the area of ​​the same coverage range of the first radiation satellite and the target satellite as the cross threshold.

[0108] Specifically, the optimization method is determined according to the cross coefficient;

[0109] If the cross coefficient is greater than or equal to the preset cross coefficient, the optimization method is to perform a switch according to the cross threshold. When performing a switch according to the cross threshold, the target satellite is used as the navigation satellite of the first pre-switching group corresponding to the first radiation satellite with the largest cross threshold, and the first radiation satellite with the largest cross threshold is used as the navigation satellite of the target vehicle;

[0110] If the crossover coefficient is less than the preset crossover coefficient, the optimization method is to perform a secondary switch according to the number of matching satellites;

[0111] The first pre-switching group is determined according to a vehicle evaluation value.

[0112] Among them, the confirmation method of the first pre-switching group is to record the vehicles in the same coverage area of ​​the target satellite and the first radiation satellite as the first vehicles to be switched, and accumulate the vehicle evaluation values ​​corresponding to the first vehicles to be switched in order from small to large until the evaluation difference between the total value of the accumulated vehicle evaluation values ​​and the vehicle evaluation value of the target vehicle is less than the preset evaluation difference, and record the set of the first vehicles to be switched corresponding to the accumulated vehicle evaluation values ​​as the first pre-switching group;

[0113] The value of the preset cross coefficient can be determined by the user according to the actual application scenario. The larger the value of the preset cross coefficient, the greater the user's need for secondary switching according to the number of matching satellites. A value of the preset cross coefficient is provided, and the historical records of a single switch according to the cross threshold are detected, and the average value of the cross coefficient corresponding to the historical records that can meet the user's needs is recorded as the preset cross coefficient;

[0114] Vehicle evaluation value = speed fluctuation value + trajectory shear value, where the speed fluctuation value is the standard deviation of the speed of a single vehicle at each monitoring point during the current monitoring period;

[0115] The method for confirming the trajectory shear value is to record a single vehicle as the analysis vehicle, detect the reference points corresponding to the moving trajectory of the analysis vehicle in the current monitoring period, and detect the trajectory angle corresponding to each reference point. The method for confirming the trajectory angle corresponding to a single reference point is to record a reference point as the target reference point, and record the vector corresponding to the reference point adjacent to the target reference point and located before the target reference point in the moving order The vector corresponding to the target reference point The angle α between them is recorded as the trajectory angle, , the vector corresponding to each reference point is tangent to the moving trajectory and the direction of the vector is the same as the moving direction. The reference point whose trajectory angle is greater than the preset trajectory angle is recorded as a trajectory node. The trajectory shear value is the standard deviation of the trajectory angle corresponding to each trajectory node. The value of the preset trajectory angle can be determined by the user according to the actual application scenario. A preset trajectory angle value is provided, and the preset trajectory angle is 60°; the moving order is the order in which each reference point is reached;

[0116] The total vehicle evaluation value is the sum of the accumulated vehicle evaluation values, and the evaluation difference = |total vehicle evaluation value-vehicle evaluation value of the target vehicle|. The value of the preset evaluation difference can be determined by the user according to the actual application scenario. The greater the user's demand for the stability of satellite navigation, the smaller the value of the preset evaluation difference. A preset evaluation difference value is provided to detect the historical records of switching according to the crossing threshold, and the average value of the evaluation difference corresponding to the historical records that can meet the user's needs is recorded as the preset evaluation difference.

[0117] Specifically, determining the navigation switching mode of the second pre-switching group according to the processing difficulty coefficient of the second radiating satellite;

[0118] If the processing difficulty coefficient is greater than or equal to the preset processing difficulty coefficient, the navigation switching mode is to select the second switching satellite with the smallest difficulty threshold for switching;

[0119] If the processing difficulty coefficient is less than the preset processing difficulty coefficient, the navigation switching mode is to determine the secondary switching mode according to the number of coincident satellites;

[0120] The second radiating satellite is a satellite whose influence coefficient with the second pre-switching group is less than the preset influence coefficient and is within the second satellite range. The matching satellite is a second radiating satellite whose satellite evaluation coefficient is greater than the preset satellite evaluation coefficient. The second pre-switching group is determined according to the difficulty threshold.

[0121] Among them, the second satellite range is a set of other satellites except the target satellite and the first radiation satellite. The confirmation method of the second pre-switching group is to record the vehicles in the same coverage area of ​​the first switching satellite and the second radiation satellite as the second vehicles to be switched, and accumulate the difficulty thresholds corresponding to the second vehicles to be switched in order from small to large until the difficulty difference between the total value of the accumulated difficulty threshold and the difficulty threshold of the target vehicle is less than the preset difficulty difference, and the set of the second vehicles to be switched corresponding to the accumulated difficulty threshold is recorded as the second pre-switching group; the number of matching satellites is the total number of matching satellites;

[0122] The processing difficulty coefficient is the minimum value of the processing difficulty reference values ​​corresponding to the second radiation satellites, and the processing difficulty reference value is the sum of the difficulty thresholds corresponding to the vehicle being navigated by a single satellite in the current monitoring period;

[0123] Satellite evaluation coefficient = processing reference value + channel reference value. The channel reference value is the channel capacity allocated by a single satellite to the current navigation vehicle. It is composed of two dimensions: time slot and carrier frequency. Assuming that the observation satellite has n1 carrier frequencies that can be used for vehicle navigation, each frame is composed of n2 time slots in time. Each terminal is only allowed to have one burst in a frame, and a burst is completed in one time slot. At this time, the channel reference value = n1×n2. The time slot is to divide the time into several fixed time periods, and each time period is allocated to a specific vehicle for navigation; the carrier frequency is the high-frequency electromagnetic wave frequency used to transmit information signals in the satellite; a burst refers to the phenomenon that the data flow suddenly increases in a short period of time. This is easy for technicians in this field to understand and will not be elaborated here.

[0124] The values ​​of the preset processing difficulty coefficient and the preset satellite evaluation coefficient can be determined by the user according to the actual application scenario. The larger the value of the preset processing difficulty coefficient is, the greater the user's demand for determining the secondary switching method according to the number of matching satellites is. A value of the preset processing difficulty coefficient is provided, and the historical records of selecting the second switching satellite with the smallest difficulty threshold for switching are detected. The average value of the processing difficulty coefficients corresponding to the historical records that can meet the user's needs is recorded as the preset processing difficulty coefficient; the greater the user's demand for improving navigation stability is, the larger the value of the preset satellite evaluation coefficient is. A value of the preset satellite evaluation coefficient is provided, and the average value of the satellite evaluation coefficients corresponding to the historical records that can meet the user's needs is recorded as the preset satellite evaluation coefficient.

[0125] The total value of the difficulty threshold is the sum of the accumulated difficulty thresholds, and the difficulty difference is the absolute value of the difference between the total value of the difficulty threshold and the difficulty threshold of the target vehicle. The value of the preset difficulty difference can be determined by the user according to the actual application scenario. The greater the user's demand for the stability of satellite navigation, the smaller the value of the preset difficulty difference. A preset difficulty difference value is provided, and the average value of the difficulty difference corresponding to the historical records that can meet the user's needs is recorded as the preset difficulty difference.

[0126] Specifically, the first switching satellite is determined according to the accumulated error difference and the attitude evaluation value;

[0127] If the cumulative error difference is greater than or equal to the preset cumulative error difference or the attitude evaluation value is greater than or equal to the preset attitude evaluation value, select the first radiating satellite with the smallest comprehensive evaluation value as the first switching satellite;

[0128] If the accumulated error difference is less than the preset accumulated error difference and the attitude evaluation value is less than the preset attitude evaluation value, the first radiation satellite with the smallest fluctuation evaluation value is selected as the first switching satellite.

[0129] The cumulative error difference and attitude evaluation value are confirmed in the following way: for a single satellite, the vehicle being navigated by the satellite is recorded as the reference vehicle, the maximum value of the cumulative error reference values ​​corresponding to each reference vehicle is recorded as a1, the minimum value is recorded as a2, and the cumulative error difference = (a1-a2) / a1; the maximum value of the attitude change coefficient corresponding to each reference vehicle is recorded as b1, the minimum value is recorded as b2, and the attitude evaluation value = (b1-b2) / b1;

[0130] The preset cumulative error difference and the preset attitude evaluation value can be determined by the user according to the actual application scenario. The smaller the preset cumulative error difference and the preset attitude evaluation value, the greater the user's need to select the first radiation satellite with the smallest difference evaluation value as the first switching satellite. Provide a preset cumulative error difference and a preset attitude evaluation value, the preset cumulative error difference is 50%, and the preset attitude evaluation value is 50%;

[0131] The difference evaluation value = cumulative error difference + posture evaluation value, the fluctuation evaluation value = the standard deviation of the cumulative error reference value corresponding to each reference vehicle + the standard deviation of the posture change coefficient corresponding to each reference vehicle.

[0132] Specifically, the secondary switching method is determined according to the number of matching satellites;

[0133] If the number of matching satellites is greater than or equal to the number of vehicles in the second pre-switching group, the secondary switching mode is to select matching satellites according to the attitude change coefficient. When selecting matching satellites according to the attitude change coefficient, when selecting matching satellites for a single vehicle to be assigned, the matching satellite with the smallest attitude change coefficient and no assigned vehicle to be assigned is selected as the navigation satellite;

[0134] If the number of matching satellites is less than the number of vehicles in the second pre-switching group, the secondary switching method is to increase the allocation time for the unallocated vehicles;

[0135] The increase in the allocation time of unallocated vehicles is negatively correlated with the minimum reference value of processing difficulty.

[0136] Among them, the secondary switching mode is that when the allocation time of the unallocated vehicle is increased, the allocation processing is performed for each to-be-allocated vehicle in the order of the attitude reference value from small to large, and when the allocation processing is performed for a single to-be-allocated vehicle, the to-be-allocated vehicle is allocated to any matching satellite of the unallocated to-be-allocated vehicle, and the allocation processing is continued for the unallocated to-be-allocated vehicle until the matching satellite is allocated;

[0137] The to-be-allocated vehicles that are not allocated to the matching satellites are recorded as unallocated vehicles, and the allocation time of the unallocated vehicles is increased and adjusted. When allocating the unallocated vehicles, the matching satellite corresponding to the minimum processing difficulty reference value is selected as the navigation satellite;

[0138] The vehicles to be assigned are the vehicles in the second pre-switching group, the number of vehicles in the second pre-switching group is the total number of vehicles in the second pre-switching group, and the attitude change coefficient is the amount of change in the attitude angle of a single matching satellite when navigating a single vehicle in the second pre-switching group. The attitude angle is determined by installing multiple (usually 3 or more) GPS receivers on the observation satellite, receiving signals from multiple GPS receivers at the same time, and calculating the attitude angle of the observation satellite by inversely calculating the three-dimensional coordinates on each receiver. This is easy for those skilled in the art to understand and will not be elaborated on here; the attitude reference value is the average value of the attitude change coefficients corresponding to the single vehicle to be assigned and each matching satellite;

[0139] The allocation time is the time for allocating unallocated vehicles to matching satellites, and the minimum processing difficulty reference value is the minimum value of the processing difficulty reference values ​​corresponding to the matching satellites.

[0140] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0141] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A combined navigation method based on data analysis, characterized in that: include: Determine the environmental complexity based on the vehicle impact coefficient, and determine the dangerous vehicle based on the posture change coefficient and environmental complexity; Determine a navigation state according to a dangerous vehicle reference value and a satellite processing coefficient, and determine a navigation mode according to the navigation state, wherein the navigation mode is to select a navigation satellite according to an influence coefficient and a processing reference value, or to select a navigation satellite according to a distance reference value and a conflict reference value; Determine whether to switch satellites for the navigated vehicle based on the vehicle boundary coefficient and the coordination difference. When switching satellites for the navigated vehicle, determine the switching method based on the radiation satellite processing coefficient. The switching method is to select the radiation satellite with the smallest total cumulative error value for switching or determine the optimization method based on the cross coefficient. The optimization method is to perform a single switch based on the crossing threshold or a secondary switch based on the number of matching satellites; When performing secondary switching according to the number of coincident satellites, the first switching satellite is used as the navigation satellite of the target vehicle for navigation, and the navigation switching mode of the second pre-switching group is determined according to the processing difficulty coefficient of the second radiating satellite. The navigation switching mode is to select the second switching satellite with the smallest difficulty threshold for switching or to determine the secondary switching mode according to the number of coincident satellites. The secondary switching mode is to select the coincident satellite according to the attitude change coefficient or to increase the allocation time for the unallocated vehicle. The first switching satellite is determined according to the accumulated error difference and the attitude evaluation value.

2. The integrated navigation method based on data analysis according to claim 1, characterized in that: The dangerous vehicle is a vehicle that meets preset conditions, where the preset conditions are that a posture change coefficient is greater than or equal to a preset posture change coefficient or an environmental complexity is greater than or equal to a preset environmental complexity.

3. The integrated navigation method based on data analysis according to claim 2, characterized in that: Determine the environmental complexity based on the vehicle impact coefficient; If the vehicle influence coefficient is greater than or equal to the preset vehicle influence coefficient, the environmental complexity is determined according to the combined interference coefficient and the limit reference value; If the vehicle impact coefficient is less than the preset vehicle impact coefficient, the environmental complexity is determined according to the restricted reference value.

4. The integrated navigation method based on data analysis according to claim 3, characterized in that: When the navigation state is that the dangerous vehicle reference value is greater than or equal to the preset dangerous vehicle reference value or the satellite processing coefficient is less than the preset satellite processing coefficient, the navigation mode is to select a navigation satellite according to the influence coefficient and the processing reference value, wherein, Determine the priority coefficient for selecting a navigation satellite for a similar vehicle group according to the comprehensive evaluation value, and for a single similar vehicle group, select a matching satellite with the largest processing reference value and which has not performed navigation for the similar vehicle group as a navigation satellite, wherein the matching satellite is a satellite with an influence coefficient less than a preset influence coefficient; The priority coefficient of the navigation satellite selected by the similar vehicle group is positively correlated with the comprehensive evaluation value, and the similar vehicle group is determined according to the path similarity coefficient and the interval distance.

5. The integrated navigation method based on data analysis according to claim 4, characterized in that: When the navigation state is that the dangerous vehicle reference value is less than the preset dangerous vehicle reference value and the satellite processing coefficient is greater than or equal to the preset satellite processing coefficient, the navigation mode is to select a navigation satellite according to the distance reference value and the conflict reference value, wherein, Satellite matching is performed for each vehicle. When satellite matching is performed for a single vehicle, the vehicle is recorded as a to-be-matched vehicle, and the to-be-matched satellite with the smallest distance reference value to the to-be-matched vehicle is selected as the navigation satellite. The to-be-matched satellite is a satellite whose conflict reference value with the to-be-matched vehicle is greater than a preset conflict reference value.

6. The integrated navigation method based on data analysis according to claim 5, characterized in that: When performing satellite switching for a single navigated vehicle, the navigated vehicle is recorded as a target vehicle, the navigation satellite of the target vehicle is recorded as a target satellite, and the switching mode is determined according to the radiation satellite processing coefficient corresponding to the target satellite; If the radiation satellite processing coefficient is greater than or equal to the preset radiation satellite processing coefficient, the switching method is to select the first radiation satellite with the smallest total cumulative error value for switching; If the radiation satellite processing coefficient is less than the preset radiation satellite processing coefficient, the switching mode is to determine the optimization mode according to the cross coefficient; The first radiation satellite is a satellite whose conflict reference value with the target vehicle is less than a preset conflict reference value and is within the first satellite range.

7. The integrated navigation method based on data analysis according to claim 6, characterized in that: Determine the optimization method according to the cross coefficient; If the cross coefficient is greater than or equal to the preset cross coefficient, the optimization method is to perform a switch according to the cross threshold. When performing a switch according to the cross threshold, the target satellite is used as the navigation satellite of the first pre-switching group corresponding to the first radiation satellite with the largest cross threshold, and the first radiation satellite with the largest cross threshold is used as the navigation satellite of the target vehicle; If the crossover coefficient is less than the preset crossover coefficient, the optimization method is to perform a secondary switch according to the number of matching satellites; The first pre-switching group is determined according to a vehicle evaluation value.

8. The integrated navigation method based on data analysis according to claim 7, characterized in that: Determining a navigation switching mode of the second pre-switching group according to a processing difficulty coefficient of the second radiating satellite; If the processing difficulty coefficient is greater than or equal to the preset processing difficulty coefficient, the navigation switching mode is to select the second switching satellite with the smallest difficulty threshold for switching; If the processing difficulty coefficient is less than the preset processing difficulty coefficient, the navigation switching mode is to determine the secondary switching mode according to the number of coincident satellites; The second radiating satellite is a satellite whose influence coefficient with the second pre-switching group is less than the preset influence coefficient and is within the second satellite range. The matching satellite is a second radiating satellite whose satellite evaluation coefficient is greater than the preset satellite evaluation coefficient. The second pre-switching group is determined according to the difficulty threshold.

9. The integrated navigation method based on data analysis according to claim 8, characterized in that: The first switching satellite is determined according to the accumulated error difference and the attitude evaluation value; If the cumulative error difference is greater than or equal to the preset cumulative error difference or the attitude evaluation value is greater than or equal to the preset attitude evaluation value, select the first radiating satellite with the smallest comprehensive evaluation value as the first switching satellite; If the accumulated error difference is less than the preset accumulated error difference and the attitude evaluation value is less than the preset attitude evaluation value, the first radiation satellite with the smallest fluctuation evaluation value is selected as the first switching satellite.

10. The integrated navigation method based on data analysis according to claim 8, characterized in that: Determine the secondary switching mode according to the number of coincident satellites; If the number of matching satellites is greater than or equal to the number of vehicles in the second pre-switching group, the secondary switching mode is to select matching satellites according to the attitude change coefficient. When selecting matching satellites according to the attitude change coefficient, when selecting matching satellites for a single vehicle to be assigned, the matching satellite with the smallest attitude change coefficient and no assigned vehicle to be assigned is selected as the navigation satellite; If the number of matching satellites is less than the number of vehicles in the second pre-switching group, the secondary switching method is to increase the allocation time for the unallocated vehicles; The increase in the allocation time of unallocated vehicles is negatively correlated with the minimum reference value of processing difficulty.

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