Positioning trajectory optimization method in severe environment and computer readable storage medium

Abstract

The invention discloses a positioning track optimization method in a severe environment and a computer readable storage medium, and the method comprises the steps: obtaining a latest road file of a current region when entering a preset severe positioning environment region, and determining a road range according to the road file, the road file comprising the latitude and longitude and the width of each road point; calculating an inertial navigation positioning point through an inertial navigation positioning technology, and obtaining a satellite positioning point through a satellite positioning technology; and determining an effective positioning point in the inertial navigation positioning point and the satellite positioning point according to the road range. According to the invention, deviation rectification of the positioning track in an extremely severe environment can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of positioning, and particularly to a positioning trajectory optimization method and a computer-readable storage medium in a harsh environment. Background Art

[0002] Currently, vehicle-mounted terminals generally adopt a common GPS / Beidou dual-mode positioning mode, and the positioning effect depends greatly on the positioning environment. In extremely harsh urban canyon occlusion and multipath reflection environments, such as the Jiefangbei business district in Chongqing, due to high-rise building occlusion + multipath reflection, the number of satellites that the positioning module can find is extremely small, and the positioning error is large, resulting in a large gap between the terminal's driving trajectory and the actual path. If inertial navigation positioning is used, since inertial navigation uses a deduced method and each deduction is recalculated based on the previous result, the error will accumulate, resulting in an increasingly large error in inertial navigation positioning and also leading to a large trajectory error. Summary of the Invention

[0003] The technical problem to be solved by the present invention is: to provide a positioning trajectory optimization method and a computer-readable storage medium in a harsh environment, which can correct the positioning trajectory in an extremely harsh environment.

[0004] To solve the above technical problem, the technical solution adopted by the present invention is: a positioning trajectory optimization method in a harsh environment, including:

[0005] When entering a preset harsh positioning environment area, obtain the latest road file of the current area, and determine the road range according to the road file, where the road file includes the longitude, latitude and width of each road point;

[0006] Deduce an inertial navigation positioning point through inertial navigation positioning technology, and obtain a satellite positioning point through satellite positioning technology at the same time;

[0007] Determine an effective positioning point from the inertial navigation positioning point and the satellite positioning point according to the road range.

[0008] The present invention also proposes a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the above-mentioned method is implemented.

[0009] The beneficial effect of the present invention is that when entering a harsh positioning environment area, the road range is determined by obtaining the latest road file, and according to the road range, a more accurate positioning point is selected from the inertial navigation positioning point and the satellite positioning point as the effective positioning point, so as to correct the positioning trajectory in an extremely harsh environment and solve the problem of positioning trajectory error in an extremely harsh positioning environment of urban canyons and multipath reflections. Brief Description of the Drawings

[0010] Figure 1 Flow chart of a method for optimizing positioning trajectory in a harsh environment according to the present invention;

[0011] Figure 2 Flow chart of the method according to the first embodiment of the present invention;

[0012] Figure 3 Schematic diagram of a rectangular area corresponding to a road point according to the first embodiment of the present invention. Detailed implementation manners

[0013] To describe in detail the technical content, achieved objectives and effects of the present invention, the following is a detailed description in conjunction with the embodiments and accompanied by the drawings.

[0014] Please refer to Figure 1 , a method for optimizing positioning trajectory in a harsh environment, including:

[0015] When entering a preset harsh positioning environment area, obtain the latest road file of the current area, and determine the road range according to the road file, where the road file includes the longitude, latitude and width of each road point;

[0016] Calculate the inertial navigation positioning point through inertial navigation positioning technology, and obtain the satellite positioning point through satellite positioning technology at the same time;

[0017] Determine the valid positioning point from the inertial navigation positioning point and the satellite positioning point according to the road range.

[0018] It can be seen from the above description that the beneficial effect of the present invention is that it can correct the positioning trajectory in an extremely harsh environment.

[0019] Furthermore, it further includes:

[0020] Take the valid positioning point as the reference point, calculate the next inertial navigation positioning point through inertial navigation positioning technology, and obtain the next satellite positioning point through satellite positioning technology at the same time;

[0021] Determine the new valid positioning point from the next inertial navigation positioning point and the next satellite positioning point according to the road range.

[0022] It can be seen from the above description that by calculating the next inertial navigation positioning point with the valid positioning point as the reference point, obtaining the next satellite positioning point at the same time, and determining the new valid positioning point from the next inertial navigation positioning point and the next satellite positioning point, and so on, the corrected trajectory positioning points can be continuously obtained.

[0023] Furthermore, when entering a preset harsh positioning environment area, obtaining the latest road file of the current area is specifically:

[0024] Regularly judge whether to enter a preset harsh positioning environment area according to the positioning data;

[0025] If so, obtain the latest road file of the current area.

[0026] Furthermore, determining the road range according to the road file specifically includes:

[0027] Determine the rectangular area corresponding to each road point according to the longitude, latitude and width of each road point;

[0028] Determine the road range of the same road according to the rectangular areas corresponding to the road points in the same road.

[0029] Furthermore, determining the rectangular area corresponding to each road point according to the longitude, latitude and width of each road point specifically includes:

[0030] Determine the rectangular area corresponding to a road point with the distance between the road point and its next road point as the length and the width of the road point as the width. The road point and its next road point are respectively the midpoints of the two widths of the rectangular area corresponding to the road point.

[0031] As can be seen from the above description, through the parameters of the road points, individual rectangular areas can be determined, and the road area range is composed of the rectangular area ranges of the road points.

[0032] Furthermore, determining the valid positioning point among the inertial navigation positioning point and the satellite positioning point according to the road range specifically includes:

[0033] If the inertial navigation positioning point is within the road range and the satellite positioning point is not within the road range, then use the inertial navigation positioning point as the valid positioning point;

[0034] If the satellite positioning point is within the road range and the inertial navigation positioning point is not within the road range, then use the satellite positioning point as the valid positioning point;

[0035] If the inertial navigation positioning point and the satellite positioning point are within the road range of the same road, then use the satellite positioning point as the valid positioning point;

[0036] If both the inertial navigation positioning point and the satellite positioning point are not within the road range or are within the road ranges of different roads, then use the point closer to the previous valid positioning point as the valid positioning point.

[0037] As can be seen from the above description, select a more accurate and reasonable valid positioning point according to the strategy, so as to realize the correction and optimization of the positioning trajectory.

[0038] The present invention also proposes a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the above-mentioned method is implemented.

[0039] Embodiment 1

[0040] Please refer to Figures 2-3 , Embodiment 1 of the present invention is: A method for optimizing the positioning trajectory in a harsh environment, which can be applied to in-vehicle terminals, driving recorders, and TBOX (vehicle networking system).

[0041] As Figure 2 shown, it includes the following steps:

[0042] S1: The terminal obtains the preset extremely harsh positioning environment area and obtains the latest road files of each harsh positioning environment area, where the road files record the longitude, latitude, and width of each road point.

[0043] Specifically, pre-define the extremely harsh positioning environment area, then store it in the terminal, and synchronously download the road files of this area (similar to the route deviation alarm format of the 808 protocol). After each startup of the terminal, it synchronizes with the server to check whether the area and its road files are updated. If there is an update, download and store them.

[0044] S2: Regularly judge whether it enters the preset harsh positioning environment area according to the positioning data. If so, execute step S3.

[0045] After the terminal starts normal positioning, it regularly judges whether it enters the harsh positioning environment area according to the positioning data. If it enters, it enters the comprehensive deviation correction mode immediately.

[0046] S3: Obtain the road file of the current area and determine the road range according to the road file.

[0047] Specifically, according to the longitude, latitude, and width of each road point, determine the rectangular area corresponding to each road point; then respectively determine the road range of each road according to the rectangular areas corresponding to each road point in each road.

[0048] Among them, the rectangular area corresponding to the road point is as Figure 3 shown. Assume that road point A and road point B are two adjacent road points on the same road. Calculate the distance between points A and B according to the longitude and latitude of the two road points. Then this distance is the length of the rectangle, use the width H corresponding to road point A as the width of the rectangle, and use road point A and road point B as the midpoints of the two widths of the rectangle to determine the rectangular area corresponding to road point A. According to the longitude, latitude, and width of road point A and road point B, the coordinates of the four corners of this rectangular area can be deduced, so as to obtain the range of the complete rectangular area.

[0049] S4: Deduce the inertial navigation positioning point through inertial navigation positioning technology, and at the same time obtain the satellite positioning point through satellite positioning technology.

[0050] After the terminal enters the comprehensive deviation correction mode, the inertial navigation positioning module is synchronously activated, and the first inertial navigation positioning point D1 is calculated. At the same time, the terminal obtains the satellite positioning point G1 through the satellite positioning module.

[0051] S5: Determine the valid positioning points among the inertial navigation positioning points and satellite positioning points according to the road range. That is, perform route offset calculation based on the coordinates of the inertial navigation positioning point D1 and the satellite positioning point G1.

[0052] Specifically, determine whether the inertial navigation positioning point D1 and the satellite positioning point G1 are within the road range. If only one of the two positioning points is within the road range, the positioning point within the road range is taken as the valid positioning point N1; if the inertial navigation positioning point D1 and the satellite positioning point G1 are within the road range of the same road, the satellite positioning point G1 is taken as the valid positioning point N1; if both the inertial navigation positioning point D1 and the satellite positioning point G1 are not within the road range or are within the road ranges of different roads, calculate the distances between the two positioning points and the previous valid positioning point N0 respectively, and take the point with the shorter distance as the valid positioning point N1.

[0053] S6: Take the valid positioning point as the reference point, calculate the next inertial navigation positioning point through inertial navigation positioning technology, and obtain the next satellite positioning point through satellite positioning technology at the same time. Then continue to determine the new valid positioning point among the next inertial navigation positioning point and the next satellite positioning point through step S5.

[0054] Specifically, send the valid positioning point N1 as the actual positioning data of the system to the server, and at the same time send the valid positioning point N1 to the inertial navigation positioning module as the reference point for inertial calculation to calculate the next inertial navigation positioning point D2. At the same time, obtain the next satellite positioning point G2 through the satellite positioning module, and then continue to perform route offset calculation to determine the new valid positioning point N2, and so on, continuously calculate the valid positioning points N3, N4... Nn until exiting the area with poor positioning environment, so as to obtain the continuous valid positioning points after comprehensive deviation correction and report them to the server.

[0055] This embodiment solves the problem of positioning trajectory error in extremely harsh positioning environments such as urban canyons and multipath reflections by integrating inertial navigation positioning technology, satellite positioning technology and road management. The actual test results show that the positioning trajectory is relatively consistent with the actual trajectory, achieving good economic and social benefits.

[0056] Embodiment 2

[0057] This embodiment is a computer-readable storage medium corresponding to the above embodiment, on which a computer program is stored. When the program is executed by a processor, it realizes each step of the positioning trajectory optimization method in a harsh environment as described in the above embodiment, and can achieve the same technical effect, which will not be repeated here.

[0058] In summary, the positioning trajectory optimization method and computer-readable storage medium provided by the present invention can, when entering an area with a harsh positioning environment, determine the road range by obtaining the latest road file, and select a more accurate positioning point as the effective positioning point from the inertial navigation positioning point and the satellite positioning point according to the road range, so as to achieve the correction of the positioning trajectory in an extremely harsh environment, and solve the problem of positioning trajectory error in an extremely harsh positioning environment such as an urban canyon and multipath reflection.

[0059] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in the related technical field, shall be equally included in the patent protection scope of the present invention.

Claims

1. A positioning trajectory optimization method under harsh environments, characterized in that Including: When entering a preset area with a harsh positioning environment, obtain the latest road file of the current area, and determine the road range according to the road file, where the road file includes the longitude, latitude and width of each road point; Deduce the inertial navigation positioning point through inertial navigation positioning technology, and obtain the satellite positioning point through satellite positioning technology at the same time; Determine the effective positioning point from the inertial navigation positioning point and the satellite positioning point according to the road range.

2. The positioning trajectory optimization method in a harsh environment according to claim 1, wherein It also includes: Taking the effective positioning point as the reference point, deduce the next inertial navigation positioning point through inertial navigation positioning technology, and obtain the next satellite positioning point through satellite positioning technology at the same time; Determine the new effective positioning point from the next inertial navigation positioning point and the next satellite positioning point according to the road range.

3. The positioning trajectory optimization method under harsh environments according to claim 1, wherein The step of obtaining the latest road file of the current area when entering a preset area with a harsh positioning environment is specifically: Regularly judge whether to enter a preset area with a harsh positioning environment according to the positioning data; If so, obtain the latest road file of the current area.

4. The positioning trajectory optimization method under harsh environments according to claim 1, wherein The step of determining the road range according to the road file is specifically: Determine the rectangular area corresponding to each road point according to the longitude, latitude and width of each road point; Determine the road range of the same road according to the rectangular areas corresponding to the road points in the same road.

5. The positioning trajectory optimization method in a harsh environment according to claim 4, characterized in that, The step of determining the rectangular area corresponding to each road point according to the longitude, latitude and width of each road point is specifically: Taking the distance between a road point and its next road point as the length and the width of the road point as the width, determine the rectangular area corresponding to the road point, and the road point and its next road point are respectively the midpoints of the two widths of the rectangular area corresponding to the road point.

6. The positioning trajectory optimization method in a harsh environment according to claim 1, characterized in that The step of determining the effective positioning point from the inertial navigation positioning point and the satellite positioning point according to the road range is specifically: If the inertial navigation positioning point is within the road range and the satellite positioning point is not within the road range, take the inertial navigation positioning point as the effective positioning point; If the satellite positioning point is within the road range and the inertial navigation positioning point is not within the road range, take the satellite positioning point as the effective positioning point; If the inertial navigation positioning point and the satellite positioning point are within the road range of the same road, take the satellite positioning point as the effective positioning point; If both the inertial navigation positioning point and the satellite positioning point are not within the road range or are within the road ranges of different roads, take the point closer to the previous effective positioning point as the effective positioning point.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by a processor, it implements the method described in any one of claims 1-6.

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