Vehicle positioning method, vehicle and machine readable storage medium

Abstract

The embodiment of the invention discloses a vehicle positioning method, a vehicle and a machine readable storage medium, and belongs to the field of equipment positioning. The vehicle positioning method comprises the following steps: acquiring satellite positioning data of a target vehicle; under the condition that the ground cellular network of the target vehicle is switched to the non-ground cellular network, correcting satellite positioning data according to navigation enhancement information received by the non-ground cellular network to obtain corrected positioning data; obtaining pose differential data of a target vehicle and target inertial data after the deviation is subtracted; and obtaining a multi-source fusion positioning result of the target vehicle according to the corrected positioning data, the pose differential data and the target inertial data. By establishing a ground and satellite communication link, navigation enhancement information, pose data and inertial data can be obtained based on a cellular network to realize multi-source fusion positioning of the vehicle, and global positioning and seamless communication of intelligent driving of the vehicle are realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of device positioning, in particular to a vehicle positioning method, a vehicle and a machine readable storage medium. BACKGROUND

[0002] With the rapid development of navigation technology, navigation technology is widely used in vehicle navigation and vehicle intelligent driving scenarios. In actual vehicle driving scenarios, vehicles will be in urban canyons, tunnels, remote areas and disaster areas, etc. Signal coverage range is abnormal. When the vehicle relies on satellite navigation or other single navigation, signal loss and signal interference may occur, resulting in large positioning error of the vehicle. The traditional vehicle terminal relies on communication with the ground base station, which may be lost in remote areas and disaster scenarios. There is a communication blind area between the vehicle terminal and the ground base station, which cannot meet the demand of global positioning and seamless communication for intelligent driving. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a vehicle positioning method, a vehicle and a machine readable storage medium, which can solve the problem of large positioning error of the vehicle.

[0004] In order to achieve the above purpose, in a first aspect, the present application provides a vehicle positioning method, which comprises: obtaining satellite positioning data of a target vehicle; In the case that the ground cellular network of the target vehicle is switched to a non-ground cellular network, the satellite positioning data is corrected according to the navigation enhancement information received by the non-ground cellular network to obtain corrected positioning data; obtaining pose difference data of the target vehicle and target inertial data after removing bias; According to the corrected positioning data, the pose difference data and the target inertial data, a multi-source fusion positioning result of the target vehicle is obtained.

[0005] In the embodiments of the present application, the target vehicle comprises a ground network radio frequency end and a non-ground network radio frequency end; In the case that the ground cellular network of the target vehicle is switched to a non-ground cellular network, the satellite positioning data is corrected according to the navigation enhancement information received by the non-ground cellular network to obtain corrected positioning data, which comprises: obtaining a state signal of the ground network radio frequency end; In the case that the state signal meets a preset condition, the ground cellular network is switched to a non-ground cellular network to perform satellite pre-connection through the non-ground network radio frequency end, wherein the preset condition is that a target time length is greater than a preset time length threshold, and the target time length is a time length during which the state signal is less than a preset signal threshold; In a case that the ground and satellite link is established through the non-terrestrial network radio frequency end, the satellite positioning data is corrected according to the navigation enhancement information received by the non-terrestrial cellular network.

[0006] In an embodiment of the present application, the vehicle positioning method further comprises: In a case that the non-terrestrial cellular network of the target vehicle is switched to a ground cellular network, a multi-source fusion positioning result of the target vehicle is obtained according to the satellite positioning data, the pose difference data and the target inertial data.

[0007] In an embodiment of the present application, the multi-source fusion positioning result of the target vehicle is obtained according to the corrected positioning data, the pose difference data and the target inertial data, comprising: Based on an extended Kalman filtering equation, the multi-source fusion positioning result of the target vehicle is obtained according to the corrected positioning data, the pose difference data and the target inertial data.

[0008] In an embodiment of the present application, the multi-source fusion positioning result of the target vehicle is obtained according to the corrected positioning data, the pose difference data and the target inertial data, comprising: The coordinates of the corrected positioning data are converted into northeast celestial coordinates to obtain converted positioning data; The multi-source fusion positioning result of the target vehicle is obtained according to the converted positioning data, the pose difference data and the target inertial data.

[0009] In an embodiment of the present application, the target vehicle comprises a visual inertial odometer; The pose difference data of the target vehicle and the target inertial data after the deviation is removed are obtained, comprising: The pose data and the inertial data of the target vehicle are obtained; The pose data and the inertial data are input into the visual inertial odometer to obtain the pose difference data of the target vehicle and the target inertial data after the deviation is removed.

[0010] In an embodiment of the present application, the vehicle positioning method further comprises: In a case that the target vehicle is in a parking hibernation mode, the non-terrestrial network radio frequency end is kept off.

[0011] In a second aspect, the present application provides a vehicle, comprising a communication and navigation fusion chip and a multi-source positioning system; The communication and navigation fusion chip is used for cellular network communication and satellite positioning communication; The multi-source positioning system is used for realizing the above-mentioned vehicle positioning method.

[0012] In an embodiment of the present application, the vehicle further comprises a resource management system; A resource management system is configured to adjust power consumption of a target vehicle according to real-time state of the vehicle.

[0013] In a third aspect, the present application provides a machine readable storage medium having instructions stored thereon for causing a machine to perform the vehicle positioning method described above.

[0014] The present application provides a vehicle positioning method, comprising: obtaining satellite positioning data of a target vehicle; in a case where a ground cellular network of the target vehicle is switched to a non-ground cellular network, correcting the satellite positioning data according to navigation enhancement information received by the non-ground cellular network to obtain corrected positioning data; obtaining pose difference data of the target vehicle and target inertial data after deviation is removed; and obtaining a multi-source fusion positioning result of the target vehicle according to the corrected positioning data, the pose difference data and the target inertial data. By establishing a ground and satellite communication link, navigation enhancement information, pose data and inertial data can be obtained based on a cellular network to realize multi-source fusion positioning of the vehicle, thereby improving the positioning accuracy of the vehicle. In addition, by switching between the ground cellular network and the non-ground cellular network, the coverage of the vehicle communication is expanded, the continuity and reliability of the communication during the driving of the vehicle are ensured, and the demand for global positioning and seamless communication of the vehicle is met. The communication and satellite navigation work cooperatively, and the efficiency and performance of the overall system are also improved.

[0015] Other features and advantages of the embodiments of the present application will be described in detail in the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings are included to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used to explain the embodiments of the present application together with the following detailed description, but do not constitute a limitation of the embodiments of the present application. In the drawings: Figure 1 A flowchart of the vehicle positioning method provided by the embodiments of the present application is shown; Figure 2 An example diagram of the multi-source fusion positioning result provided by the embodiments of the present application is shown; Figure 3 A structural schematic diagram of a vehicle provided by the embodiments of the present application is shown; Figure 4 A structural schematic diagram of a communication and navigation fusion chip provided by the embodiments of the present application is shown.

[0017] REFERENCE NUMERALS 200-vehicle; 210-communication and navigation fusion chip, 220-multi-source positioning system, 230-resource management system; 211-multi-mode radio frequency front end, 212-baseband processing unit, 213-heterogeneous computing unit. DETAILED DESCRIPTION

[0018] The specific implementation of the embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the embodiments of the present application, and is not intended to limit the embodiments of the present application.

[0019] The components of the embodiments of the present application generally described and illustrated herein can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments of the present application, all other embodiments obtained by a person skilled in the art without creative labor fall within the scope of the present application.

[0020] Hereinafter, the terms "include", "have", and their conjugates used in the various embodiments of the present application are only intended to denote a certain characteristic, number, step, operation, element, component, or combination of the foregoing, and should not be construed as excluding the presence or addition of one or more other characteristics, numbers, steps, operations, elements, components, or combinations thereof.

[0021] In addition, the terms "first", "second", "third", and the like are only used to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

[0022] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the present application belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having a meaning that is the same as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of the present application.

[0023] Generally, the navigation module of a vehicle relies on Beidou or GPS (Global Positioning System) for satellite navigation. However, when the vehicle travels to complex urban areas such as urban canyons and tunnels, the positioning error of the vehicle is large due to the influence of satellite signal shielding and multipath interference, and thus lane-level navigation cannot be achieved.

[0024] With the rapid development of communication technology, 5G (5th Generation Mobile Communication Technology) ground communication technology has been widely used. However, the communication module of the vehicle depends on the ground base station, and in remote areas, the communication module is prone to signal disconnection, and in areas such as tunnels, the navigation module cannot be positioned due to satellite signal shielding, so it cannot meet the global positioning and seamless communication needs of intelligent driving. Even if the vehicle integrates the communication module and the navigation module, it still cannot achieve high-precision global positioning and seamless communication, and due to the hardware redundancy of the communication module and the navigation module, the power consumption of the vehicle is high, which affects the endurance of the vehicle. The vehicle positioning method provided in the embodiment meets the global positioning needs of vehicle intelligent driving based on multi-source fusion positioning, improves the positioning accuracy of the vehicle, and switches the ground cellular network to a non-ground cellular network in remote areas, which can meet the global seamless communication needs of vehicle intelligent driving.

[0025] Please refer to Figure 1 , Figure 1 The flowchart of the vehicle positioning method provided by the embodiment of the present application. Figure 1 The vehicle positioning method in the embodiment includes the following steps. S110, acquiring satellite positioning data of a target vehicle.

[0026] The target vehicle is a vehicle that needs to obtain multi-source fusion positioning results, and the type of the target vehicle is set according to actual needs and is not limited herein. The type of the satellite positioning data is set according to actual needs and is not limited herein. For ease of understanding, in the embodiment of the present application, the target vehicle communicates with the Beidou satellite through a navigation chip to obtain satellite positioning data. The satellite positioning data is GNSS (Global Navigation Satellite System) data, which can provide three-dimensional coordinates, speed and time information for vehicles on the earth's surface or near-earth space at all times.

[0027] S120, in the case where the ground cellular network of the target vehicle is switched to a non-ground cellular network, correcting the satellite positioning data according to navigation enhancement information received by the non-ground cellular network to obtain corrected positioning data.

[0028] When the vehicle travels to a complex urban area, a remote area, and a disaster area, there is no ground cellular network communication signal, so that the vehicle cannot normally communicate. In the embodiment, the ground cellular network is switched to a non-ground cellular network to ensure normal communication of the target vehicle and avoid the target vehicle being unable to receive a communication signal. In the case where the ground cellular network of the target vehicle is switched to the non-ground cellular network, the target vehicle is triggered to establish a ground-satellite link based on the cellular network. In the case where the ground-satellite link is established, the vehicle communicates based on the satellite link, and the target vehicle receives navigation enhancement information through the broadcast of the correction signal of the orbiting satellite.

[0029] The navigation enhancement information includes information set according to actual needs, which can be satellite clock error, orbit error, ionospheric delay, and the like, and is not limited herein. The satellite positioning data is corrected according to the received navigation enhancement information. By correcting the satellite clock error and orbit error and the like, the corrected positioning data is obtained. The vehicle can obtain more accurate corrected positioning data by correcting and optimizing the satellite positioning data through the established ground-satellite link, and further expand the coverage of satellite navigation.

[0030] In the embodiment of the application, the target vehicle includes a ground network radio frequency end and a non-ground network radio frequency end. In the case where the ground cellular network of the target vehicle is switched to the non-ground cellular network, the satellite positioning data is corrected according to the navigation enhancement information received by the non-ground cellular network to obtain the corrected positioning data, including: acquiring a state signal of the ground network radio frequency end; In the case where the state signal meets a preset condition, the ground cellular network is switched to the non-ground cellular network to perform satellite pre-connection through the non-ground network radio frequency end, wherein the preset condition is that a target time period is greater than a preset time period threshold, and the target time period is a time period during which the state signal is less than a preset signal threshold; In the case where the ground-satellite link is established through the non-ground network radio frequency end, the satellite positioning data is corrected according to the navigation enhancement information received by the non-ground cellular network.

[0031] The type of the cellular network is set according to actual needs, and is not limited herein. For ease of understanding, in the embodiment, the cellular network is a 5G network, the ground network radio frequency end is a 5G RedCap (Reduced Capability) module, and the non-ground network radio frequency end is a 5G NTN (Non Terrestrial Network) module.

[0032] During driving of the target vehicle, the ground network radio frequency end periodically broadcasts, a state signal in a broadcasting process of the ground network radio frequency end is acquired, and it is determined whether the state signal satisfies a preset condition. The preset condition is that a target time length is greater than or equal to a preset time length threshold, and the target time length is a time length during which the state signal is less than a preset signal threshold.

[0033] For ease of understanding, in the embodiments of the application, the state signal is RSSI (Received Signal Strength Indication) of 5G RedCap, the preset time length threshold is 3 seconds, and the preset signal threshold is -110 dBm. In the case where the state signal satisfies the preset condition, that is, the time length during which RSSI is less than -110 dBm is greater than or equal to 3 seconds, the ground cellular network is switched to a non-ground cellular network, so as to perform satellite pre-connection through the non-ground network radio frequency end. In the case where the ground and satellite links are established through the non-ground network radio frequency end, satellite positioning data is corrected according to navigation enhancement information received by the non-ground cellular network.

[0034] It should be understood that, in the embodiments, the ground and satellite links are established based on a Dual Active Protocol Stack (DAPS) technology. During switching of the ground cellular network to the non-ground cellular network, data packets are duplicated and transmitted, so as to ensure zero packet loss. In addition, after the switching of the ground cellular network to the non-ground cellular network is completed, ground link resources are released, and the satellite link is retained as a default channel until the signal is recovered. The switching of the ground cellular network to the non-ground cellular network ensures the continuity and reliability of communication during driving of the vehicle, thereby meeting the communication needs of the vehicle in remote areas, disaster areas and other areas.

[0035] In S130, pose difference data of the target vehicle and target inertial data after bias subtraction are acquired.

[0036] In the embodiments, the target vehicle includes sensors such as an accelerometer, a gyroscope and a binocular visual odometry, and the pose and inertial data of the target vehicle are acquired through the sensors. For ease of understanding, in the embodiments of the application, the inertial data is IMU (Inertial Measurement Unit) data.

[0037] By calculating the pose of the target vehicle, the pose difference data of the target vehicle are acquired, and the inertial data is subtracted by bias to obtain the target inertial data after bias subtraction. In the case where the satellite navigation is affected by signal errors, obstructions and signal interference, the pose difference data and the target inertial data provide dead reckoning information for satellite positioning data.

[0038] In the embodiments of the application, the target vehicle includes a visual inertial odometry; obtaining pose differential data of the target vehicle and target inertial data after bias subtraction, comprising: obtaining pose data and inertial data of the target vehicle; inputting the pose data and the inertial data into a visual inertial odometer to obtain the pose differential data of the target vehicle and the target inertial data after bias subtraction.

[0039] The visual inertial odometer (VIO) is a kind of odometer combining visual sensors and inertial measurement units, which is used to estimate the pose change of the carrier in real time. For ease of understanding, the target vehicle in the embodiments of the present application also includes a binocular visual odometer, a 6-axis accelerometer and a gyroscope. The pose data of the target vehicle is obtained through the binocular visual odometer, and the inertial data is obtained through the accelerometer and the gyroscope. The pose data and the inertial data are input into the visual inertial odometer, and the pose change in the carrier coordinate system is obtained through the visual inertial odometer, and then the pose differential data of the target vehicle and the target inertial data after bias subtraction are output.

[0040] S140, obtaining a multi-source fusion positioning result of the target vehicle according to the corrected positioning data, the pose differential data and the target inertial data.

[0041] In the embodiments, the multi-source fusion model is deployed on the target vehicle, and the multi-source fusion model is used to construct a state vector X = [δp, δv, δθ, b a ,b g ], wherein δp is the position of the target vehicle in the carrier coordinate system, δv is the speed of the target vehicle in the carrier coordinate system, δθ is the angle of the target vehicle in the carrier coordinate system, b a is the pose deflection of the target vehicle in the carrier coordinate system, and b g is the inertial data bias of the target vehicle in the carrier coordinate system.

[0042] During the driving of the target vehicle, the positioning error is continuously increased due to the time accumulation. According to the corrected positioning data, the pose differential data and the target inertial data, the state vector of the target vehicle is corrected to obtain a multi-source fusion positioning result of the target vehicle. Through the establishment of the ground-satellite communication link, the navigation enhancement information can be obtained based on the cellular network, and the multi-source fusion positioning of the vehicle is realized through the pose data and the inertial data, which improves the positioning accuracy of the vehicle. In addition, through the switching of the ground cellular network and the non-ground cellular network, the coverage range of the vehicle communication is improved, the continuity and reliability of the communication during the driving of the vehicle are ensured, and the global positioning and seamless communication requirements of the vehicle are met. The communication and satellite navigation work together, which also improves the efficiency and performance of the whole system.

[0043] In the embodiments of the present application, the vehicle positioning method further comprises: In the case that the non-terrestrial cellular network of the target vehicle is switched to the terrestrial cellular network, the multi-source fusion positioning result of the target vehicle is obtained according to the satellite positioning data, the pose difference data and the target inertial data.

[0044] In the case that communication can be performed through the terrestrial cellular network, the target vehicle keeps communicating through the terrestrial cellular network. In the case that the non-terrestrial cellular network of the target vehicle is switched to the terrestrial cellular network, the satellite positioning data obtained can meet the high-precision requirement, and then an accurate positioning result can be obtained through satellite navigation. In the embodiments, the multi-source fusion positioning result of the target vehicle is directly obtained according to the satellite positioning data, the pose difference data and the target inertial data. Even if the satellite positioning error becomes larger with time accumulation, the pose difference data and the target inertial data can correct the satellite positioning, so as to ensure the accuracy of the multi-source fusion positioning result for a long time.

[0045] If the target vehicle keeps communicating through the non-terrestrial cellular network, the power consumption of the target vehicle will be too high. Through the switching between the terrestrial cellular network and the non-terrestrial cellular network, the overall efficiency and performance of the vehicle are improved on the basis of ensuring the accuracy of the positioning result. For ease of understanding, the embodiments of the present application take the target vehicle driving in the city as an example. When the vehicle drives to complex urban areas such as urban canyons and tunnels, the satellite navigation signal will be affected by shielding and multipath interference, and there is no terrestrial cellular network communication signal, so the positioning error of the vehicle is large. In the embodiments, when the target vehicle drives to remote areas, the terrestrial cellular network of the target vehicle is switched to the non-terrestrial cellular network, and then the positioning accuracy of the vehicle is improved based on multi-source fusion positioning. The terrestrial cellular network and the non-terrestrial cellular network are flexibly switched, the coverage range of the vehicle communication is improved, the continuity and reliability of the communication during the driving of the vehicle are ensured, and then the global positioning and seamless communication requirements of the vehicle are met.

[0046] After the target vehicle leaves the complex urban areas such as urban canyons and tunnels, the target vehicle can directly communicate through the terrestrial cellular network when driving in simple urban areas such as ordinary roads. The non-terrestrial cellular network of the target vehicle is switched to the terrestrial cellular network, so as to avoid high power consumption of the vehicle. Through the switching between the terrestrial cellular network and the non-terrestrial cellular network, the continuity and reliability of the communication during the driving of the vehicle are ensured, and then the global positioning and seamless communication requirements of the vehicle are met. The communication and satellite navigation work cooperatively, and the efficiency and performance of the overall system are also improved.

[0047] In the embodiments of the present application, the multi-source fusion positioning result of the target vehicle is obtained according to the corrected positioning data, the pose difference data and the target inertial data, comprising: The coordinates of the corrected positioning data are converted into the northeast celestial coordinates to obtain converted positioning data. According to the converted positioning data, the pose difference data and the target inertial data, a multi-source fusion positioning result of the target vehicle is obtained.

[0048] Generally, the satellite positioning data is LLA (Latitude-Longitude-Altitude) coordinate, and the corrected positioning data is also LLA coordinate. The corrected positioning data is converted from LLA coordinate to East-North-Up (ENU) coordinate to obtain converted positioning data. According to the converted positioning data in ENU coordinate, the pose difference data and the target inertial data, a multi-source fusion positioning result of the target vehicle is obtained. It should be understood that the multi-source fusion positioning result obtained in the embodiment is a position result in LLA coordinate.

[0049] In the embodiment of the application, according to the corrected positioning data, the pose difference data and the target inertial data, a multi-source fusion positioning result of the target vehicle is obtained, including: According to the corrected positioning data, the pose difference data and the target inertial data, a multi-source fusion positioning result of the target vehicle is obtained based on an extended Kalman filter equation.

[0050] Please refer to Figure 2 , Figure 2 An example diagram of the multi-source fusion positioning result provided by the embodiment of the application is shown.

[0051] The pose data and the inertial data of the target vehicle are obtained, and the pose data and the inertial data are input into a visual inertial odometer to obtain the pose difference data of the target vehicle and the target inertial data after the deviation is subtracted. The satellite positioning data of the target vehicle is obtained, and the satellite positioning data is corrected according to the navigation enhancement information to obtain the corrected positioning data.

[0052] According to the corrected positioning data, the pose difference data and the target inertial data, a multi-source fusion positioning result of the target vehicle is obtained based on an extended Kalman filter equation. Specifically, the coordinates of the corrected positioning data are converted into East-North-Up coordinates to obtain converted positioning data. In the observation equation of the extended Kalman filter (EKF), the converted positioning data in the East-North-Up coordinates, the pose difference data and the target inertial data are used to modify the state vector to obtain the multi-source fusion positioning result of the target vehicle.

[0053] In the embodiment of the application, the vehicle positioning method further includes: In the case that the target vehicle is in a parking and hibernation mode, the non-terrestrial network radio frequency end is kept off.

[0054] In the case that the target vehicle is in a parking hibernation mode, the non-terrestrial network radio frequency end is kept closed.

[0055] If the non-terrestrial network radio frequency end is kept open, it will cause excessive power consumption of the target vehicle. In the embodiment, in the case that the target vehicle is in a parking hibernation mode, the non-terrestrial network radio frequency end is kept closed, the satellite communication link is closed, and only the micro-power consumption monitoring of the satellite positioning and inertial data. The reasonable switching of the ground cellular network and the non-terrestrial cellular network improves the efficiency and performance of the target vehicle.

[0056] The application provides a vehicle positioning method, comprising: acquiring satellite positioning data of a target vehicle; in the case that the ground cellular network of the target vehicle is switched to a non-terrestrial cellular network, correcting the satellite positioning data according to navigation enhancement information received by the non-terrestrial cellular network to obtain corrected positioning data; acquiring pose difference data of the target vehicle and target inertial data after removing bias; and obtaining a multi-source fusion positioning result of the target vehicle according to the corrected positioning data, the pose difference data and the target inertial data. By establishing a ground and satellite communication link, navigation enhancement information can be obtained based on a cellular network, and multi-source fusion positioning of the vehicle can be realized based on pose data and inertial data, thereby improving the positioning accuracy of the vehicle. In addition, by switching the ground cellular network and the non-terrestrial cellular network, the coverage range of the vehicle communication is improved, the continuity and reliability of the communication during the vehicle driving process are ensured, and the global positioning and seamless communication requirements of the vehicle are met. The communication and satellite navigation work together, which also improves the efficiency and performance of the overall system.

[0057] Please refer to Figure 3 , Figure 3 A structure schematic diagram of a vehicle provided by an embodiment of the application is shown.

[0058] The embodiment of the application further provides a vehicle 200, which comprises a communication and navigation fusion chip 210 and a multi-source positioning system 220. The communication and navigation fusion chip 210 is used for cellular network communication and satellite positioning communication. The multi-source positioning system 220 is used for realizing the vehicle 200 positioning method described above.

[0059] The communication navigation fusion chip 210 is configured to perform cellular network communication and satellite positioning communication, wherein the cellular network communication includes ground cellular network communication and non-ground cellular network communication. The multi-source positioning system 220 is configured to implement the vehicle 200 positioning method described above. In this embodiment, the multi-source positioning system 220 includes a data layer and an algorithm layer. The data layer is configured to obtain Beidou raw observation data, and obtain satellite positioning data according to the pseudo-range, carrier phase and Doppler shift included in the Beidou raw observation data. The data layer is further configured to obtain the pose and inertial data of the vehicle 200, and further obtain the pose difference data of the target vehicle 200 and the target inertial data after the bias is removed. The algorithm layer is configured to implement a partial multi-source fusion model, construct a state vector through the multi-source fusion model, iterate the state vector through an extended Kalman filter, and further obtain the multi-source fusion positioning result of the target vehicle 200 according to the corrected positioning data, the pose difference data and the target inertial data. It should be understood that the vehicle 200 further includes other devices, which are set according to actual needs and can be human-computer interaction devices, etc., which are not limited herein.

[0060] Please refer to Figure 4 , Figure 4 The structure of the communication navigation fusion chip provided in the embodiment of the application is shown.

[0061] In this embodiment, the communication navigation fusion chip 210 includes a multi-mode radio frequency front end 211, a baseband processing unit 212 and a heterogeneous computing unit 213. The multi-mode radio frequency front end 211 includes a ground network radio frequency end, a non-ground network radio frequency end and other radio frequency ends, which are set according to actual needs and are not limited herein. The multi-mode radio frequency front end 211 integrates the Sub-6GHz (electromagnetic wave frequency band with a frequency lower than 6GHz) radio frequency chain of 5G RedCap, the S-band (2-4 GHz electromagnetic wave frequency band) satellite communication chain of 5G NTN and the Beidou No. 3 frequency receiving chain, so that the vehicle 200 supports full-band adaptive matching.

[0062] The baseband processing unit 212 in the embodiment detects the state signal of the ground cellular network in real time through a dynamic spectrum sensing algorithm to detect satellite link availability, and further triggers seamless switching between the ground cellular network and the non-ground cellular network. The baseband processing unit 212 is also used to deploy a Beidou navigation enhancement engine to parse received navigation enhancement information, and improve satellite signal coverage, positioning speed, and capture sensitivity. The heterogeneous computing unit 213 in the embodiment includes an NPU (Neural Processing Unit) accelerator and a CPU (Central Processing Unit). The NPU accelerator is used to extract visual odometry features, and the CPU is used to perform IMU pre-integration, Kalman filtering, and factor graph optimization, which are not described herein. The communication and navigation fusion chip 210 is fused through single-chip multi-standard technology, which reduces hardware complexity and cost. In addition, the communication and navigation fusion chip 210 realizes cooperative work of cellular network communication and positioning and navigation, and improves the efficiency and performance of the vehicle 200.

[0063] In the embodiment of the application, the vehicle 200 further includes a resource management system 230. The resource management system 230 is configured to adjust the power consumption of the target vehicle 200 according to the real-time state of the vehicle 200.

[0064] The resource management system 230 in the embodiment includes a QoS (Quality of Service) driven scheduler and a power consumption optimization unit. The QoS driven scheduler dynamically allocates resources according to the type of service to adjust the power consumption of the target vehicle 200. Specifically, in the case that the vehicle 200 is in an emergency communication state, the satellite link of the 5G NTN is preferentially occupied to ensure that the bandwidth is greater than 2 Mbps. In the case that the vehicle 200 requires high-precision positioning, the visual odometry of the NPU accelerator is enabled for calculation, and the positioning frequency is increased to 100 Hz.

[0065] The power consumption optimization unit closes the redundant computing unit at low load through adaptive clock gating. The power consumption optimization unit is also used to make the periodic sleep ratio adjustable in the case that the target vehicle 200 is in a parking sleep mode, so as to save standby power consumption.

[0066] The embodiment of the application also provides a machine readable storage medium, which stores instructions for causing a machine to execute the vehicle positioning method described above.

[0067] Those skilled in the art will appreciate that embodiments of the application can be readily used as software, hardware, or a combination of software and hardware. In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0068] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more functions specified in the flowchart block or blocks. Figure 1 one or more functions specified in the flowchart block or blocks.

[0069] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. Figure 1 one or more functions specified in the flowchart block or blocks. Figure 1 one or more functions specified in the flowchart block or blocks.

[0070] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more functions specified in the flowchart block or blocks. Figure 1 one or more functions specified in the flowchart block or blocks.

[0071] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0072] The memory can include non-persistent memory and / or persistent memory, such as flash memory, readonly memory (ROM), or similar storage elements, in a computer readable medium. Memory is an example of computer readable media.

[0073] Machine-readable storage media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile discs (DVDs) or other optical storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.

[0074] It should also be noted that the terms "comprising", "containing", or any other similar term are intended to encompass non-exclusive inclusions, such that a process, method, article, or apparatus that comprises a list of elements does not necessarily include only those elements in the list, but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, an element defined by the phrase "comprising a" does not exclude the existence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0075] The above only is an embodiment of the present application, and is not intended to limit the present application. The present application can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A vehicle positioning method characterized by comprising: The vehicle positioning method comprises: acquiring satellite positioning data of a target vehicle; in a case where a ground cellular network of the target vehicle is switched to a non-ground cellular network, correcting the satellite positioning data according to navigation enhancement information received by the non-ground cellular network to obtain corrected positioning data; acquiring pose differential data of the target vehicle and target inertial data after removing bias; obtaining a multi-source fusion positioning result of the target vehicle according to the corrected positioning data, the pose differential data and the target inertial data.

2. The vehicle positioning method according to claim 1, characterized by, The target vehicle comprises a ground network radio frequency end and a non-ground network radio frequency end; in a case where a ground cellular network of the target vehicle is switched to a non-ground cellular network, correcting the satellite positioning data according to navigation enhancement information received by the non-ground cellular network to obtain corrected positioning data, comprises: acquiring a state signal of the ground network radio frequency end; in a case where the state signal meets a preset condition, switching the ground cellular network to the non-ground cellular network to perform satellite pre-connection through the non-ground network radio frequency end, wherein the preset condition is that a target time length is greater than a preset time length threshold, and the target time length is a time length during which the state signal is less than a preset signal threshold; in a case where a ground and satellite link is established through the non-ground network radio frequency end, correcting the satellite positioning data according to the navigation enhancement information received by the non-ground cellular network.

3. The vehicle positioning method according to claim 1, characterized by, The vehicle positioning method further comprises: in a case where a non-ground cellular network of the target vehicle is switched to a ground cellular network, obtaining a multi-source fusion positioning result of the target vehicle according to the satellite positioning data, the pose differential data and the target inertial data.

4. The vehicle positioning method according to claim 1, characterized by, obtaining a multi-source fusion positioning result of the target vehicle according to the corrected positioning data, the pose differential data and the target inertial data, comprises: obtaining a multi-source fusion positioning result of the target vehicle according to the corrected positioning data, the pose differential data and the target inertial data based on an extended Kalman filtering equation.

5. The vehicle positioning method according to claim 1, characterized by, obtaining a multi-source fusion positioning result of the target vehicle according to the corrected positioning data, the pose differential data and the target inertial data, comprises: converting coordinates of the corrected positioning data into northeast celestial coordinates to obtain converted positioning data; obtaining a multi-source fusion positioning result of the target vehicle according to the converted positioning data, the pose differential data and the target inertial data.

6. The vehicle positioning method according to claim 1, characterized by, The target vehicle comprises a visual inertial odometry; acquiring pose data and inertial data of the target vehicle; inputting the pose data and the inertial data into the visual inertial odometry to obtain pose differential data of the target vehicle and target inertial data after removing bias. The vehicle positioning method further comprises:

7. The vehicle positioning method according to claim 1, characterized by, in a case where the target vehicle is in a parking hibernation mode, keeping the non-ground network radio frequency end closed. The vehicle comprises a communication and navigation fusion chip and a multi-source positioning system; 8. A vehicle characterized by comprising: the communication and navigation fusion chip is configured to perform cellular network communication and satellite positioning communication; ​ The multi-source positioning system is used to implement the vehicle positioning method according to any one of claims 1-7.

9. The vehicle of claim 8, wherein, The vehicle further comprises a resource management system; The resource management system is used to adjust the power consumption of the target vehicle according to the real-time state of the vehicle.

10. A machine-readable storage medium, characterized in that, The machine readable storage medium stores instructions for causing a machine to perform the vehicle positioning method according to any one of claims 1-7.

Images