Satellite signal simulation system for realizing intelligent auxiliary driving

Abstract

The invention relates to the technical field of signal simulation navigation, and discloses an intelligent auxiliary driving satellite signal simulation system. Comprising a processing chip, and the data end of the processing chip is in data connection with an upper computer, an information acquisition module, a signal receiving unit, a DSP core board, a high-stability crystal oscillator, a baseband signal module, a radio frequency module, a correction unit and a signal simulation navigation unit. The data output end of the information acquisition module and the data output end of the information receiving unit are in data connection with an upper computer through serial ports, and the data output end of the upper computer is in data connection with the radio frequency module through the baseband signal module. According to the satellite signal simulation system, on one hand, satellite signal simulation during intelligent auxiliary driving can be achieved, on the other hand, during satellite signal simulation, signal simulation correction based on image comparison and signal simulation correction based on driving track reference can be achieved, and by means of the double-effect correction effect, the accuracy of satellite signal simulation is improved. Therefore, precision maintenance and real-time correction during satellite signal simulation are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of signal simulation navigation, and more specifically, to a satellite signal simulation system for realizing intelligent assisted driving. Background Art

[0002] With the continuous development of navigation and positioning technology, countries have invested a lot of manpower and material resources to compete to develop their own independent navigation satellite systems. The application of navigation satellite systems involves military and civilian use, and plays a significant role in rescue, transportation, traffic management, information query, positioning, etc. In practical applications, due to the small number of visible stars caused by environmental conditions such as terrain and meteorological conditions, and the poor distribution of satellite geometric figures, the continuity of services and positioning accuracy will be greatly reduced. In addition, satellite positioning has certain requirements for the selection of high and low elevation angles of visible stars. When the elevation angle is too low, the vertical positioning accuracy will be poor, reaching 2-3 times the horizontal positioning error. In addition, due to the low transmission power of satellite navigation signals and the transmission distance of more than tens of thousands of kilometers, they are easily interfered by other signals, causing the receiver to fail to capture the signal. Therefore, in order to achieve satellite signal coverage and satellite timing in complex environments, a real-time and stable satellite signal source generating device is required.

[0003] In the prior art, the patent document with publication number CN114200496A discloses a real-time reproducible satellite signal simulation system and method, which can simulate the real satellite signal under the current user coordinates in real time, solving the satellite signal coverage and satellite timing problems in complex environments. However, the above satellite signal simulation system is not convenient for realizing signal simulation correction based on image comparison and signal simulation correction based on driving trajectory reference during satellite signal simulation, and is therefore not convenient for realizing precision maintenance and real-time correction of satellite signal simulation. Based on this, the present invention provides a satellite signal simulation system for realizing intelligent assisted driving to solve the technical problems raised in the above background technology. Summary of the invention

[0004] In order to overcome the shortcomings of the prior art, the present invention provides a satellite signal simulation system for realizing intelligent assisted driving. On the one hand, the satellite signal simulation system can realize satellite signal simulation during intelligent assisted driving. On the other hand, during satellite signal simulation, it can also realize signal simulation correction based on image comparison and signal simulation correction based on driving trajectory reference. By realizing the above-mentioned dual-effect correction effect, the accuracy maintenance and real-time correction during satellite signal simulation can be achieved.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical scheme: realizing an intelligent assisted driving satellite signal simulation system, comprising a processing chip, wherein the data end of the processing chip is respectively data-connected with a host computer, an information acquisition module, a signal receiving unit, a DSP core board, a high-stability crystal oscillator, a baseband signal module, a radio frequency module, a correction unit and a signal simulation navigation unit, wherein the data output end of the information acquisition module and the data output end of the information receiving unit are both data-connected with the host computer through a serial port, the data output end of the host computer is data-connected with the radio frequency module through a baseband signal module, and the data output end of the radio frequency module is data-connected with the signal simulation navigation unit through a wireless signal or a serial port connection mode;

[0006] The information collection module collects the vehicle's driving data, and the driving data includes the vehicle's GPS location information, instantaneous vehicle speed information, vehicle acceleration information, steering wheel steering angle information, and driving image information;

[0007] The signal simulation navigation unit receives the simulated satellite signal and performs driving navigation for the vehicle;

[0008] The correction unit includes an image correction module and a driving correction module. The image correction module corrects the navigation accuracy of the signal simulation navigation unit according to the driving image information collected in the information acquisition module. The driving correction module corrects the navigation accuracy of the signal simulation navigation unit according to the instantaneous vehicle speed information, vehicle acceleration information, and steering wheel steering angle information collected in the information acquisition module.

[0009] As a preferred technical solution of the present invention, the signal receiving unit receives real satellite signals, obtains the original message stream and the satellite clock source from the real satellite signals, the original message stream includes satellite ephemeris, satellite clock error, ionospheric parameters and satellite almanac. After the real satellite signal is obtained, the signal receiving unit enables the signal simulation navigation unit to be synchronized with the real satellite signal navigation system with high precision, and the signal simulation navigation unit synchronizes the clock source when synchronizing with the real satellite signal navigation system.

[0010] As a preferred technical solution of the present invention, the information acquisition module synchronously transmits the collected vehicle driving data to the host computer, and the host computer is configured with host computer software. The host computer software is used to generate the scenario file required by the baseband signal module and configure the simulation parameters. When the connection strength between the signal receiving unit and the real satellite signal is lower than the set threshold, the host software instantly converts the real navigation mode to the simulation signal navigation mode.

[0011] As a preferred technical solution of the present invention, when the upper software performs navigation mode conversion, the upper computer automatically records the mode conversion time. After receiving the data feedback, the upper computer integrates and processes the received data and generates a scene file. After obtaining the real satellite signal navigation data and vehicle driving data, the upper computer integrates and processes the acquired data and constructs the scene file. The integrated data and the constructed scene file are sent to the DSP core board for processing through the serial port tool.

[0012] As a preferred technical solution of the present invention, the DSP core board writes telegrams based on the transmitted real satellite signal navigation data and vehicle driving data, and calculates the pseudorange, code phase, carrier phase, code frequency control word, carrier frequency control word, satellite azimuth and elevation according to the vehicle's GPS position, time, ephemeris and other information. The DSP core board outputs the calculated information to the baseband signal module, and the baseband signal module generates a digital intermediate frequency signal. The generated digital intermediate frequency signal is converted into digital by a D / A chip and finally generates an analog intermediate frequency signal.

[0013] As a preferred technical solution of the present invention, the radio frequency module performs frequency conversion on the intermediate frequency analog signal output by the baseband signal module, and the high-stability crystal oscillator provides a clock source for the host computer and the vehicle.

[0014] As a preferred technical solution of the present invention, the image correction module is configured with an image recognition algorithm, which performs real-time image recognition and analysis on the driving image information collected in the driving information collection module. The image recognition module obtains road features and geographical markers that are referenceable during vehicle driving through real-time image analysis, and the referenceable road features and geographical markers have real coordinate points. At the same time, after the image recognition module identifies the road features and geographical markers, it synchronously obtains the acquisition time point of each frame of the image. The image correction module collects the simulated navigation coordinates corresponding to the image acquisition time point in the signal simulation navigation unit. After the simulated navigation coordinates are obtained, the image correction module numerically compares the simulated navigation coordinates with the real coordinate points corresponding to the image. During the data comparison process, the signal parameters in the signal simulation navigation unit are calculated through data difference to perform signal simulation correction based on image comparison.

[0015] As a preferred technical solution of the present invention, the driving correction module constructs the actual trajectory of the vehicle in a specified time period and each time point corresponding to the vehicle trajectory through the driving information collected by the driving information collection module. The signal simulation navigation unit corresponds to a navigation reference trajectory in the time period. The driving correction module calculates the matching degree and data difference between the driving correction module and the navigation reference trajectory to perform signal simulation correction on the signal parameters in the signal simulation navigation unit based on the driving trajectory reference.

[0016] As a preferred technical solution of the present invention, it also includes a power module, which is used to power the processing chip. The driving user can set various system parameters of the signal simulation navigation unit through the host computer software. The settable system parameters include vehicle coordinates, vehicle trajectory parameters, simulation navigation start and end time, satellite ephemeris file, error model parameters, and satellite visible elevation angle threshold.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] On the one hand, this satellite signal simulation system can realize satellite signal simulation during intelligent assisted driving. On the other hand, during satellite signal simulation, it can also realize signal simulation correction based on image comparison and signal simulation correction based on driving trajectory reference. By realizing the above-mentioned dual-effect correction effect, the accuracy maintenance and real-time correction during satellite signal simulation can be achieved, and then intelligent assisted driving can be accurately realized and the safety during intelligent assisted driving can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a principle block diagram of the satellite signal simulation system for intelligent assisted driving implemented by the present invention;

[0020] Figure 2 It is a principle block diagram of the correction unit of the present invention. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] like Figure 1 to Figure 2 As shown, the present invention provides a satellite signal simulation system for realizing intelligent assisted driving, including a processing chip, wherein the data end of the processing chip is respectively connected to a host computer, an information acquisition module, a signal receiving unit, a DSP core board, a high-stability crystal oscillator, a baseband signal module, a radio frequency module, a correction unit and a signal simulation navigation unit;

[0023] The data output end of the information acquisition module and the data output end of the information receiving unit are both connected to the host computer data through the serial port;

[0024] The information collection module collects the vehicle's driving data, which includes the vehicle's GPS location information, instantaneous vehicle speed information, vehicle acceleration information, steering wheel steering angle information and driving image information;

[0025] The vehicle's driving camera and the vehicle's panoramic image are used when collecting driving image information;

[0026] The information collection module synchronously transmits the collected vehicle driving data to the host computer, which is equipped with the host computer software;

[0027] The host computer software is used to generate the scenario files required by the baseband signal module and configure simulation parameters;

[0028] The signal receiving unit receives the real satellite signal, and obtains the original message stream and the satellite clock source from the real satellite signal;

[0029] The original message stream includes satellite ephemeris, satellite clock error, ionospheric parameters and satellite almanac;

[0030] After the real satellite signal is acquired, the signal receiving unit synchronizes the signal simulation navigation unit with the real satellite signal navigation system with high precision, and synchronizes the clock source when the signal simulation navigation unit synchronizes with the real satellite signal navigation system;

[0031] High-stability crystal oscillator provides clock source for host computer and vehicle;

[0032] When the connection strength between the signal receiving unit and the real satellite signal is lower than the set threshold, the upper software will instantly convert the real navigation mode to the simulated signal navigation mode.

[0033] The data output end of the host computer is connected to the data of the radio frequency module through the baseband signal module, and the data output end of the radio frequency module is connected to the data of the signal simulation navigation unit through a wireless signal or a serial port connection;

[0034] The RF module is used to generate analog satellite signals;

[0035] The signal simulation navigation unit receives simulated satellite signals and performs driving navigation for the vehicle;

[0036] When the upper software switches the navigation mode, the upper computer automatically records the mode switching time. After receiving the data feedback, the upper computer integrates and processes the received data and generates a scene file. After obtaining the real satellite signal navigation data and vehicle driving data, the upper computer integrates and processes the acquired data and constructs the scene file. The integrated data and constructed scene file are sent to the DSP core board for processing through the serial port tool;

[0037] The DSP core board writes telegrams based on the real satellite signal navigation data and vehicle driving data transmitted, and calculates pseudorange, code phase, carrier phase, code frequency control word, carrier frequency control word, satellite azimuth and elevation angle according to the vehicle's GPS position, time, ephemeris and other information;

[0038] The DSP core board outputs the calculated information to the baseband signal module, and the baseband signal module generates a digital intermediate frequency signal. The generated digital intermediate frequency signal is converted into analog by the D / A chip and finally generates an analog intermediate frequency signal.

[0039] The radio frequency module converts the intermediate frequency analog signal output by the baseband signal module;

[0040] It also includes a power module, which is used to power the processing chip. The driver can set various system parameters of the signal simulation navigation unit through the host computer software. The settable system parameters include vehicle coordinates, vehicle trajectory parameters, simulation navigation start and end time, satellite ephemeris file, error model parameters, and satellite visible elevation angle threshold;

[0041] The correction unit includes an image correction module and a driving correction module. The image correction module corrects the navigation accuracy of the signal simulation navigation unit according to the driving image information collected by the information collection module.

[0042] The image correction module is equipped with an image recognition algorithm, which performs real-time image recognition and analysis on the driving image information collected in the driving information collection module. The image recognition module obtains road features and geographical markers that are referenceable during vehicle driving through real-time image analysis, and the referenceable road features and geographical markers have real coordinate points. At the same time, after the image recognition module recognizes the road features and geographical markers, it synchronously obtains the acquisition time point of each frame of the image. The image correction module collects the simulated navigation coordinates corresponding to the image acquisition time point in the signal simulation navigation unit. After the simulated navigation coordinates are obtained, the image correction module numerically compares the simulated navigation coordinates with the real coordinate points corresponding to the image. During the data comparison process, the signal parameters in the signal simulation navigation unit are corrected by signal simulation based on image comparison through data difference calculation.

[0043] The driving correction module corrects the navigation accuracy of the signal simulation navigation unit according to the instantaneous vehicle speed information, vehicle acceleration information and steering wheel steering angle information collected by the information collection module.

[0044] The driving correction module constructs the actual vehicle trajectory in a specified time period and each time point corresponding to the vehicle trajectory through the driving information collected by the driving information collection module. The signal simulation navigation unit corresponds to a navigation reference trajectory in this time period. The driving correction module calculates the matching degree and data difference between the driving correction module and the navigation reference trajectory to perform signal simulation correction on the signal parameters in the signal simulation navigation unit based on the driving trajectory reference.

[0045] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device 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 device.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Implement an intelligent assisted driving satellite signal simulation system, characterized by: It includes a processing chip, wherein the data end of the processing chip is respectively connected to a host computer, an information acquisition module, a signal receiving unit, a DSP core board, a high-stability crystal oscillator, a baseband signal module, a radio frequency module, a correction unit and a signal simulation navigation unit, the data output end of the information acquisition module and the data output end of the information receiving unit are both connected to the host computer through a serial port, the data output end of the host computer is connected to the radio frequency module through a baseband signal module, and the data output end of the radio frequency module is connected to the signal simulation navigation unit through a wireless signal or a serial port connection; The information collection module collects the vehicle's driving data, and the driving data includes the vehicle's GPS location information, instantaneous vehicle speed information, vehicle acceleration information, steering wheel steering angle information, and driving image information; The signal simulation navigation unit receives the simulated satellite signal and performs driving navigation for the vehicle; The correction unit includes an image correction module and a driving correction module. The image correction module corrects the navigation accuracy of the signal simulation navigation unit according to the driving image information collected in the information acquisition module. The driving correction module corrects the navigation accuracy of the signal simulation navigation unit according to the instantaneous vehicle speed information, vehicle acceleration information, and steering wheel steering angle information collected in the information acquisition module.

2. The satellite signal simulation system for realizing intelligent assisted driving according to claim 1, characterized in that: The signal receiving unit receives real satellite signals, and obtains original message streams and satellite clock sources from the real satellite signals, wherein the original message streams include satellite ephemeris, satellite clock errors, ionospheric parameters and satellite almanacs. After the real satellite signals are obtained, the signal receiving unit synchronizes the signal simulation navigation unit with the real satellite signal navigation system with high precision, and synchronizes the clock source when the signal simulation navigation unit is synchronized with the real satellite signal navigation system.

3. The satellite signal simulation system for realizing intelligent assisted driving according to claim 1, characterized in that: The information acquisition module synchronously transmits the collected vehicle driving data to the host computer, and the host computer is configured with host computer software. The host computer software is used to generate the scenario file required by the baseband signal module and configure the simulation parameters. When the connection strength between the signal receiving unit and the real satellite signal is lower than the set threshold, the host software instantly converts the real navigation mode to the simulation signal navigation mode.

4. The satellite signal simulation system for realizing intelligent assisted driving according to claim 3, characterized in that: When the upper software performs navigation mode conversion, the upper computer automatically records the mode conversion time. After receiving the data feedback, the upper computer integrates and processes the received data and generates a scene file. After obtaining the real satellite signal navigation data and vehicle driving data, the upper computer integrates and processes the acquired data and constructs the scene file. The integrated data and the constructed scene file are sent to the DSP core board for processing through the serial port tool.

5. The satellite signal simulation system for realizing intelligent assisted driving according to claim 4, characterized in that: The DSP core board writes telegrams based on the transmitted real satellite signal navigation data and vehicle driving data, and calculates the pseudorange, code phase, carrier phase, code frequency control word, carrier frequency control word, satellite azimuth and elevation according to the vehicle's GPS position, time, ephemeris and other information. The DSP core board outputs the calculated information to the baseband signal module, and the baseband signal module generates a digital intermediate frequency signal. The generated digital intermediate frequency signal is converted from digital to analog through a D / A chip and finally generates an analog intermediate frequency signal.

6. The satellite signal simulation system for realizing intelligent assisted driving according to claim 5, characterized in that: The radio frequency module performs frequency conversion on the intermediate frequency analog signal output by the baseband signal module, and the high-stability crystal oscillator provides a clock source for the host computer and the vehicle.

7. The satellite signal simulation system for realizing intelligent assisted driving according to claim 6, characterized in that: The image correction module is configured with an image recognition algorithm, which performs real-time image recognition and analysis on the driving image information collected in the driving information collection module. The image recognition module obtains road features and geographical markers that are referenced during vehicle driving through real-time image analysis, and the referenced road features and geographical markers have real coordinate points. At the same time, after the image recognition module identifies the road features and geographical markers, it synchronously obtains the acquisition time point of each frame of the image. The image correction module collects the simulated navigation coordinates corresponding to the image acquisition time point in the signal simulation navigation unit. After the simulated navigation coordinates are obtained, the image correction module numerically compares the simulated navigation coordinates with the real coordinate points corresponding to the image. During the data comparison process, the signal parameters in the signal simulation navigation unit are calculated through data difference to perform signal simulation correction based on image comparison.

8. The satellite signal simulation system for realizing intelligent assisted driving according to claim 7, characterized in that: The driving correction module constructs the real trajectory of the vehicle in a specified time period and each time point corresponding to the vehicle trajectory through the driving information collected by the driving information collection module. The signal simulation navigation unit corresponds to a navigation reference trajectory in the time period. The driving correction module calculates the matching degree and data difference between the driving correction module and the navigation reference trajectory to perform signal simulation correction on the signal parameters in the signal simulation navigation unit based on the driving trajectory reference.

9. The satellite signal simulation system for realizing intelligent assisted driving according to claim 8, characterized in that: It also includes a power module, which is used to power the processing chip. The driving user can set various system parameters of the signal simulation navigation unit through the host computer software. The settable system parameters include vehicle coordinates, vehicle trajectory parameters, simulation navigation start and end time, satellite ephemeris file, error model parameters, and satellite visible elevation angle threshold.

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