Integrated navigation positioning system and method, vehicle and computer readable storage medium

Abstract

The invention provides an integrated navigation and positioning system and method, a vehicle and a computer readable storage medium, and the integrated navigation and positioning system comprises an electronic stability control module which is used for outputting a first output signal, and the first output signal comprises a first sensing signal outputted by a first inertial unit in the electronic stability control module; and the combined navigation module is used for receiving the first output signal and fusing the first output signal with a second sensing signal output by a second inertial unit in the combined navigation module, and the combined navigation module performs positioning navigation according to the fused signal. In the application, the first sensing signal of the first inertial unit of the electronic stability control module can be fused with the second sensing signal of the second inertial unit of the combined navigation module, so that the accumulated error of the fused signal is reduced, and the positioning precision of the combined navigation module is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle intelligent navigation, and in particular to a combined navigation and positioning system, method, vehicle and computer-readable storage medium. Background Art

[0002] With the development of science and technology, single-module vehicle navigation can no longer meet people's demand for navigation and positioning accuracy, so the concept of combined navigation came into being. Combined navigation system is a system that can integrate multiple navigation modules, which can provide more accurate, reliable and continuous positioning, navigation and time services than a single navigation system.

[0003] For example, the global navigation satellite system (GNSS) and the inertial navigation system can be combined to form a combined navigation system. Among them, GNSS has the characteristics of global, all-weather, and long-term positioning accuracy, while the inertial navigation system does not rely on the external environment, and outputs information continuously, and has the characteristics of high positioning accuracy in a short period of time. The combination of the two can provide a high-precision, high-reliability combined navigation system.

[0004] However, due to the complex and changeable road environment, the GNSS satellite navigation signal may be blocked for a long time, so that the vehicle cannot receive the GNSS satellite navigation signal while driving. At this time, as time accumulates, the inertial measurement navigation signal output by the inertial navigation system will diverge, resulting in a sharp drop in the positioning accuracy of the combined navigation. Summary of the invention

[0005] In view of this, embodiments of the present application are directed to providing a combined navigation and positioning system, method, vehicle, and computer-readable storage medium.

[0006] In a first aspect, a combined navigation and positioning system is provided, which is used in a vehicle, and includes: an electronic stability control module, which is used to output a first output signal, wherein the first output signal includes a first sensor signal output by a first inertial unit in the electronic stability control module; and a combined navigation module, which is used to receive the first output signal and fuse the first output signal with a second sensor signal output by a second inertial unit in the combined navigation module, wherein the combined navigation module performs positioning and navigation on the vehicle according to the fused signal.

[0007] According to the first aspect, the first output signal of the electronic stability control module includes a vehicle body roll warning signal; the integrated navigation module is also used to locate and navigate the vehicle based on the vehicle body roll warning signal.

[0008] According to the first aspect, or any implementation of the first aspect above, when the first output signal does not include a vehicle body roll warning signal, the input information of the combined navigation algorithm of the combined navigation module includes the vehicle's incompleteness constraint information; and / or when the first output signal includes a vehicle body roll warning signal, the input information of the combined navigation algorithm of the combined navigation module does not include the vehicle's incompleteness constraint information.

[0009] According to the first aspect, or any implementation of the first aspect, the first inertial unit includes one or more of the following: a horizontal axis accelerometer; a yaw angular velocity.

[0010] According to the first aspect, or any implementation of the first aspect, the second inertial unit includes one or more of the following: a three-axis gyroscope; a three-axis accelerometer.

[0011] In a second aspect, the present application provides a combined navigation and positioning method, which is applied in a vehicle, and the method includes: outputting a first output signal, the first output signal including a first sensor signal output by a first inertial unit in an electronic stability control module; fusing the first output signal with a second sensor signal output by a second inertial unit in the combined navigation module, and the combined navigation module performs positioning and navigation on the vehicle according to the fused signal.

[0012] According to the second aspect, the first output signal of the electronic stability control module includes a vehicle body roll warning signal; the integrated navigation module is also used to locate and navigate the vehicle based on the vehicle body roll warning signal.

[0013] According to the second aspect, or any implementation of the second aspect above, when the first output signal does not include a vehicle body roll warning signal, the input information of the combined navigation algorithm of the combined navigation module includes the incompleteness constraint information of the vehicle; and / or when the first output signal includes a vehicle body roll warning signal, the input information of the combined navigation algorithm of the combined navigation module does not include the incompleteness constraint information of the vehicle.

[0014] In a third aspect, the present application provides a vehicle comprising the combined navigation and positioning system of the first aspect and any possible implementation of the first aspect.

[0015] In a fourth aspect, the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the processor executes a combined navigation method such as the second aspect or any one of the possible implementations of the second aspect.

[0016] In a fifth aspect, an embodiment of the present application provides a computer program, which includes instructions for executing the combined navigation method in the second aspect and any possible implementation of the second aspect.

[0017] In the present application, the first sensor signal of the first inertial unit of the electronic stability control module can be fused with the second sensor signal of the second inertial unit of the integrated navigation module, and the integrated navigation module can locate and navigate the vehicle according to the fused signal. Based on this, by fusion of the first sensor signal and the second sensor signal, the cumulative error of the fused signal is reduced, thereby improving the positioning accuracy of the integrated navigation module. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the structure of a combined navigation and positioning system provided in an embodiment of the present application.

[0019] Figure 2 A schematic diagram of the structure of an electronic stability control module provided in an embodiment of the present application.

[0020] Figure 3 A schematic diagram of the structure of a combined navigation module provided in an embodiment of the present application.

[0021] Figure 4 A schematic diagram of the structure of another combined navigation and positioning system provided in an embodiment of the present application.

[0022] Figure 5 A schematic flow chart of a combined navigation and positioning method provided in an embodiment of the present application.

[0023] Figure 6 This is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present application.

[0024] Figure 7 A schematic diagram of a car provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0026] The term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0027] The terms "first" and "second" in the description and claims of the embodiments of the present application are used to distinguish different objects rather than to describe a specific order of objects. For example, a first target object and a second target object are used to distinguish different target objects rather than to describe a specific order of target objects.

[0028] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0029] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0030] The in-vehicle navigation system has brought great convenience to people's lives and helped people a lot in their travel. The navigation system may include, for example, GNSS, inertial navigation system, etc.

[0031] GNSS can determine the location of the receiver by receiving signals from satellites in the Earth's orbit. GNSS can include the United States' global positioning system (GPS), Russia's global navigation satellite system (GLONASS), Europe's global navigation satellite system (Galileo), China's BeiDou system, etc. Since the satellite signals in GNSS can provide global coverage, GNSS has the characteristics of global, all-weather, long-term positioning with high accuracy.

[0032] The inertial navigation system is an autonomous navigation system. The inertial navigation system can use internal sensors to calculate position, speed, direction, etc. Since the inertial navigation system does not rely on external signals, it has strong concealment and anti-interference capabilities. The inertial navigation system can output signals continuously and has high positioning accuracy in a short period of time. However, as errors accumulate over time (such as sensor noise or system errors), the long-term positioning accuracy is poor.

[0033] With the development of science and technology, the single-module vehicle navigation system can no longer meet people's demand for combined navigation positioning accuracy, so the concept of combined navigation came into being. The combined navigation system is a system that can integrate multiple navigation modules. It can combine information from different navigation module systems through data fusion algorithms to provide more accurate, reliable and continuous positioning, navigation and time services than a single navigation system.

[0034] For example, a combined navigation system may include a GNSS and an inertial navigation system. In the combined navigation system, when the satellite signal of the GNSS is lost, the inertial navigation system may be used to assist in the continuous positioning and navigation of the vehicle. For example, GNSS provides high-precision positioning under the open sky, while the inertial navigation system may provide navigation in an environment where the satellite signal is limited (e.g., an obstructed environment). Therefore, the combined navigation system may achieve complementarity between a variety of single navigation systems, and may better combat external interference and environmental changes. When the vehicle receives the GNSS satellite navigation signal normally, the GNSS may also provide the inertial navigation system with information such as the vehicle's position and speed, so that the inertial navigation system may complete the calibration. Therefore, combined navigation may fuse the data of a variety of single navigation systems, thereby reducing the error of navigation positioning signals and improving navigation accuracy.

[0035] However, there are also some problems with the combined navigation system. Taking the combined navigation system including GNSS and inertial navigation system as an example, the combined navigation system cannot cope with the scenario where the satellite signal is blocked for a long time. For example, due to the complex and changeable road environment, when the vehicle has been in a city canyon, tunnel, under a bridge or in a mountainous area with dense high-rise buildings, the satellite navigation signal of GNSS may be blocked, so that the vehicle may not be able to receive the satellite navigation signal of GNSS for a long time. This situation is also called long-term loss of lock. At this time, the combined navigation system can rely on the inertial measurement navigation signal generated by the inertial measurement unit to continue navigation. However, as time accumulates, the inertial measurement navigation signal will diverge, that is, at this time, the positioning error of the inertial measurement navigation signal is also gradually increasing with the accumulation of time, resulting in a sharp drop in the positioning accuracy of the combined navigation.

[0036] In order to solve the technical problems arising in the above-mentioned combined navigation, in the present application, the first sensor signal of the first inertial unit of the electronic stability control module can be fused with the second sensor signal of the second inertial unit of the combined navigation module, and the combined navigation module can perform positioning and navigation for the vehicle according to the fused signal. Based on this, by fusion of the first sensor signal and the second sensor signal, the cumulative error of the fused signal is reduced, thereby improving the positioning accuracy of the combined navigation module.

[0037] Combine the following Figure 1 , the embodiments of the present application are described in detail.

[0038] Figure 1 It is a structural diagram of a combined navigation and positioning system according to an embodiment of the present application. Figure 1 The system shown can be used for application in a vehicle. Figure 1 As shown, the integrated navigation and positioning system 100 includes: an electronic stability control module 110 and an integrated navigation module 120, which are described below respectively.

[0039] The electronic stability control module 110 may be configured to output a first output signal.

[0040] In some embodiments, the electronic stability control module 110 may include a variety of sensors, such as inertial sensors, such as angular velocity sensors, or gyroscopes. Exemplarily, the electronic stability control module 110 may be an electronic stability control system (ESC) that comes with the vehicle. The electronic stability control system is an active safety adjustment system that assists the driver in controlling the vehicle. It can improve the vehicle's handling and stability by monitoring and adjusting the vehicle's handling and dynamic characteristics to prevent the vehicle from skidding and losing control. The electronic stability control system includes a variety of sensors. The electronic stability control system can detect the vehicle's driving state parameters in real time through the sensors, so that the electronic stability control system can automatically correct the instability of the vehicle body and maintain the lateral stability of the vehicle. For example, the current tilt state of the vehicle can be obtained through a horizontal axis accelerometer. The electronic stability control system can also monitor the real-time dynamics of the vehicle to evaluate whether the vehicle is driving normally. When the system detects that the vehicle may be out of control, such as when the vehicle is in emergency avoidance or turning, the problem of understeering or oversteering may occur, the electronic stability control system can automatically adjust the braking force and apply active control to the vehicle to maintain the stability and controllability of the vehicle, thereby safely controlling the vehicle. By using the vehicle's own electronic stability control system as the electronic stability control module 110, no additional hardware may be added, thereby saving costs when implementing the embodiments of the present application.

[0041] In some embodiments, the first output signal may include output signals of various sensors included in the electronic stability control module 110. For example, the first output signal may include the "real-time detection of vehicle driving state parameters" mentioned above or the "body roll warning signal" mentioned below. For specific explanations, please refer to the previous and following contents, and no further discussion will be given here.

[0042] In some embodiments, the electronic stability control module 110 may include a first inertial unit. Figure 2 As shown, Figure 2 1 is a schematic diagram of the structure of an electronic stability control module 110 provided in an embodiment of the present application. Figure 2In the embodiment, the electronic stability control module 110 may include: a first inertial unit 1110 .

[0043] In some embodiments, the first inertial unit 1110 may include one or more of the following: a horizontal axis accelerometer, a yaw angular velocity.

[0044] In some embodiments, when the electronic stability control module 110 includes a horizontal axis accelerometer and / or a yaw rate sensor, the horizontal axis accelerometer may be used to measure the yaw rate of the vehicle, and the yaw rate sensor may be used to measure the acceleration of the vehicle.

[0045] Optionally, the first inertial unit 1110 may include at least one horizontal axis accelerometer and at least one yaw rate sensor. For example, the first inertial unit 1110 may include two horizontal axis accelerometers and two yaw rate sensors. Exemplarily, the first inertial unit 1110 may be used to measure the yaw rate and acceleration of the vehicle.

[0046] Optionally, the first inertial unit 1110 may include only at least one horizontal axis accelerometer, or only at least one yaw rate sensor. Exemplarily, the first inertial unit 1110 may be used to measure the yaw rate of the vehicle, or to measure the acceleration of the vehicle.

[0047] In some embodiments, the electronic stability control module 110 may include one first inertial unit 1110 , or the electronic stability control module 110 may include a plurality of first inertial units 1110 , and the plurality of first inertial units 1110 may form a spatial combination to work together.

[0048] In some embodiments, the output signal of the first inertial unit 1110 may be a first sensing signal. Optionally, the first sensing signal may be an output signal of at least one horizontal axis accelerometer and at least one yaw angular velocity sensor. Optionally, the first sensing signal may be an output signal including only at least one horizontal axis accelerometer, or only including at least one yaw angular velocity sensor.

[0049] In some embodiments, the first sensor signal may also include information related to the real-time stability and maneuverability of the vehicle, which may be obtained by measuring key dynamic parameters such as the acceleration and angular velocity of the vehicle.

[0050] In some embodiments, the first output signal may include the first sensing signal. Optionally, when the first inertial unit 1110 includes two horizontal axis accelerometers and two yaw angular velocity sensors, the first output signal may include output signals of the horizontal axis accelerometer and the yaw angular velocity sensor.

[0051] The combined navigation module 120 may be configured to receive a first output signal.

[0052] In some embodiments, the integrated navigation module 120 may include a second inertial unit. Figure 3 As shown, Figure 3 It is a structural diagram of a combined navigation module 120 provided in an embodiment of the present application. Figure 3 In the embodiment, the combined navigation module 120 may include: a second inertial unit 1210 .

[0053] In some embodiments, the second inertial unit 1210 may include one or more of the following: a three-axis gyroscope, a three-axis accelerometer.

[0054] In some embodiments, when the second inertial unit 1210 includes a three-axis gyroscope and / or a three-axis accelerometer, the three-axis gyroscope can be used to measure the angular velocity, posture change, etc. of the vehicle, and the three-axis acceleration can be used to measure the overall acceleration of the vehicle, such as the acceleration, deceleration, and turning of the vehicle.

[0055] Optionally, the second inertial unit 1210 may include at least one three-axis gyroscope and at least one three-axis acceleration sensor. For example, the second inertial unit 1210 may include one three-axis gyroscope sensor and one three-axis accelerometer. Exemplarily, the first inertial unit 1110 may be used to measure the posture change of the vehicle, the acceleration of the whole vehicle, etc.

[0056] Optionally, the second inertial unit 1210 may include only at least one three-axis gyroscope, or only include at least one three-axis acceleration sensor. Exemplarily, the first inertial unit 1110 may be used to measure the posture change of the vehicle, or the acceleration of the entire vehicle.

[0057] In some embodiments, the integrated navigation module 120 may include one second inertial unit 1210, or the integrated navigation module 120 may include multiple second inertial units 1210, and these multiple second inertial units 1210 may form a spatial combination to work together.

[0058] In some embodiments, the output signal of the second inertial unit 1210 may be a second sensing signal. Optionally, the second sensing signal may include output signals of at least one three-axis gyroscope and at least one three-axis acceleration sensor. Optionally, the second sensing signal may include only output signals of at least one three-axis gyroscope or at least one three-axis acceleration sensor.

[0059] In some embodiments, the integrated navigation module 120 may further include a navigation module, illustratively, the navigation module is a GNSS, GNSS may refer to any satellite navigation system, including global, regional and enhanced, such as the GPS of the United States described above, the global navigation satellite system GLONASS of Russia, the global navigation satellite system Galileo of Europe, the Beidou satellite navigation system of China, and related enhancement systems. Optionally, the integrated navigation module 120 may include a GPS and a second inertial unit, or the integrated navigation module 120 may include a Beidou satellite navigation system and a second inertial unit. The selection of the navigation module may be determined based on the actual application scenario.

[0060] In some embodiments, the output signals of the GNSS and the second inertial unit in the combined navigation module 120 can be combined to perform satellite-inertial combination, that is, the satellite navigation signal output by the navigation module and the second sensor signal are fused to generate the navigation positioning signal of the combined navigation module 120, and the vehicle is positioned and navigated. However, when the road environment is complex and changeable, the satellite navigation signal of the GNSS may be blocked for a long time, so that the vehicle cannot receive the satellite navigation signal of the GNSS during driving. At this time, as time accumulates, the second sensor signal output by the second inertial unit will diverge, resulting in a sharp drop in the positioning accuracy of the combined navigation module.

[0061] In some embodiments, the integrated navigation module 120 may fuse the first output signal received from the electronic stability control module 110 with the second sensor signal.

[0062] Exemplarily, when the integrated navigation module 120 receives the first output signal of the electronic stability control module 110, the first output signal includes the first sensor signal output by the first inertial unit. The integrated navigation module 120 can fuse the first sensor signal with the second sensor signal, such as performing redundant processing on the first sensor signal and the second sensor signal. The redundant processing can detect the same physical value (such as angular velocity and acceleration) through multiple sensors, and then use data fusion technology to perform comprehensive processing on the output signals of these sensors to reduce the cumulative error of the output signals of the multiple sensors. When the integrated navigation module 120 fuses the first sensor signal with the second sensor signal, the cumulative error of the fused signal can be reduced.

[0063] In some embodiments, the integrated navigation module 120 can perform positioning navigation for the vehicle according to the fused signal. When the cumulative error of the signal fused by the second sensor signal of the integrated navigation module and the first sensor signal is reduced, the integrated navigation module fuses the fused signal with the satellite navigation signal, and the cumulative error of the navigation positioning signal generated by the integrated navigation module 120 will also be reduced, thereby improving the positioning accuracy of the integrated navigation module.

[0064] Exemplarily, when the electronic stability control module 110 and the integrated navigation module 120 perform navigation positioning on the vehicle, the integrated navigation module 120 may include a GNSS and a second inertial unit. The integrated navigation module 120 may receive a first output signal output by the electronic stability control module 110, and fuse the first sensor signal in the first output signal with the second sensor signal. The integrated navigation module 120 may generate a navigation positioning signal based on the fused data and the satellite navigation signal output by the GNSS, and position the vehicle based on the navigation positioning signal.

[0065] In some embodiments, the navigation positioning signal of the combined navigation module may include one or more of the following information: vehicle position, vehicle speed, and vehicle body posture, which are described below respectively.

[0066] The vehicle location may include dynamically updated vehicle geographic coordinates. For example, the vehicle location may be expressed in the form of longitude and latitude. The vehicle location may be real-time or may be a coordinate updated within a certain period of time. The integrated navigation module may display a vehicle icon on an electronic map based on the vehicle location.

[0067] Vehicle speed can include the distance the vehicle moves per unit time. For example, vehicle speed can be expressed in kilometers per hour (km / h) or miles per hour (mph). Vehicle speed can not only help drivers control driving speed and comply with traffic regulations, but also provide important data support for navigation systems to optimize route planning and improve driving safety.

[0068] The vehicle body posture may include the tilt and direction of the vehicle relative to the ground. For example, by acquiring the vehicle body posture information, the driver can be provided with key vehicle status data by integrating the tilt angle and direction of the vehicle. The vehicle body posture information may be the data measured and output by various sensors built into the vehicle, and may be combined with the navigation data of the integrated navigation module to ensure accurate direction guidance and lane positioning in complex terrain and changing road conditions.

[0069] In the present application, the first sensor signal of the first inertial unit of the electronic stability control module can be fused with the second sensor signal of the second inertial unit of the integrated navigation module, and the integrated navigation module can locate and navigate the vehicle according to the fused signal. Based on this, by fusion of the first sensor signal and the second sensor signal, the cumulative error of the fused signal is reduced, thereby improving the positioning accuracy of the integrated navigation module.

[0070] Figures 1 to 3 The embodiment shown improves the positioning accuracy of the integrated navigation module 120 by introducing the signal of the electronic stability control module 110. It should be noted that Figures 1 to 3The examples are only intended to help those skilled in the art understand the embodiments of the present application, and are not intended to limit the embodiments of the present application to the specific values ​​or specific scenarios illustrated. Figures 1 to 3 It is obvious that various equivalent modifications or changes can be made, and such modifications or changes also fall within the scope of the embodiments of the present application.

[0071] In some embodiments, the first output signal output by the electronic stability control module may also include a body roll warning signal of the current vehicle.

[0072] In some embodiments, the body roll warning signal may be a warning signal reported by a sensor when the signal obtained by the sensor exceeds a certain angle threshold when the vehicle is at a large turning angle causing the body to tilt. It should be noted that the body roll warning signal may be determined by a single sensor output, or by a spatial combination of several sensors. The specific number of sensor combinations is not limited in the embodiments of the present application.

[0073] In some embodiments, when the combined navigation module receives the first output signal, the first output signal may include a body roll warning signal of the current vehicle, and the combined navigation module may perform combined navigation on the current vehicle according to the body roll warning signal of the current vehicle.

[0074] In some embodiments, the electronic stability control module can monitor the current vehicle body posture information in real time. Optionally, the vehicle body posture information can be used to indicate the current roll state of the vehicle body. The electronic stability control module can make a judgment based on the current vehicle body posture information to determine whether it is necessary to output a vehicle body roll warning signal. In some embodiments, when the vehicle body posture information of the current vehicle exceeds a certain safety threshold, the first output signal of the electronic stability control module may include a vehicle body roll warning signal.

[0075] In some embodiments, the vehicle body roll warning signal is a key safety feature in the integrated navigation module. The integrated navigation module can trigger an early warning of potential roll risk based on the vehicle body roll warning signal so that risk avoidance measures can be taken in time. Optionally, vehicle roll information plays a vital role in the vehicle motion dynamics model, affecting the stability and safety of the vehicle. Therefore, in some embodiments, the integrated navigation module can further correct the navigation positioning signal in combination with the vehicle body roll information.

[0076] The electronic stability control module 110 can obtain the current vehicle posture information in real time through one sensor or a combination of multiple sensors during the vehicle's driving process. For example, the electronic stability control module can obtain the vehicle's current sideways tilt angle, the vehicle's current upward movement speed, and the vehicle's current corner speed.

[0077] In some embodiments, a threshold value may be set inside the electronic stability control module. If the current vehicle body posture information is within the safety threshold range, the first output signal of the electronic stability control module may not include the vehicle body roll warning signal of the current vehicle; if the current vehicle body posture information exceeds the safety threshold range, the first output signal of the electronic stability control module includes the vehicle body roll warning signal of the current vehicle. It should be noted that the threshold value mentioned in the embodiments of the present application may be a single numerical information, or the threshold value may also be a group of numerical information. For example, when the vehicle obtains the current vehicle body posture information in real time, such as the current sideways tilt angle of the vehicle and the current angular velocity of the vehicle, the threshold range of the current sideways tilt angle of the vehicle and the current angular velocity of the vehicle pre-set in the electronic stability control module is synchronously compared. When the current vehicle body posture information exceeds the safety threshold, the output signal of the electronic stability control module includes the vehicle body roll warning signal of the current vehicle.

[0078] In some embodiments, when the combined navigation module generates a navigation positioning signal, it can be combined with the current vehicle body roll warning signal to determine whether the generated navigation positioning signal needs to be reprocessed, thereby further improving the accuracy of the vehicle navigation positioning signal.

[0079] In the related art, the navigation and positioning signals generated by the integrated navigation module can be constrained by non-holonomic constraints (NHC), so as to further improve the accuracy of positioning and navigation. The non-holonomic constraint means that when the vehicle is driving, the velocity components in the vertical and lateral directions are assumed to be approximately zero, that is, it is assumed that there is almost no lateral sliding and vertical jumping during the normal driving of the ground vehicle. By using this priori condition, the accumulation of inertial navigation errors of the vehicle in motion can be improved to a certain extent, and the navigation and positioning signals output by the integrated navigation module can be further corrected.

[0080] In some embodiments, non-integrity constraints may be introduced to constrain the navigation positioning signal generated by the above-mentioned combined navigation module. That is, the navigation positioning signal of the combined navigation module is further corrected, thereby improving the problem of inertial navigation error accumulation when the vehicle has not received the satellite navigation signal output by the navigation system for a long time, and when the electronic stability control module has been introduced, thereby further improving the accuracy of vehicle navigation.

[0081] The inventor of the present application has found that the assumptions of the non-integrity constraint do not fully take the vehicle motion dynamics model into account. It is understandable that when a vehicle is traveling under complex and changeable road conditions, such as a sharp turn or an uneven road surface, the vehicle frequently turns or changes lanes, which will cause the actual motion state of the vehicle to not strictly meet the prior conditions of the non-integrity constraint. If the navigation positioning signal of the combined navigation module is still subject to non-integrity constraints under such circumstances, the estimation accuracy of some state quantities will be reduced, thereby causing the navigation positioning signal generated by the combined navigation module to have a large error. Therefore, the introduction of non-integrity constraints cannot meet the reliability and accuracy requirements of vehicle navigation in complex scenarios.

[0082] In some embodiments, it may be determined whether the input information of the combined navigation algorithm includes the incomplete constraint information of the current vehicle according to the current vehicle body roll warning signal.

[0083] Optionally, when the vehicle does not receive a vehicle body roll warning signal during driving, the input information of the combined navigation algorithm of the combined navigation module may include the non-integrity constraint information of the current vehicle.

[0084] It can be understood that when the vehicle is driving on a smooth road, the current body posture information obtained by the electronic stability control module is within the safety threshold range of whether the electronic stability control module outputs a body roll warning signal. At this time, the navigation positioning signal of the above-mentioned combined navigation module can be constrained by the non-completeness constraint, that is, the input information of the combined navigation algorithm of the above-mentioned combined navigation module can include the non-completeness constraint information of the current vehicle. Thereby further optimizing the problem of inertial navigation error accumulation, thereby improving the positioning accuracy of the combined navigation module.

[0085] Optionally, when the vehicle receives a vehicle body roll warning signal during driving, the input information of the combined navigation algorithm of the combined navigation module does not include the vehicle's incomplete constraint information.

[0086] It can also be understood that when the vehicle is driving under complex road conditions, the current vehicle posture information obtained by the electronic stability control module exceeds the safety threshold range of the electronic stability control module, indicating that the current vehicle operation conditions do not match the assumptions of the non-integrity constraint. Therefore, the navigation positioning signal of the above-mentioned integrated navigation module can no longer be constrained by the non-integrity constraint, that is, the input information of the integrated navigation algorithm of the above-mentioned integrated navigation module does not contain the vehicle's non-integrity constraint information.

[0087] For ease of understanding, the following Figure 4 Take the following as an example to illustrate the technical solution of the present application.

[0088] Figure 4Schematic diagram of the structure of a combined navigation and positioning system 400 provided in an embodiment of the present application. Figure 4 As shown, in this embodiment, the integrated navigation and positioning system 400 can be used in a vehicle, and the integrated navigation and positioning system 400 can include an electronic stability control module 410 and an integrated navigation module 420 .

[0089] The electronic stability control module 410 may include a first inertial unit 4110 and a vehicle body posture module 4120. The first inertial unit 4110 may output a first sensing signal, and the vehicle body posture module may output a vehicle body roll warning signal. The electronic stability control module 410 may output a first output signal, and the first output signal may include a first sensing signal and / or a vehicle body roll warning signal.

[0090] The integrated navigation module 420 may include a GNSS 4210 and a second inertial unit 4220. The GNSS 4210 may output a satellite navigation signal, and the second inertial unit 4220 may output a second sensing signal.

[0091] The integrated navigation module 420 may receive a first sensor signal from the electronic stability control module 410, and fuse the first sensor signal with a second sensor signal output by the second inertial unit 4220, and may output the fused signal in a redundant processing manner.

[0092] The combined navigation module 420 can fuse the fused signal with the satellite navigation signal output by the GNSS 4210, which can also be called satellite-inertial combination, to generate a navigation positioning signal.

[0093] The integrated navigation module 420 may also determine, based on the received first output signal, whether the first output signal includes the vehicle body roll warning signal output by the vehicle body posture module 4120. Optionally, in the case where the first output signal does not include the vehicle body roll warning signal, the input information of the integrated navigation algorithm of the integrated navigation module includes the vehicle's non-integrity constraint information. Optionally, in the case where the first output signal includes the vehicle body roll warning signal, the input information of the integrated navigation algorithm of the integrated navigation module does not include the vehicle's non-integrity constraint information.

[0094] In some embodiments, a safety threshold may be set inside the electronic stability control module 410. If the current vehicle body posture information obtained through the vehicle body posture module 4120 is within the safety threshold range, the first output signal of the electronic stability control module 410 does not include a body roll warning signal of the current vehicle. If the current vehicle body posture information obtained through the vehicle body posture module 4120 exceeds the safety threshold range, the first output signal of the electronic stability control module 410 includes a body roll warning signal of the current vehicle.

[0095] For example, when the vehicle is driving, if the first output signal of the electronic stability control module 410 does not include a vehicle body roll warning signal, the navigation positioning signal may be corrected for incompleteness constraints and a corrected navigation positioning signal may be output; if the first output signal of the electronic stability control module 410 includes a vehicle body roll warning signal, the navigation positioning signal may not be corrected for incompleteness constraints and a corrected navigation positioning signal may be output directly.

[0096] In the present application, by fusing the first sensor signal of the first inertial unit of the electronic stability control module with the second sensor signal of the second inertial unit of the integrated navigation module, the integrated navigation module can perform positioning and navigation according to the fused signal. It can be understood that by fusing the first sensor signal with the second sensor signal, the cumulative error of the fused signal can be reduced, thereby improving the positioning accuracy of the integrated navigation module.

[0097] Combination of the above Figures 1 to 4 , describes in detail the system embodiment of the present application. Based on the above content, the present application also provides a combined navigation positioning method. Figure 5 The method embodiment of the present application is described in detail. It should be understood that the description of the above system embodiment corresponds to the description of the method embodiment, so the parts not described in detail can refer to the above vehicle embodiment.

[0098] Figure 5 : is a flowchart of a combined navigation method provided in an embodiment of the present application. The combined navigation method can be applied to vehicles. Figure 5 The method shown includes step S510 and step S520.

[0099] Step S510: output a first output signal, where the first output signal includes a first sensor signal output by a first inertial unit in an electronic stability control module.

[0100] Step S520: According to the fusion of the first output signal and the second sensing signal output by the second inertial unit in the integrated navigation module, the integrated navigation module performs positioning and navigation for the vehicle according to the fused signal.

[0101] Optionally, the first output signal of the electronic stability control module includes a vehicle body roll warning signal; the combined navigation module is also used to locate and navigate the vehicle based on the vehicle body roll warning signal.

[0102] Optionally, when the first output signal does not include a vehicle body roll warning signal, the input information of the combined navigation algorithm of the combined navigation module includes the non-completeness constraint information of the vehicle; and / or when the first output signal includes a vehicle body roll warning signal, the input information of the combined navigation algorithm of the combined navigation module does not include the non-completeness constraint information of the vehicle.

[0103] Figure 6 The schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present application is shown in FIG. Specifically, the described vehicle integrated navigation device can be a Tiantong terminal, a PC (personal computer), a tablet computer, a portable computer or a server.

[0104] like Figure 6 As shown, the described vehicle combined navigation and positioning device may include: a processor 6001, such as a central processing unit (CPU), a communication bus 6002, a user interface 6003, a network interface 6004, and a memory 6005. Among them, the communication bus 6002 is used to realize the connection and communication between these components. The user interface 6003 may include a display screen (display), an input unit such as a keyboard (keyboard), and the optional user interface 6003 may also include a standard wired interface and a wireless interface. The network interface 6004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (wIreless-fIdelity, WI-FI) interface). The memory 6005 may be a high-speed random access memory (random access memory, RAM) memory, or a stable non-volatile memory (non-volatile memory, NVM), such as a disk memory. The memory 6005 may also be a storage device independent of the aforementioned processor 6001.

[0105] Those skilled in the art will understand that Figure 6 The device structure shown in the figure does not constitute a limitation on the described vehicle integrated navigation device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently. Figure 6 As shown, the memory 6005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a vehicle integrated navigation and positioning application. Figure 6 In the device shown, the network interface 6004 is mainly used to connect to the background server and communicate data with the background server; the user interface 6003 is mainly used to connect to the client and communicate data with the client; and the processor 6001 can be used to call the vehicle combined navigation program stored in the memory 6005 to implement the operations in the vehicle combined navigation method provided in the above embodiment.

[0106] like Figure 7 As shown, an embodiment of the present application further proposes a car, which may include the combined navigation and positioning system mentioned in the above embodiment.

[0107] In addition, an embodiment of the present application also proposes a computer-readable storage medium, which stores a computer program. When the computer program is executed by a computer, it implements the operations in the combined navigation and positioning system provided in the above embodiment. The specific steps will not be repeated here.

[0108] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity / operation / object from another entity / operation / object, and do not necessarily require or imply any such actual relationship or order between these entities / operations / objects; the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0109] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The device embodiment described above is only schematic, and the units described as separate components may or may not be physically separated. Some or all of the modules can be selected according to actual needs to achieve the purpose of the present application scheme. Those of ordinary skill in the art can understand and implement it without paying creative work.

[0110] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0111] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, TV, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0112] The above are merely embodiments of the present application and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A combined navigation and positioning system, characterized in that: The system is used for application in a vehicle, and comprises: An electronic stability control module, configured to output a first output signal, The first output signal includes a first sensor signal output by a first inertial unit in the electronic stability control module; A combined navigation module, configured to receive the first output signal, The first output signal is fused with a second sensing signal output by a second inertial unit in the combined navigation module, and the combined navigation module performs positioning and navigation on the vehicle according to the fused signal.

2. The system according to claim 1, characterized in that: The first output signal of the electronic stability control module includes a vehicle body roll warning signal; The combined navigation module is also used to perform positioning and navigation on the vehicle according to the vehicle body roll warning signal.

3. The system according to claim 2, characterized in that: In the case where the first output signal does not include the vehicle body roll warning signal, the input information of the integrated navigation algorithm of the integrated navigation module includes the non-integrity constraint information of the vehicle; and / or In a case where the first output signal includes the vehicle body roll warning signal, input information of the integrated navigation algorithm of the integrated navigation module does not include the non-integrity constraint information of the vehicle.

4. The system according to claim 1, characterized in that: The first inertial unit includes one or more of the following: horizontal axis accelerometer; Yaw angular velocity.

5. The system according to claim 1, characterized in that: The second inertial unit includes one or more of the following: Three-axis gyroscope; Triaxial accelerometer.

6. A combined navigation and positioning method, characterized in that: The method is applied in a vehicle, and comprises: Outputting a first output signal, wherein the first output signal includes a first sensor signal output by a first inertial unit in the electronic stability control module; The first output signal is combined with a second sensing signal output by a second inertial unit in the integrated navigation module, The combined navigation module performs positioning and navigation on the vehicle according to the fused signals.

7. The method according to claim 6, characterized in that: The first output signal of the electronic stability control module includes a vehicle body roll warning signal; The combined navigation module is also used to perform positioning and navigation on the vehicle according to the vehicle body roll warning signal.

8. The method according to claim 7, characterized in that: In the case where the first output signal does not include the vehicle body roll warning signal, the input information of the integrated navigation algorithm of the integrated navigation module includes the non-integrity constraint information of the vehicle; and / or In a case where the first output signal includes the vehicle body roll warning signal, input information of the integrated navigation algorithm of the integrated navigation module does not include the non-integrity constraint information of the vehicle.

9. A vehicle, characterized in that: The vehicle comprises the combined navigation and positioning system as described in any one of claims 1-5.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a combined navigation program, and when the combined navigation program is executed by the processor, the combined navigation positioning method according to any one of claims 6 to 8 is implemented.

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