Vehicle positioning method and device, vehicle, storage medium and program product

Abstract

The invention provides a vehicle positioning method and device, a vehicle, a storage medium and a program product. The method comprises the following steps: receiving a satellite navigation positioning signal and an inertial navigation positioning signal; when the satellite navigation positioning signal meets a preset condition, sending a front-end fusion positioning signal to a navigation application; when the satellite navigation positioning signal does not meet the preset condition, the satellite navigation positioning signal and the inertial navigation positioning signal are sent to the navigation application, and the navigation application carries out fusion processing on the satellite navigation positioning signal and the inertial navigation positioning signal to obtain a rear-end fusion positioning signal; and the navigation application adopts the front-end fusion positioning signal or the rear-end fusion positioning signal for positioning. In other words, different positioning signal fusion modes can be selected to position the vehicle according to whether the satellite navigation positioning signals meet the preset conditions or not, the positioning accuracy is improved, and then the user experience is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more specifically to a vehicle positioning method, device, vehicle, storage medium, and program product. Background Technology

[0002] With the development of vehicle technology, the integration of navigation systems for vehicle positioning has received widespread attention. Currently, integrated navigation systems consisting of a global satellite navigation system and an inertial navigation system are commonly used for vehicle positioning.

[0003] In related technologies, the fusion processing of satellite navigation positioning signals acquired by a Global Navigation Satellite System (GNSS) and inertial navigation positioning signals acquired by an Inertial Navigation System (INS) typically employs either a front-end fusion method or a back-end fusion method. The front-end fusion method involves the integrated navigation system fusing the satellite navigation positioning signals and the inertial navigation positioning signals to obtain a fused positioning signal, which is then sent to the navigation application. The back-end fusion method involves the integrated navigation system sending both the satellite navigation positioning signals and the inertial navigation positioning signals to the navigation application, where the navigation application then fuses these signals to obtain the final fused positioning signal.

[0004] However, in integrated navigation systems, if only front-end fusion or back-end fusion is used for vehicle positioning, positioning errors may occur in some scenarios, affecting user experience. For example, when the vehicle is on an unobstructed road or in a surface parking lot, using only front-end fusion to obtain the fused positioning signal is less reliable than using back-end fusion. When the vehicle is in a tunnel, under an overpass, on a road with tall buildings on either side, or in an underground parking lot, using only back-end fusion to obtain the fused positioning signal may result in positioning errors due to invalid or obstructed satellite navigation positioning signals.

[0005] It should be noted that the information disclosed in the background section of this application is intended only to enhance the understanding of the general background of this application, and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0006] This application provides a vehicle positioning method, device, vehicle, storage medium, and program product to solve the problem that the use of a single positioning signal fusion method in the prior art may lead to inaccurate positioning and poor user experience.

[0007] In a first aspect, embodiments of this application provide a method for locating a vehicle, including: Receives satellite navigation and positioning signals and inertial navigation and positioning signals; Determine whether the satellite navigation and positioning signal meets the preset conditions; When the satellite navigation positioning signal meets the preset conditions, a front-end fused positioning signal is sent to the navigation application. The front-end fused positioning signal is a signal obtained by fusing the satellite navigation positioning signal and the inertial navigation positioning signal using Kalman filtering. When the satellite navigation positioning signal does not meet the preset conditions, the satellite navigation positioning signal and the inertial navigation positioning signal are sent to the navigation application. The navigation application performs fusion processing on the satellite navigation positioning signal and the inertial navigation positioning signal to obtain a back-end fused positioning signal. The navigation application uses either the front-end fused positioning signal or the back-end fused positioning signal for positioning.

[0008] In one possible implementation, determining whether the satellite navigation and positioning signal meets preset conditions includes: Determine whether the satellite navigation and positioning signal is invalid or blocked.

[0009] In one possible implementation, determining whether the satellite navigation and positioning signal is invalid includes: If the satellite navigation and positioning signal includes a valid identifier, then the satellite navigation and positioning signal is determined to be valid. If the satellite navigation and positioning signal contains an invalid identifier, then the satellite navigation and positioning signal is determined to be invalid.

[0010] In one possible implementation, determining whether the satellite navigation and positioning signal is blocked includes: If the positioning difference between the satellite navigation positioning signal received at the current moment and the satellite navigation positioning signal received at the previous moment is greater than or equal to a preset positioning difference threshold, then it is determined that the satellite navigation positioning signal is blocked. If the positioning difference between the satellite navigation positioning signal received at the current moment and the satellite navigation positioning signal received at the previous moment is less than the positioning difference threshold, then it is determined that the satellite navigation positioning signal is not blocked.

[0011] In one possible implementation, after receiving the satellite navigation positioning signal and the inertial navigation positioning signal, the method further includes: Kalman filtering is used to fuse the satellite navigation positioning signal and the inertial navigation positioning signal.

[0012] In one possible implementation, sending a front-end fused positioning signal to the navigation application when the satellite navigation positioning signal meets the preset conditions includes: When the satellite navigation positioning signal meets the preset conditions, Kalman filtering is used to fuse the satellite navigation positioning signal and the inertial navigation positioning signal to obtain a front-end fused positioning signal, which is then sent to the navigation application.

[0013] Secondly, embodiments of this application provide a vehicle positioning device, comprising: The signal receiving module is used to receive satellite navigation and positioning signals and inertial navigation and positioning signals; The condition judgment module is used to determine whether the satellite navigation and positioning signal meets preset conditions; A front-end fusion positioning signal transmission module is used to send a front-end fusion positioning signal to a navigation application when the satellite navigation positioning signal meets the preset conditions. The front-end fusion positioning signal is a signal obtained by fusing the satellite navigation positioning signal and the inertial navigation positioning signal using Kalman filtering. A back-end fusion positioning signal sending module is used to send the satellite navigation positioning signal and the inertial navigation positioning signal to the navigation application when the satellite navigation positioning signal does not meet the preset conditions. The navigation application performs fusion processing on the satellite navigation positioning signal and the inertial navigation positioning signal to obtain a back-end fusion positioning signal. A positioning module is used by the navigation application to perform positioning using the front-end fused positioning signal or the back-end fused positioning signal.

[0014] Thirdly, embodiments of this application provide a vehicle, including: A controller configured to perform the method described in any one of the first aspects.

[0015] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in any one of the first aspects.

[0016] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the method described in any one of the first aspects.

[0017] In this embodiment, front-end fusion and back-end fusion methods are used to fuse the positioning signals. Different positioning signal fusion methods can be selected to locate the vehicle based on whether the satellite navigation positioning signals meet preset conditions. In other words, in different scenarios, a positioning signal fusion method matching that scenario can be used, which can improve positioning accuracy in that scenario and thus enhance the user experience. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a structural schematic diagram of a vehicle provided in an embodiment of this application.

[0020] Figure 2 This is a flowchart illustrating a vehicle positioning method provided in an embodiment of this application.

[0021] Figure 3 This is a schematic diagram of a chip provided in an embodiment of this application.

[0022] Figure 4 This is a schematic diagram of a method for processing positioning signals, provided as an embodiment of this application.

[0023] Figure 5 This is a schematic diagram of signal time synchronization provided in an embodiment of this application.

[0024] Figure 6 This is a schematic diagram of the structure of a vehicle positioning device provided in an embodiment of this application.

[0025] Figure 7 This is a structural schematic diagram of a vehicle provided in an embodiment of this application. Detailed Implementation

[0026] To better understand the technical solution of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0027] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0028] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0029] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0030] See Figure 1 This is a structural schematic diagram of a vehicle provided in an embodiment of this application. Figure 1 As shown, the vehicle 100 includes a global navigation satellite system 101, an inertial navigation system 102, and a controller 103. The global navigation satellite system 101 can be used to acquire satellite navigation positioning signals; the inertial navigation system 102 can be used to acquire inertial navigation positioning signals; and the controller 103 can be used to process the satellite navigation positioning signals and the inertial navigation positioning signals to obtain a positioning signal.

[0031] It should be pointed out that, Figure 1 The vehicle 100 shown is merely an exemplary description and should not be construed as a limitation on the scope of protection of this application.

[0032] With the development of vehicle technology, the integration of navigation systems for vehicle positioning has received widespread attention. Currently, integrated navigation systems consisting of a global satellite navigation system and an inertial navigation system are commonly used for vehicle positioning.

[0033] In related technologies, the fusion processing of satellite navigation positioning signals acquired by a Global Navigation Satellite System (GNSS) and inertial navigation positioning signals acquired by an Inertial Navigation System (INS) typically employs either a front-end fusion method or a back-end fusion method. The front-end fusion method involves the integrated navigation system fusing the satellite navigation positioning signals and the inertial navigation positioning signals to obtain a fused positioning signal, which is then sent to the navigation application. The back-end fusion method involves the integrated navigation system sending both the satellite navigation positioning signals and the inertial navigation positioning signals to the navigation application, where the navigation application then fuses these signals to obtain the final fused positioning signal.

[0034] However, in integrated navigation systems, using only front-end fusion or back-end fusion methods for vehicle positioning can lead to positioning errors in certain situations, impacting user experience. For example, when a vehicle is on an unobstructed road or in a surface parking lot, using only front-end fusion to obtain a fused positioning signal may result in unreliable positioning compared to using back-end fusion. Similarly, when a vehicle is in a tunnel, under an overpass, on a road with tall buildings on either side, or in an underground parking lot, using only back-end fusion to obtain a fused positioning signal may result in positioning errors due to invalid or obstructed satellite navigation signals.

[0035] To address the aforementioned issues, this application embodiment employs both front-end and back-end fusion methods to fuse positioning signals. Different positioning signal fusion methods can be selected for vehicle positioning based on whether the satellite navigation positioning signals meet preset conditions. In other words, using a positioning signal fusion method that matches the specific scenario can improve positioning accuracy and thus enhance the user experience.

[0036] Specifically, the following detailed description is provided in conjunction with the accompanying drawings and specific embodiments.

[0037] See Figure 2 This is a flowchart illustrating a vehicle positioning method provided in an embodiment of this application. This method can be applied to... Figure 1 The controller shown is as follows: Figure 2 As shown, it specifically includes the following steps.

[0038] Step S201: Receive satellite navigation positioning signals and inertial navigation positioning signals.

[0039] In practical applications, in order to determine the location of a vehicle, it is necessary to first collect satellite navigation positioning signals and inertial navigation positioning signals, and then process the satellite navigation positioning signals and inertial navigation positioning signals to obtain the vehicle's positioning signal.

[0040] In this embodiment, satellite navigation positioning signals and inertial navigation positioning signals can be acquired using an antenna and an inertial navigation sensor, respectively. The inertial navigation positioning signals include the vehicle's acceleration and angular acceleration.

[0041] Step S202: Determine whether the satellite navigation and positioning signal meets the preset conditions.

[0042] In practical applications, since inertial navigation systems rely on inertial sensors to collect inertial navigation positioning signals, these signals are always normal. Therefore, in this embodiment, the positioning signal fusion method can be determined based on the characteristics of the satellite navigation positioning signals.

[0043] In this embodiment of the application, in order to determine the positioning signal fusion method, it is necessary to first determine whether the satellite navigation positioning signal meets preset conditions. Specifically, the preset conditions are that the satellite navigation positioning signal is invalid or blocked.

[0044] In practical applications, the presence of a vehicle in a pre-defined defective scenario, such as a tunnel, an underground parking lot, under an overpass, or on a road with tall buildings on either side, can determine whether the satellite navigation and positioning signal is invalid or blocked. However, determining whether a vehicle is in a defective scenario may require additional collection and processing of environmental data around the vehicle, increasing data processing volume and thus performance overhead.

[0045] In one possible approach, the invalidity of a satellite navigation and positioning signal can be determined by whether the signal contains an invalid identifier.

[0046] Specifically, if the satellite navigation and positioning signal includes a valid identifier, the satellite navigation and positioning signal is determined to be valid; if the satellite navigation and positioning signal includes an invalid identifier, the satellite navigation and positioning signal is determined to be invalid.

[0047] In one possible implementation, it can be determined whether the satellite navigation positioning signal is blocked based on the positioning difference between the satellite navigation positioning signal received at the current moment and the satellite navigation positioning signal received at the previous moment, and a preset positioning difference threshold.

[0048] Specifically, if the positioning difference between the satellite navigation positioning signal received at the current moment and the satellite navigation positioning signal received at the previous moment is greater than or equal to a preset positioning difference threshold, then it is determined that the satellite navigation positioning signal is blocked; if the positioning difference between the satellite navigation positioning signal received at the current moment and the satellite navigation positioning signal received at the previous moment is less than the positioning difference threshold, then it is determined that the satellite navigation positioning signal is not blocked.

[0049] In this embodiment of the application, the satellite navigation and positioning signal is determined to be invalid or blocked by the received satellite navigation and positioning signal, without the need to collect or process additional data, which saves performance overhead to a certain extent.

[0050] Step S203: When the satellite navigation positioning signal meets the preset conditions, a front-end fused positioning signal is sent to the navigation application. The front-end fused positioning signal is a signal obtained by fusing the satellite navigation positioning signal and the inertial navigation positioning signal using Kalman filtering.

[0051] As mentioned above, when satellite navigation and positioning signals are invalid or blocked, the back-end fusion method for combining satellite and inertial navigation and positioning signals may result in positioning errors. For example, when a vehicle is in a tunnel or underground parking lot, satellite navigation and positioning signals are invalid. In this case, if the tunnel is too long or the vehicle is in the underground parking lot for too long, relying solely on inertial navigation and positioning signals for vehicle positioning will result in significant deviations. When a vehicle is under an overpass or on a road with tall buildings on both sides, satellite navigation and positioning signals are blocked, and due to multipath effects, positioning jumps may occur.

[0052] In this embodiment of the application, when the satellite navigation positioning signal is invalid or blocked, a front-end fused positioning signal obtained by fusing the satellite navigation positioning signal and the inertial navigation positioning signal using Kalman filtering can be sent to the navigation application.

[0053] Understandably, Kalman filtering can correct positioning errors, thereby obtaining a more accurate front-end fused positioning signal. Navigation applications can then use this more accurate front-end fused positioning signal to perform more precise vehicle positioning.

[0054] This application provides two scenarios for fusing satellite navigation positioning signals and inertial navigation positioning signals using Kalman filtering. These will be described in detail below.

[0055] In one possible implementation, after receiving the satellite navigation positioning signal and the inertial navigation positioning signal, the method further includes: using Kalman filtering to fuse the satellite navigation positioning signal and the inertial navigation positioning signal.

[0056] Understandably, Kalman filtering is used to fuse satellite navigation and positioning signals before determining whether the satellite navigation and positioning signals are invalid or blocked.

[0057] The second approach, in one possible implementation, involves sending a front-end fused positioning signal to the navigation application when the satellite navigation positioning signal meets preset conditions. This includes: when the satellite navigation positioning signal meets preset conditions, using Kalman filtering to fuse the satellite navigation positioning signal and the inertial navigation positioning signal to obtain a front-end fused positioning signal, and then sending the front-end fused positioning signal to the navigation application.

[0058] It is understandable that Kalman filtering is used to fuse satellite navigation and positioning signals and inertial navigation and positioning signals to obtain a front-end fused positioning signal only when the satellite navigation and positioning signal is determined to be invalid or blocked.

[0059] In this embodiment, Kalman filtering is only required to fuse the satellite navigation and positioning signals when the satellite navigation and positioning signal is invalid or blocked. Therefore, determining whether the satellite navigation and positioning signal is invalid or blocked before deciding whether to use Kalman filtering to fuse the satellite navigation and positioning signal can reduce data processing volume and save performance overhead.

[0060] Step S204: When the satellite navigation positioning signal does not meet the preset conditions, the satellite navigation positioning signal and the inertial navigation positioning signal are sent to the navigation application. The navigation application performs fusion processing on the satellite navigation positioning signal and the inertial navigation positioning signal to obtain the back-end fused positioning signal.

[0061] In practical applications, when satellite navigation and positioning signals are valid and unobstructed, the big data model in the navigation application can achieve accurate positioning with high reliability. Therefore, in this embodiment, when satellite navigation and positioning signals are valid and unobstructed, the navigation application can fuse satellite navigation and positioning signals and inertial navigation and positioning signals to obtain a back-end fused positioning signal.

[0062] Step S205: The navigation application uses front-end fused positioning signals or back-end fused positioning signals for positioning.

[0063] In this embodiment of the application, in order to display the exact location of the vehicle to the user, the navigation application also needs to use front-end fused positioning signal or back-end fused positioning signal to locate the vehicle and display the positioning result to the user.

[0064] In this embodiment, front-end fusion and back-end fusion methods are used to fuse the positioning signals. Different positioning signal fusion methods can be selected to locate the vehicle based on whether the satellite navigation positioning signals meet preset conditions. In other words, using a positioning signal fusion method that matches the scenario can improve positioning accuracy and thus enhance the user experience.

[0065] In this embodiment, to improve positioning accuracy, a vehicle speed pulse signal can also be sent to the navigation application. Specifically, the navigation application can fuse the vehicle speed pulse with the front-end fused positioning signal or the back-end fused positioning signal to more accurately determine the vehicle's position and reduce positioning errors. For ease of description, the term "positioning signal" will be used below to refer to the front-end fused positioning signal, satellite navigation positioning signal, inertial navigation positioning signal, or vehicle speed pulse signal.

[0066] In practical applications, when sending positioning signals to navigation applications, there may be time errors between different positioning signals, which could lead to inaccurate positioning. Therefore, it is necessary to add a timestamp to the positioning signals to ensure the time consistency of positioning signal fusion.

[0067] In practice, upon receiving a positioning signal, the signal can be synchronized using the network time after the vehicle is connected to the internet, the time of the Global Navigation Satellite System (GNSS), or the crystal oscillator time of the integrated navigation system. When sending the positioning signal to the navigation application, a timestamp corresponding to the positioning signal is also sent to the application.

[0068] In this embodiment, the integrated navigation system generally relies on a chip. The chip is used to locate the vehicle.

[0069] See Figure 3 This is a schematic diagram of a chip provided in an embodiment of this application. Figure 3As shown, the chip carries at least one operating system, such as Android or QNX. The layered architecture divides the operating system into three layers, from top to bottom: the application layer (APP), the firmware layer (FW), and the board support package (BSP) layer. In this embodiment, the positioning signal is processed by the board support package layer and the firmware layer before being sent to the application layer. After receiving the positioning signal, the application layer locates the vehicle and displays its position. The process of positioning signal transmission and processing will be described in detail below.

[0070] In this embodiment, before transmitting and processing the positioning signal, it is first necessary to acquire the positioning signal through an external device. Specifically, the global satellite navigation module in the global satellite navigation system acquires satellite navigation positioning signals through an antenna; the inertial navigation module in the inertial navigation system acquires inertial navigation positioning signals (i.e., the vehicle's acceleration and angular acceleration); and the vehicle controller or other controller in the vehicle typically records the vehicle speed pulse signal. Then, the global satellite navigation module, the inertial navigation module, and the vehicle controller or other controller can send the satellite navigation positioning signal, the inertial navigation positioning signal, and the vehicle speed pulse signal to the board-level support cladding in the chip through serial communication (e.g., UART communication, SPI communication, and IPC communication).

[0071] like Figure 3 As shown, the board-level support cladding includes a global navigation satellite system (GNSS) driver and an inertial navigation system (INS) driver. The GNSS driver and INS driver can respectively parse satellite navigation positioning signals and INS positioning signals. In this embodiment, after the board-level support cladding receives a satellite navigation positioning signal, it can determine whether the signal is invalid or blocked. Then, it sends a front-end fused positioning signal or a back-end fused positioning signal to the firmware layer through a front-end / back-end positioning switching strategy.

[0072] See Figure 4 This is a schematic diagram illustrating a method for processing positioning signals according to an embodiment of this application. Figure 4 As shown, after the board-level support cladding receives the vehicle speed pulse, satellite navigation behavior signal, and inertial navigation positioning signal, Kalman filtering is used to fuse the satellite navigation positioning signal and the inertial navigation positioning signal to obtain the front-end fused positioning signal.

[0073] As mentioned above, the board-level support cladding can send front-end fused positioning signals or back-end fused positioning signals to the firmware layer through a front-end / back-end positioning switching strategy. Specifically, when the satellite navigation positioning signal meets preset conditions, the front-end fused positioning signal and vehicle speed pulse signal are sent to the firmware layer; when the satellite navigation positioning signal does not meet preset conditions, the satellite navigation positioning signal, inertial navigation positioning signal, and vehicle speed pulse signal are sent to the firmware layer.

[0074] As mentioned above, in order to locate the vehicle more accurately, it is also necessary to synchronize the positioning signal in time.

[0075] See Figure 5 This is a schematic diagram illustrating signal time synchronization provided in an embodiment of this application. Figure 5 As shown, after the firmware layer receives the positioning signal sent by the board-level support layer, it can synchronize the vehicle speed pulse signal, satellite navigation positioning signal, and inertial navigation signal using the network time after the vehicle is connected to the network, the global navigation satellite system time, or the crystal oscillator time of the integrated navigation system. When sending the positioning signal to the navigation application, it simultaneously sends the signal timestamps corresponding to the vehicle speed pulse signal, satellite navigation positioning signal, and inertial navigation signal to the application layer.

[0076] It should be noted that, in this embodiment, the vehicle speed pulse signal is only sent to the firmware layer when the board-level support cladding detects a change in the vehicle speed value corresponding to the vehicle speed pulse signal. Therefore, when the firmware layer receives the vehicle speed pulse signal, it uses the current time after time synchronization as the timestamp corresponding to the vehicle speed pulse signal.

[0077] In this embodiment of the application, when the application layer receives the positioning signal, the navigation application in the application layer uses the positioning signal to locate the vehicle and displays the exact location of the vehicle to the user.

[0078] It should be noted that the chip described in this application embodiment is merely an exemplary illustration. In one possible implementation, the chip can also integrate a satellite navigation module from a global satellite navigation system and an inertial navigation module from an inertial navigation system. Furthermore, the satellite navigation module and inertial navigation module integrated in the chip, while ensuring that they can independently output satellite navigation positioning signals and inertial navigation positioning signals respectively, can both be applied to a combined navigation system.

[0079] Additionally, if a vehicle has been parked in an underground parking lot for more than two hours, the recovery time of the satellite navigation and positioning signal may be delayed. In this case, auxiliary ephemeris can be activated via the Global Navigation Satellite System to ensure a rapid and effective satellite navigation and positioning signal after the vehicle leaves the underground parking lot.

[0080] In practical applications, it is necessary to troubleshoot and repair problems that occur in the integrated navigation system. Therefore, in order to facilitate quick and easy resolution of problems in the integrated navigation system, in this embodiment, logging can be added to the board-level support layer, firmware layer, and application layer. In specific implementation, it is usually necessary to log the positioning signals received by the board-level support layer, firmware layer, and application layer. Of course, logging can also be added to other content, and this embodiment does not impose specific limitations on this.

[0081] It should be noted that because the integrated navigation system sends either front-end fused data or back-end fused data to the navigation application based on the front-end / back-end fusion switching strategy, a flag needs to be set to record whether front-end or back-end fused data is sent to the navigation application. When a positioning problem occurs, the integrated navigation system checks the log records to see if the front-end fusion method is incorrect, and the navigation application checks the log records to see if the back-end fusion method is incorrect.

[0082] In this embodiment of the application, by logging the positioning signal, problems in the integrated navigation system can be easily and quickly identified and resolved, thereby improving the user experience.

[0083] Other contents involved in the embodiments of this application can be found in the descriptions of the above embodiments. For the sake of brevity, the embodiments of this application will not repeat them.

[0084] Corresponding to the above embodiments, this application also provides a vehicle positioning device.

[0085] See Figure 6 This is a schematic diagram of the structure of a vehicle positioning device provided in an embodiment of this application. Figure 6 As shown, the vehicle positioning device 600 includes: a signal receiving module 601, a condition judgment module 602, a front-end fusion positioning signal sending module 603, a back-end fusion positioning signal sending module 604, and a positioning module 605.

[0086] Specifically, the signal receiving module 601 is used to receive satellite navigation positioning signals and inertial navigation positioning signals; the condition judgment module 602 is used to determine whether the satellite navigation positioning signals meet preset conditions; the front-end fused positioning signal sending module 603 is used to send a front-end fused positioning signal to the navigation application when the satellite navigation positioning signal meets the preset conditions. The front-end fused positioning signal is a signal obtained by fusing the satellite navigation positioning signal and the inertial navigation positioning signal using Kalman filtering; the back-end fused positioning signal sending module 604 is used to send the satellite navigation positioning signal and the inertial navigation positioning signal to the navigation application when the satellite navigation positioning signal does not meet the preset conditions. The navigation application fuses the satellite navigation positioning signal and the inertial navigation positioning signal to obtain the back-end fused positioning signal; and the positioning module 605 is used by the navigation application to perform positioning using either the front-end fused positioning signal or the back-end fused positioning signal.

[0087] For details regarding the specific content involved in the embodiments of this application, please refer to the description of the above method embodiments. For the sake of brevity, these details will not be repeated here.

[0088] Corresponding to the above embodiments, this application also provides a vehicle.

[0089] See Figure 7 This is a structural schematic diagram of a vehicle provided in an embodiment of this application. Figure 7 As shown, vehicle 700 includes a controller 701. Controller 701 is configured to perform the method embodiments described above, which will not be repeated for the sake of brevity.

[0090] Corresponding to the above embodiments, this application also provides a computer-readable storage medium, wherein the computer-readable storage medium may store a program, wherein when the program runs, it can control the device where the computer-readable storage medium is located to execute some or all of the steps in the above method embodiments. In specific implementation, the computer-readable storage medium may be a magnetic disk, an optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0091] Corresponding to the above embodiments, this application also provides a computer program product containing executable instructions that, when executed on a computer, cause the computer to perform some or all of the steps in the above method embodiments.

[0092] In this application embodiment, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent the existence of A alone, the simultaneous existence of A and B, or the existence of B alone. A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects have an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, and c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0093] Those skilled in the art will recognize that the units and algorithm steps described in the embodiments disclosed herein can be implemented using electronic hardware, computer software, or a combination of electronic hardware and software. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0094] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0095] In the several embodiments provided in this application, any function, if implemented as a software functional unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0096] The above description is merely a specific embodiment of this application. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application. The protection scope of this application should be determined by the protection scope of the claims.

Claims

1. A method for locating a vehicle, characterized in that, include: Receives satellite navigation and positioning signals and inertial navigation and positioning signals; Determine whether the satellite navigation and positioning signal meets the preset conditions; When the satellite navigation positioning signal meets the preset conditions, a front-end fused positioning signal is sent to the navigation application. The front-end fused positioning signal is a signal obtained by fusing the satellite navigation positioning signal and the inertial navigation positioning signal using Kalman filtering. When the satellite navigation positioning signal does not meet the preset conditions, the satellite navigation positioning signal and the inertial navigation positioning signal are sent to the navigation application. The navigation application performs fusion processing on the satellite navigation positioning signal and the inertial navigation positioning signal to obtain a back-end fused positioning signal. The navigation application uses either the front-end fused positioning signal or the back-end fused positioning signal for positioning.

2. The method according to claim 1, characterized in that, The step of determining whether the satellite navigation and positioning signal meets preset conditions includes: Determine whether the satellite navigation and positioning signal is invalid or blocked.

3. The method according to claim 2, characterized in that, Determining whether the satellite navigation and positioning signal is invalid includes: If the satellite navigation and positioning signal includes a valid identifier, then the satellite navigation and positioning signal is determined to be valid. If the satellite navigation and positioning signal contains an invalid identifier, then the satellite navigation and positioning signal is determined to be invalid.

4. The method according to claim 2, characterized in that, Determining whether the satellite navigation and positioning signal is blocked includes: If the positioning difference between the satellite navigation positioning signal received at the current moment and the satellite navigation positioning signal received at the previous moment is greater than or equal to a preset positioning difference threshold, then it is determined that the satellite navigation positioning signal is blocked. If the positioning difference between the satellite navigation positioning signal received at the current moment and the satellite navigation positioning signal received at the previous moment is less than the positioning difference threshold, then it is determined that the satellite navigation positioning signal is not blocked.

5. The method according to claim 1, characterized in that, After receiving the satellite navigation positioning signal and the inertial navigation positioning signal, the method further includes: Kalman filtering is used to fuse the satellite navigation positioning signal and the inertial navigation positioning signal.

6. The method according to claim 1, characterized in that, When the satellite navigation positioning signal meets the preset conditions, sending the front-end fused positioning signal to the navigation application includes: When the satellite navigation positioning signal meets the preset conditions, Kalman filtering is used to fuse the satellite navigation positioning signal and the inertial navigation positioning signal to obtain a front-end fused positioning signal, which is then sent to the navigation application.

7. A vehicle positioning device, characterized in that, include: The signal receiving module is used to receive satellite navigation and positioning signals and inertial navigation and positioning signals; The condition judgment module is used to determine whether the satellite navigation and positioning signal meets preset conditions; A front-end fusion positioning signal transmission module is used to send a front-end fusion positioning signal to a navigation application when the satellite navigation positioning signal meets the preset conditions. The front-end fusion positioning signal is a signal obtained by fusing the satellite navigation positioning signal and the inertial navigation positioning signal using Kalman filtering. A back-end fusion positioning signal sending module is used to send the satellite navigation positioning signal and the inertial navigation positioning signal to the navigation application when the satellite navigation positioning signal does not meet the preset conditions. The navigation application performs fusion processing on the satellite navigation positioning signal and the inertial navigation positioning signal to obtain a back-end fusion positioning signal. A positioning module is used by the navigation application to perform positioning using the front-end fused positioning signal or the back-end fused positioning signal.

8. A vehicle, characterized in that, include: A controller configured to perform the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method described in any one of claims 1 to 6.

10. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method described in any one of claims 1 to 6.

Images