Vehicle positioning method, vehicle and machine-readable storage medium

Abstract

This application discloses a vehicle positioning method, a vehicle, and a machine-readable storage medium, belonging to the field of device positioning. The vehicle positioning method includes: acquiring satellite positioning data of a target vehicle; when the target vehicle's terrestrial cellular network switches to a non-terrestrial cellular network, correcting the satellite positioning data based on navigation enhancement information received from the non-terrestrial cellular network to obtain corrected positioning data; acquiring the target vehicle's pose difference data and target inertial data after subtracting the deviation; and obtaining the multi-source fusion positioning result of the target vehicle based on the corrected positioning data, pose difference data, and target inertial data. By establishing a ground-to-satellite communication link, navigation enhancement information, pose data, and inertial data can be acquired based on the cellular network to achieve multi-source fusion positioning of the vehicle, realizing full-domain positioning and seamless communication for intelligent vehicle driving.

Description

Technical Field

[0001] This invention relates to the field of equipment positioning, and more specifically to a vehicle positioning method, a vehicle, and a machine-readable storage medium. Background Technology

[0002] With the rapid development of navigation technology, it is widely used in vehicle navigation and intelligent driving scenarios. In actual driving scenarios, vehicles may be in areas with abnormal signal coverage, such as urban canyons, tunnels, remote areas, and disaster areas. When vehicles rely on satellite navigation or other single navigation methods, they are prone to signal loss and interference, resulting in excessive positioning errors. Traditional vehicle terminals rely on communication with ground base stations, which are prone to loss of communication in remote areas and disaster scenarios. Furthermore, there are communication blind spots between vehicle terminals and ground base stations, which cannot meet the requirements of all-domain positioning and seamless communication for intelligent driving. Summary of the Invention

[0003] The purpose of this invention is to provide a vehicle positioning method, a vehicle, and a machine-readable storage medium to solve the problem of excessive vehicle positioning error.

[0004] To achieve the above objectives, firstly, this application provides a vehicle positioning method, which includes:

[0005] Obtain satellite positioning data of the target vehicle;

[0006] When the target vehicle switches from a terrestrial cellular network to a non-terrestrial cellular network, the satellite positioning data is corrected based on the navigation enhancement information received from the non-terrestrial cellular network to obtain the corrected positioning data.

[0007] Acquire the pose difference data of the target vehicle, and the target inertial data after subtracting the deviation;

[0008] Based on the corrected positioning data, pose difference data, and target inertial data, the multi-source fusion positioning result of the target vehicle is obtained.

[0009] In the embodiments of this application, the target vehicle includes a terrestrial network radio frequency terminal and a non-terrestrial network radio frequency terminal;

[0010] When the target vehicle switches from a terrestrial cellular network to a non-terrestrial cellular network, the satellite positioning data is corrected based on the navigation enhancement information received from the non-terrestrial cellular network to obtain the corrected positioning data, including:

[0011] Acquire status signals from the terrestrial network radio frequency terminal;

[0012] When the status signal meets the preset conditions, the terrestrial cellular network is switched to a non-terrestrial cellular network to enable satellite pre-connection via the non-terrestrial network radio frequency terminal. The preset conditions are that the target duration is greater than a preset duration threshold, and the target duration is the duration during which the status signal is less than a preset signal threshold.

[0013] When a ground-to-satellite link is established via a non-terrestrial network radio frequency terminal, satellite positioning data is corrected based on navigation enhancement information received from the non-terrestrial cellular network.

[0014] In the embodiments of this application, the vehicle positioning method further includes:

[0015] When the non-terrestrial cellular network of the target vehicle switches to a terrestrial cellular network, the multi-source fusion positioning result of the target vehicle is obtained based on satellite positioning data, pose difference data and target inertial data.

[0016] In the embodiments of this application, the multi-source fusion positioning result of the target vehicle is obtained based on the corrected positioning data, pose difference data, and target inertial data, including:

[0017] Based on the extended Kalman filter equation, the multi-source fusion positioning result of the target vehicle is obtained according to the corrected positioning data, pose difference data and target inertial data.

[0018] In the embodiments of this application, the multi-source fusion positioning result of the target vehicle is obtained based on the corrected positioning data, pose difference data, and target inertial data, including:

[0019] The coordinates of the corrected positioning data are converted to northeast-sky coordinates to obtain the converted positioning data;

[0020] Based on the converted positioning data, pose difference data, and target inertial data, the multi-source fusion positioning result of the target vehicle is obtained.

[0021] In the embodiments of this application, the target vehicle includes a visual inertial odometry.

[0022] Acquire the target vehicle's pose difference data, and the target inertial data after subtracting the deviation, including:

[0023] Acquire the pose and inertial data of the target vehicle;

[0024] The pose data and inertial data are input into the visual inertial odometry to obtain the pose difference data of the target vehicle and the target inertial data after subtracting the deviation.

[0025] In the embodiments of this application, the vehicle positioning method further includes:

[0026] When the target vehicle is in parked sleep mode, the non-terrestrial network radio frequency terminal will remain off.

[0027] Secondly, this application provides a vehicle, which includes a communication and navigation fusion chip and a multi-source positioning system;

[0028] A communication and navigation fusion chip used for cellular network communication and satellite positioning communication;

[0029] A multi-source positioning system is used to implement the vehicle positioning method described above.

[0030] In embodiments of this application, the vehicle also includes a resource management system;

[0031] The resource management system is used to adjust the power consumption of a target vehicle based on its real-time status.

[0032] Thirdly, this application provides a machine-readable storage medium storing instructions that cause a machine to perform the vehicle positioning method described above.

[0033] This application provides a vehicle positioning method, comprising: acquiring satellite positioning data of a target vehicle; correcting the satellite positioning data based on navigation enhancement information received from the non-terrestrial cellular network when the target vehicle's terrestrial cellular network switches to a non-terrestrial cellular network, thereby obtaining corrected positioning data; acquiring the target vehicle's pose differential data and target inertial data after subtracting the deviation; and obtaining a multi-source fusion positioning result of the target vehicle based on the corrected positioning data, pose differential data, and target inertial data. By establishing a terrestrial and satellite communication link, navigation enhancement information, pose data, and inertial data can be acquired based on the cellular network to achieve multi-source fusion positioning of the vehicle, improving the vehicle's positioning accuracy. Furthermore, by switching between terrestrial and non-terrestrial cellular networks, the coverage of vehicle communication is expanded, ensuring the continuity and reliability of communication during vehicle operation, thus meeting the requirements for all-domain vehicle positioning and seamless communication. The collaborative work of communication and satellite navigation also improves the overall system efficiency and performance.

[0034] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0035] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0036] Figure 1 A flowchart of the vehicle positioning method provided in this application embodiment;

[0037] Figure 2 An example diagram of the multi-source fusion localization results provided in an embodiment of this application is shown;

[0038] Figure 3 A schematic diagram of the vehicle structure provided in an embodiment of this application is shown;

[0039] Figure 4 A schematic diagram of the communication and navigation fusion chip provided in an embodiment of this application is shown.

[0040] Explanation of reference numerals in the attached figures

[0041] 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 Implementation

[0042] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustrative and explanatory purposes only and are not intended to limit the scope of the present invention.

[0043] The components of the embodiments of the invention described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0044] In the following, the terms “comprising,” “having,” and their cognates, which may be used in various embodiments of the invention, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as excluding, firstly, the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more features, numbers, steps, operations, elements, components, or combinations thereof.

[0045] Furthermore, the terms "first," "second," and "third" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0046] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the invention pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of the invention.

[0047] Vehicle navigation modules typically rely on BeiDou or GPS (Global Positioning System) for satellite navigation. However, when vehicles travel through complex urban areas such as canyons and tunnels, the positioning error becomes large due to satellite signal blockage and multipath interference, making lane-level navigation impossible.

[0048] With the rapid development of communication technology, 5G (5th Generation Mobile Communication Technology) terrestrial communication technology has been widely used. However, vehicle communication modules rely on ground base stations. In remote areas, these modules are prone to signal loss, and in areas such as tunnels, navigation modules cannot locate due to satellite signal obstruction. Therefore, the requirements for all-domain positioning and seamless communication in intelligent driving cannot be met. Even if a vehicle integrates communication and navigation modules, it still cannot achieve high-precision all-domain positioning and seamless communication. Furthermore, the hardware redundancy of the communication and navigation modules leads to high power consumption, thus affecting the vehicle's range. This embodiment provides a vehicle positioning method that uses multi-source fusion positioning to meet the all-domain positioning requirements of intelligent driving, improving the vehicle's positioning accuracy. In remote areas, switching from terrestrial cellular networks to non-terrestrial cellular networks can meet the requirements for all-domain seamless communication in intelligent driving.

[0049] Please see Figure 1 , Figure 1 The flowchart of the vehicle positioning method provided in this application embodiment is shown. Figure 1 The vehicle positioning methods include:

[0050] S110: Obtain satellite positioning data of the target vehicle.

[0051] The target vehicle is the vehicle that needs to obtain multi-source fusion positioning results. The type of target vehicle is set according to actual needs and is not limited here. The type of satellite positioning data is set according to actual needs and is not limited here. For ease of understanding, in the embodiments of this 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 vehicles on the Earth's surface or in near-Earth space with all-weather three-dimensional coordinates, speed, and time information.

[0052] S120: When the target vehicle's terrestrial cellular network switches to a non-terrestrial cellular network, the satellite positioning data is corrected based on the navigation enhancement information received from the non-terrestrial cellular network to obtain the corrected positioning data.

[0053] When vehicles travel through complex urban areas, remote areas, or disaster zones, the lack of terrestrial cellular network communication signals prevents normal communication. This embodiment switches the terrestrial cellular network to a non-terrestrial cellular network to ensure normal communication for the target vehicle and prevent it from being unable to receive communication signals. When the target vehicle's terrestrial cellular network switches to a non-terrestrial cellular network, the vehicle is triggered to establish a terrestrial-satellite link based on the cellular network. Once the terrestrial-satellite link is established, the vehicle communicates via the satellite link, receiving navigation enhancement information through correction signals broadcast by orbiting satellites.

[0054] The navigation enhancement information includes parameters set according to actual needs, such as satellite clock bias, orbital error, and ionospheric delay, which are not limited here. Satellite positioning data is corrected based on the received navigation enhancement information. By correcting parameters such as satellite clock bias and orbital error, corrected positioning data is obtained. By establishing a ground-to-satellite link, vehicles can correct and optimize satellite positioning data to obtain more accurate corrected positioning data, thereby expanding the coverage of satellite navigation.

[0055] In the embodiments of this application, the target vehicle includes a terrestrial network radio frequency terminal and a non-terrestrial network radio frequency terminal;

[0056] When the target vehicle switches from a terrestrial cellular network to a non-terrestrial cellular network, the satellite positioning data is corrected based on the navigation enhancement information received from the non-terrestrial cellular network to obtain the corrected positioning data, including:

[0057] Acquire status signals from the terrestrial network radio frequency terminal;

[0058] When the status signal meets the preset conditions, the terrestrial cellular network is switched to a non-terrestrial cellular network to enable satellite pre-connection via the non-terrestrial network radio frequency terminal. The preset conditions are that the target duration is greater than a preset duration threshold, and the target duration is the duration during which the status signal is less than a preset signal threshold.

[0059] When a ground-to-satellite link is established via a non-terrestrial network radio frequency terminal, satellite positioning data is corrected based on navigation enhancement information received from the non-terrestrial cellular network.

[0060] The type of cellular network is set according to actual needs and is not limited here. For ease of understanding, in this embodiment, the cellular network is a 5G network, the terrestrial network radio frequency end is a 5G RedCap (Reduced Capability) module, and the non-terrestrial network radio frequency end is a 5G NTN (Non-Terrestrial Network) module.

[0061] During the target vehicle's operation, the ground network radio frequency terminal periodically broadcasts information, acquiring the status signal during this broadcast process and determining whether the status signal meets preset conditions. The preset conditions are that the target duration is greater than or equal to a preset duration threshold, and the target duration is the duration during which the status signal is less than the preset signal threshold.

[0062] For ease of understanding, in the embodiments of this application, the status signal is the 5G RedCap RSSI (Received Signal Strength Indication), with a preset duration threshold of 3 seconds and a preset signal threshold of -110dBm. When the status signal meets the preset condition, i.e., the duration of RSSI < -110dBm is greater than or equal to 3 seconds, the terrestrial cellular network is switched to a non-terrestrial cellular network to establish a satellite pre-connection via the non-terrestrial network radio frequency terminal. Once a ground-to-satellite link is established via the non-terrestrial network radio frequency terminal, the satellite positioning data is corrected based on the navigation enhancement information received from the non-terrestrial cellular network.

[0063] It is important to understand that this embodiment establishes terrestrial and satellite links based on Dual Active Protocol Stack (DAPStack) technology. During the handover from the terrestrial cellular network to the non-terrestrial cellular network, data packets are copied and transmitted to ensure zero packet loss. Furthermore, after the handover is complete, terrestrial link resources are released, and the satellite link is retained as the default channel until signal recovery. This handover between the terrestrial and non-terrestrial cellular networks ensures the continuity and reliability of communication during vehicle operation, thereby meeting the communication needs of vehicles in remote areas and disaster zones.

[0064] S130: Acquire the pose difference data of the target vehicle, as well as the target inertial data after subtracting the deviation.

[0065] In this embodiment, the target vehicle includes sensing devices such as accelerometers, gyroscopes, and binocular visual odometry. The pose and inertial data of the target vehicle are acquired through these sensing devices. For ease of understanding, the inertial data in this embodiment is IMU (Inertial Measurement Unit) data.

[0066] By calculating the target vehicle's pose, pose difference data is obtained. Simultaneously, the bias is subtracted from the inertial data to obtain the bias-subtracted target inertial data. When satellite navigation is affected by signal errors, obstructions, and interference, the pose difference data and target inertial data provide dead reckoning information for satellite positioning data.

[0067] In the embodiments of this application, the target vehicle includes a visual inertial odometry.

[0068] Acquire the target vehicle's pose difference data, and the target inertial data after subtracting the deviation, including:

[0069] Acquire the pose and inertial data of the target vehicle;

[0070] The pose data and inertial data are input into the visual inertial odometry to obtain the pose difference data of the target vehicle and the target inertial data after subtracting the deviation.

[0071] Visual inertial odometry (VIO) is an odometry system that combines a visual sensor and an inertial measurement unit (IMU) to estimate the pose changes of a vehicle in real time. For ease of understanding, in the embodiments of this application, the target vehicle also includes a binocular visual odometry system, a 6-axis accelerometer, and a gyroscope. The pose data of the target vehicle is acquired through the binocular visual odometry system, and inertial data is acquired through the accelerometer and gyroscope. The pose data and inertial data are input to the visual inertial odometry system, which acquires the pose changes in the vehicle's coordinate system, and then outputs the pose difference data of the target vehicle, as well as the target inertial data after subtracting the deviation.

[0072] S140. Based on the corrected positioning data, pose difference data and target inertial data, the multi-source fusion positioning result of the target vehicle is obtained.

[0073] In this embodiment, a multi-source fusion model is deployed on the target vehicle. The multi-source fusion model is used to construct the state vector X=[δp,δv,δθ,b] a ,b g], where δp is the position of the target vehicle in the carrier coordinate system, δv is the velocity of the target vehicle in the carrier coordinate system, δθ is the angle of the target vehicle in the carrier coordinate system, and b a For the pose deflection of the target vehicle in the carrier coordinate system, b g The inertial data offset of the target vehicle in the carrier coordinate system.

[0074] As the target vehicle moves, the positioning error accumulates over time. Based on the corrected positioning data, pose difference data, and target inertial data, the target vehicle's state vector is corrected, resulting in a multi-source fusion positioning result. By establishing a ground-to-satellite communication link, navigation enhancement information, pose data, and inertial data can be acquired via cellular networks to achieve multi-source fusion positioning of the vehicle, improving its positioning accuracy. Furthermore, switching between terrestrial and non-terrestrial cellular networks enhances the coverage of in-vehicle communication, ensuring continuity and reliability of communication during vehicle movement, thus meeting the requirements for all-domain positioning and seamless communication. The collaborative operation of communication and satellite navigation also improves the overall system efficiency and performance.

[0075] In the embodiments of this application, the vehicle positioning method further includes:

[0076] When the non-terrestrial cellular network of the target vehicle switches to a terrestrial cellular network, the multi-source fusion positioning result of the target vehicle is obtained based on satellite positioning data, pose difference data and target inertial data.

[0077] When communication is possible via terrestrial cellular networks, the target vehicle maintains communication through these networks. When the target vehicle switches from a non-terrestrial cellular network to a terrestrial cellular network, acquiring satellite positioning data meets high-precision requirements, leading to accurate positioning results via satellite navigation. In this embodiment, the multi-source fusion positioning result of the target vehicle is obtained directly based on satellite positioning data, pose difference data, and target inertial data. Even if the satellite positioning error increases over time, the pose difference data and target inertial data can correct the satellite positioning, ensuring the long-term accuracy of the multi-source fusion positioning result.

[0078] If the target vehicle maintains communication via a non-terrestrial cellular network, it will result in excessive power consumption. By combining a terrestrial cellular network with a non-terrestrial cellular network, the overall efficiency and performance of the vehicle are improved while ensuring the accuracy of the positioning results. For ease of understanding, the embodiments of this application take the target vehicle driving in an urban area as an example. When the vehicle travels to complex urban areas such as canyons and tunnels, satellite navigation signals are affected by obstruction and multipath interference, resulting in situations where there is no terrestrial cellular network communication signal, leading to large positioning errors. In this embodiment, when the target vehicle travels to a remote area, the target vehicle switches from a terrestrial cellular network to a non-terrestrial cellular network. This improves the vehicle's positioning accuracy based on multi-source fusion positioning. Furthermore, the flexible switching between terrestrial and non-terrestrial cellular networks enhances the coverage of vehicle communication, ensuring the continuity and reliability of communication during vehicle travel, thereby meeting the requirements for vehicle-wide positioning and seamless communication.

[0079] After the target vehicle leaves the complex urban areas of canyons and tunnels, it can communicate directly via terrestrial cellular networks when driving in simple urban areas such as ordinary roads. The vehicle switches from non-terrestrial cellular networks to terrestrial cellular networks to avoid excessive power consumption. This switching between terrestrial and non-terrestrial cellular networks ensures the continuity and reliability of communication during vehicle operation, thus meeting the requirements for all-domain positioning and seamless communication. The collaborative work between communication and satellite navigation also improves the overall system efficiency and performance.

[0080] In the embodiments of this application, the multi-source fusion positioning result of the target vehicle is obtained based on the corrected positioning data, pose difference data, and target inertial data, including:

[0081] The coordinates of the corrected positioning data are converted to northeast-sky coordinates to obtain the converted positioning data;

[0082] Based on the converted positioning data, pose difference data, and target inertial data, the multi-source fusion positioning result of the target vehicle is obtained.

[0083] Typically, satellite positioning data is in LLA (Latitude-Longitude-Altitude) coordinates, and the corrected positioning data is also in LLA coordinates. The corrected positioning data is converted from LLA coordinates to East-North-Up (ENU) coordinates to obtain the converted positioning data. Based on the converted positioning data in East-North-Up coordinates, pose difference data, and target inertial data, the multi-source fusion positioning result of the target vehicle is obtained. It should be understood that in this embodiment, the multi-source fusion positioning result is the position result in LLA coordinates.

[0084] In the embodiments of this application, the multi-source fusion positioning result of the target vehicle is obtained based on the corrected positioning data, pose difference data, and target inertial data, including:

[0085] Based on the extended Kalman filter equation, the multi-source fusion positioning result of the target vehicle is obtained according to the corrected positioning data, pose difference data and target inertial data.

[0086] Please see Figure 2 , Figure 2 An example diagram of the multi-source fusion localization results provided in the embodiments of this application is shown.

[0087] Acquire the target vehicle's pose and inertial data, input them into a visual inertial odometry system to obtain the target vehicle's pose difference data and the target inertial data after subtracting the deviation. Acquire the target vehicle's satellite positioning data, correct the satellite positioning data based on navigation enhancement information, and obtain the corrected positioning data.

[0088] Based on the Extended Kalman Filter (EKF) equations, the multi-source fusion localization result of the target vehicle is obtained using the corrected localization data, pose difference data, and target inertial data. Specifically, the coordinates of the corrected localization data are converted to N-H (northeast-sky) coordinates to obtain the converted localization data. In the observation equations of the EKF, the state vector is corrected using the converted localization data, pose difference data, and target inertial data in N-H coordinates to obtain the multi-source fusion localization result of the target vehicle.

[0089] In the embodiments of this application, the vehicle positioning method further includes:

[0090] When the target vehicle is in parked sleep mode, the non-terrestrial network radio frequency terminal will remain off.

[0091] When the target vehicle is in parked sleep mode, the non-terrestrial network radio frequency terminal will remain off.

[0092] Keeping the non-terrestrial network radio frequency (RF) terminal on would result in excessive power consumption for the target vehicle. In this embodiment, when the target vehicle is in parked sleep mode, the non-terrestrial network RF terminal is kept off, the satellite communication link is disabled, and only low-power monitoring of satellite positioning and inertial data is performed. This appropriate switching between terrestrial and non-terrestrial cellular networks improves the efficiency and performance of the target vehicle.

[0093] This application provides a vehicle positioning method, comprising: acquiring satellite positioning data of a target vehicle; correcting the satellite positioning data based on navigation enhancement information received from the non-terrestrial cellular network when the target vehicle's terrestrial cellular network switches to a non-terrestrial cellular network, thereby obtaining corrected positioning data; acquiring the target vehicle's pose differential data and target inertial data after subtracting the deviation; and obtaining a multi-source fusion positioning result of the target vehicle based on the corrected positioning data, pose differential data, and target inertial data. By establishing a terrestrial and satellite communication link, navigation enhancement information, pose data, and inertial data can be acquired based on the cellular network to achieve multi-source fusion positioning of the vehicle, improving the vehicle's positioning accuracy. Furthermore, the switching between terrestrial and non-terrestrial cellular networks enhances the coverage of vehicle communication, ensuring the continuity and reliability of communication during vehicle operation, thus meeting the requirements for all-domain vehicle positioning and seamless communication. The collaborative operation of communication and satellite navigation also improves the overall system efficiency and performance.

[0094] Please see Figure 3 , Figure 3 A schematic diagram of the vehicle structure provided in an embodiment of this application is shown.

[0095] This application embodiment also provides a vehicle 200, which includes a communication and navigation fusion chip 210 and a multi-source positioning system 220;

[0096] The communication and navigation fusion chip 210 is used for cellular network communication and satellite positioning communication.

[0097] The multi-source positioning system 220 is used to implement the vehicle 200 positioning method described above.

[0098] The communication and navigation fusion chip 210 is used for cellular network communication and satellite positioning communication, wherein the cellular network communication includes terrestrial cellular network communication and non-terrestrial cellular network communication. The multi-source positioning system 220 is used to implement the above-described vehicle 200 positioning method. In this embodiment, the multi-source positioning system 220 includes a data layer and an algorithm layer. The data layer is used to acquire raw BeiDou observation data and obtain satellite positioning data based on pseudorange, carrier phase, and Doppler frequency shift data included in the raw BeiDou observation data. The data layer is also used to acquire the pose and inertial data of the vehicle 200, thereby acquiring the pose difference data of the target vehicle 200 and the target inertial data after subtracting the deviation. The algorithm layer is used for part of the multi-source fusion model. A state vector is constructed through the multi-source fusion model, and the state vector is iterated through extended Kalman filtering. Then, based on the corrected positioning data, pose difference data, and target inertial data, the multi-source fusion positioning result of the target vehicle 200 is obtained. It should be understood that the vehicle 200 also includes other devices, which are set according to actual needs and may include human-computer interaction devices, etc., which are not limited here.

[0099] Please see Figure 4 , Figure 4 A schematic diagram of the communication and navigation fusion chip provided in an embodiment of this application is shown.

[0100] In this embodiment, the communication and 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 terrestrial network radio frequency terminal, a non-terrestrial network radio frequency terminal, and other radio frequency terminals. The other radio frequency terminals are set according to actual needs and are not limited here. By integrating the 5G RedCap Sub-6GHz (electromagnetic wave band with frequencies below 6GHz), the 5G NTN S-band (electromagnetic wave band with frequencies of 2-4 GHz) satellite communication chain, and the Beidou-3 frequency point receiving chain through the multi-mode radio frequency front-end 211, the vehicle 200 supports full-band adaptive matching.

[0101] In this embodiment, the baseband processing unit 212 uses a dynamic spectrum sensing algorithm to detect the status signals of the terrestrial cellular network in real time to detect satellite link availability, thereby triggering seamless handover between the terrestrial cellular network and non-terrestrial cellular networks. The baseband processing unit 212 is also used to deploy a BeiDou navigation enhancement engine to analyze received navigation enhancement information, improving satellite signal coverage, positioning speed, and acquisition sensitivity. In this embodiment, the heterogeneous computing unit 213 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 will not be elaborated here. The communication and navigation fusion chip 210 reduces hardware complexity and cost through single-chip multi-standard technology fusion. Furthermore, the communication and navigation fusion chip 210 enables cellular network communication and positioning navigation to work collaboratively, improving the efficiency and performance of the vehicle 200.

[0102] In the embodiments of this application, the vehicle 200 also includes a resource management system 230;

[0103] The resource management system 230 is used to adjust the power consumption of the target vehicle 200 according to the real-time status of the vehicle 200.

[0104] In this embodiment, the resource management system 230 includes a QoS (Quality of Service) driven scheduler and a power consumption optimization unit. The QoS driven scheduler dynamically allocates resources according to the service type to adjust the power consumption of the target vehicle 200. Specifically, when the vehicle 200 is in an emergency communication state, it prioritizes the use of the 5G NTN satellite link to ensure a bandwidth greater than 2Mbps. When the vehicle 200 requires high-precision positioning, the visual odometry of the NPU accelerator is enabled for calculation, increasing the positioning frequency to 100Hz.

[0105] The power optimization unit shuts down redundant computing units under low load through adaptive clock gating. The power optimization unit also allows for adjustable periodic sleep ratios when the target vehicle is in a parking sleep mode (200%), thus saving standby power consumption.

[0106] This application also provides a machine-readable storage medium storing instructions that cause a machine to perform the vehicle positioning method described above.

[0107] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0108] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0109] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0110] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0111] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0112] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0113] Machine-readable storage media include both permanent and non-permanent, removable and non-removable media that can store information by any method or technology. Information can be 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0114] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0115] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A vehicle positioning method characterized by comprising: The vehicle positioning method comprises: obtaining satellite positioning data of a target vehicle, the target vehicle comprising a ground network radio frequency end and a non-ground network radio frequency end; obtaining a state signal of the ground network radio frequency end; in a case where the state signal meets a preset condition, switching a ground cellular network 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 where a ground-satellite link is established through the non-ground network radio frequency end, correcting the 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 the target vehicle and target inertial data after deviation subtraction; 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 vehicle positioning method further comprises: in a case where the 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.

3. The vehicle positioning method according to claim 1, characterized by, The obtaining of the 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 the 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.

4. The vehicle positioning method according to claim 1, characterized by, The obtaining of the 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.

5. The vehicle positioning method according to claim 1, characterized by, The target vehicle comprises a visual inertial odometer. The obtaining of the pose differential data of the target vehicle and the target inertial data after deviation subtraction comprises: obtaining pose data and inertial data of the target vehicle; inputting the pose data and the inertial data into the visual inertial odometer to obtain the pose differential data of the target vehicle and the target inertial data after deviation subtraction.

6. The vehicle positioning method according to claim 1, characterized by, The vehicle positioning method further comprises: in a case where the target vehicle is in a parking hibernation mode, keeping the non-ground network radio frequency end closed.

7. A vehicle characterized by comprising: The vehicle comprises a communication and navigation fusion chip and a multi-source positioning system; the communication and navigation fusion chip is configured to perform cellular network communication and satellite positioning communication; the multi-source positioning system is configured to implement the vehicle positioning method according to any one of claims 1 to 6.

8. The vehicle of claim 7, wherein, The vehicle further comprises a resource management system; the resource management system is configured to adjust power consumption of the target vehicle according to a real-time state of the vehicle.

9. 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 to 6.

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