Method for generating information for positioning correction, positioning fusion system, and vehicle-mounted positioning system

Abstract

The invention provides an information generation method for positioning correction, which is applied to a positioning fusion system in a vehicle-mounted positioning system, and the vehicle-mounted positioning system is also internally provided with a global navigation satellite system and an inertial navigation system. The positioning correction information generation method comprises the following steps: acquiring first positioning information and positioning credibility evaluation information sent by the global navigation satellite system, wherein the positioning credibility evaluation information is information capable of representing the credibility of the first positioning information; acquiring second positioning information sent by the inertial navigation system; residual information between the first positioning information and the second positioning information is determined, a corresponding residual correction weight is determined according to the positioning credibility evaluation information, the residual correction weight is valued in the range [0, 1], and the higher the credibility of the first positioning information is, the larger the residual correction weight is; and correcting the residual error information according to the residual error correction weight to obtain information for positioning correction.

Description

Technical Field

[0001] This invention relates to the field of intelligent vehicle technology, and in particular to a method for generating information for positioning correction, a positioning fusion system, and an in-vehicle positioning system. Background Technology

[0002] As a crucial component of automotive intelligence, navigation systems have become deeply integrated into daily life. Their applications not only improve driving efficiency and safety but also redefine the in-car navigation experience through multimodal interaction, data fusion, and personalized services. The in-vehicle positioning system, as the core component of the navigation system, directly impacts the overall effectiveness of the navigation system through its positioning accuracy.

[0003] Currently, the fusion positioning technology of Global Navigation Satellite System (GNSS) and Inertial Navigation System (INS) has become a core solution for navigation and positioning by complementing the advantages of both, and it is now commercially available on a large scale. GNSS provides the absolute time, position, and velocity of a vehicle through satellite systems, while INS is a specific implementation of Dead Reckoning (DR), which calculates relative position, velocity, and attitude using data measured by accelerometers and angular velocity sensors.

[0004] However, in practical applications, it has been found that existing GNSS and INS integrated vehicle positioning systems can achieve good positioning when GNSS satellite signals are normal and good, but when GNSS satellite signals are poor, problems such as the positioning position jumping back and forth and significant positioning deviations are likely to occur. Summary of the Invention

[0005] In a first aspect, this disclosure provides a method for generating positioning correction information, applied to a positioning fusion system within a vehicle-mounted positioning system, wherein the vehicle-mounted positioning system further includes a global navigation satellite system and an inertial navigation system. The method for generating positioning correction information includes:

[0006] The system acquires first positioning information and positioning reliability assessment information transmitted by the global navigation satellite system, wherein the positioning reliability assessment information is information that can characterize the reliability of the first positioning information.

[0007] Obtain the second positioning information sent by the inertial navigation system;

[0008] The residual information between the first positioning information and the second positioning information is determined, and the corresponding residual correction weight is determined according to the positioning reliability assessment information. The residual correction weight takes a value in the range [0,1]. The higher the reliability of the first positioning information, the larger the residual correction weight.

[0009] The residual information is corrected according to the residual correction weight to obtain positioning correction information.

[0010] In some embodiments, the step of obtaining the first positioning information and positioning reliability assessment information transmitted by the global navigation satellite system includes:

[0011] Obtain positioning service-related information output by the global navigation satellite system using the NMEA0183 protocol;

[0012] The first location information and the location reliability assessment information are extracted from the location service related information.

[0013] In some embodiments, the location service-related information includes at least one of the following: GGA statement, VTG statement, and GSV statement;

[0014] The GGA statement contains a positioning quality indication value, the VTG statement contains a velocity effectiveness indication value, and the GSV statement contains a satellite signal-to-noise ratio strength.

[0015] The information used for positioning reliability assessment includes at least one of the positioning quality indicator value, the velocity effectiveness indicator value, and the satellite signal-to-noise ratio strength.

[0016] In some embodiments, the location reliability assessment information includes at least two location reliability assessment parameters that can respectively characterize the reliability level of the first location information;

[0017] The step of determining the corresponding residual correction weight based on the location reliability assessment information includes:

[0018] For each location reliability assessment parameter, the location reliability assessment parameter is mapped to the [0,1] interval according to the mapping algorithm corresponding to the location reliability assessment parameter to obtain the reliability assessment value corresponding to the location reliability assessment parameter, wherein the larger the reliability assessment value, the higher the reliability.

[0019] Calculate the weighted average of the reliability assessment values ​​corresponding to all the parameters used for the location reliability assessment, and use the result as the residual correction weight.

[0020] In some embodiments, the first positioning information contains the vehicle's first position information and first vehicle speed information output by the global navigation satellite system;

[0021] The second positioning information contains the vehicle's second position information and second speed information output by the inertial navigation system;

[0022] The residual information includes: position residual information and velocity residual information;

[0023] The positioning correction information includes: position correction information and velocity correction information. The position correction information is equal to the product of the position residual information and the residual correction weight, and the velocity correction information is equal to the product of the velocity residual information and the residual correction weight.

[0024] In some embodiments, prior to the step of obtaining the second positioning information sent by the inertial navigation system, the method further includes:

[0025] The vehicle's active safety system acquires third vehicle speed information based on wheel speed sensors;

[0026] The third vehicle speed information is sent to the inertial navigation system so that the inertial navigation system can generate the second positioning information based on the third vehicle speed information.

[0027] In a second aspect, this disclosure provides a positioning fusion system configured to implement the positioning correction information generation method as described in the first aspect;

[0028] The positioning fusion system includes:

[0029] The first acquisition module is used to acquire the first positioning information and positioning reliability assessment information sent by the global navigation satellite system, wherein the positioning reliability assessment information is information that can characterize the reliability of the first positioning information;

[0030] The second acquisition module is used to acquire the second positioning information sent by the inertial navigation system;

[0031] The residual determination module is used to determine the residual information between the first positioning information and the second positioning information, and to determine the corresponding residual correction weight based on the positioning reliability assessment information. The residual correction weight takes a value in the range [0,1], and the higher the reliability of the first positioning information, the larger the residual correction weight.

[0032] The information generation module is used to correct the residual information according to the residual correction weight to obtain positioning correction information.

[0033] Thirdly, this disclosure also provides a vehicle positioning system, including:

[0034] The positioning fusion system employs the positioning fusion module described in the second aspect;

[0035] Global navigation satellite systems are used to generate initial positioning information and information for positioning reliability assessment.

[0036] An inertial navigation system is used to generate second positioning information and to correct the second positioning information based on positioning correction information sent by a positioning fusion system to obtain third positioning information.

[0037] In some embodiments, the positioning fusion system can acquire first vehicle speed information collected by the active safety system configured in the vehicle based on wheel speed sensors, and send the first vehicle speed information to the inertial navigation system;

[0038] The inertial navigation system is specifically used to generate the second positioning information based on the third vehicle speed information;

[0039] The inertial navigation system includes:

[0040] The attitude prediction module is used to obtain attitude change information by integrating the angular velocity measured by the angular velocity sensor over time from the previous moment to the current moment, and to obtain the attitude information at the current moment based on the attitude information at the previous moment and the attitude change information.

[0041] The vehicle speed prediction module is used to obtain vehicle speed change information based on the time integral result of the acceleration measured by the acceleration sensor from the previous moment to the current moment, and to obtain the vehicle speed information at the current moment based on the vehicle speed information at the previous moment and the vehicle speed change information. Then, the vehicle speed information at the current moment is corrected using the third vehicle speed information to obtain the second vehicle speed information.

[0042] The position prediction module is used to obtain position change information based on the time integral of the vehicle speed from the previous moment to the current moment, and to obtain the second position information at the current moment based on the position information at the previous moment and the position change information.

[0043] The second positioning information includes the second location information and the second vehicle speed information.

[0044] Fourthly, this disclosure also provides an electronic device, including:

[0045] One or more processors;

[0046] Memory, used to store one or more programs;

[0047] When the one or more programs are executed by the one or more processors, the one or more processors implement the location correction information generation method as described in the first aspect.

[0048] The technical solution disclosed herein introduces positioning reliability assessment information that can assess the reliability of the first positioning information provided by the standard GNSS system, and dynamically adjusts the residual correction weight based on the positioning reliability assessment information. This allows the INS system to quickly intervene in scenarios with poor satellite signals (such as tunnel entrances and exits, urban canyons, etc.), enhancing the accuracy and real-time performance of positioning calculations, avoiding frequent changes in positioning location, and resulting in a better user experience. Attached Figure Description

[0049] Figure 1 This is a structural block diagram of a vehicle positioning system based on the integration of GNSS and INS systems involved in the technical solution of this disclosure;

[0050] Figure 2 A flowchart illustrating a method for generating location correction information provided in an embodiment of this disclosure;

[0051] Figure 3 A flowchart of another method for generating positioning correction information provided in an embodiment of this disclosure;

[0052] Figure 4 A structural block diagram of a positioning fusion system provided in an embodiment of this disclosure;

[0053] Figure 5 The present invention provides a structural frame for an electronic device. Detailed Implementation

[0054] To enable those skilled in the art to better understand the technical solutions of the present invention, exemplary embodiments of the present invention are described below in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to aid understanding. These should be considered merely exemplary. Therefore, those skilled in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0055] Where there is no conflict, the various embodiments of the present invention and the features thereof may be combined with each other.

[0056] As used herein, the term “and / or” includes any and all combinations of one or more related enumerated entries.

[0057] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein, the singular forms “a” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that when the terms “comprising” and / or “made of” are used in this specification, the presence of the stated feature, integral, step, operation, element, and / or component is specified, but the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof is not excluded. Terms such as “connected” or “linked” are not limited to physical or mechanical connections but can include electrical connections, whether direct or indirect.

[0058] Unless otherwise specified, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having the meaning consistent with their meaning in the context of the relevant art and the invention, and will not be interpreted as having an idealized or overly formal meaning unless expressly so defined herein.

[0059] In the technical solution of this invention, the collection, storage, use, processing, transmission, provision, and disclosure of user personal information all comply with relevant laws and regulations and do not violate public order and good morals. The use of user data in this technical solution follows relevant national laws and regulations (e.g., the "Information Security Technology - Personal Information Security Specification"). For example: appropriate measures are taken for personal information access control; restrictions are imposed on the display of personal information; the purpose of using personal information does not exceed the scope of direct or reasonable association; and explicit identity targeting is eliminated when using personal information to avoid precisely locating a specific individual.

[0060] It should be noted that the positioning information described in this disclosure includes at least the vehicle's location information; of course, in some embodiments, the positioning information may also include the vehicle's speed information. Furthermore, in other embodiments, the positioning information may include not only location information and speed information, but also other required information such as the vehicle's attitude information, which can be pre-designed according to actual needs.

[0061] Figure 1 This is a structural block diagram of a vehicle positioning system based on the integration of GNSS and INS systems, which is part of the technical solution disclosed herein. Figure 1As shown, in related technologies, a loosely coupled fusion scheme is used for GNSS and INS systems. The vehicle positioning system includes a GNSS system, an INS system, and a positioning fusion system. The positioning principle is roughly as follows: First, the GNSS system and INS perform positioning processing independently. The GNSS system provides the positioning fusion system with the vehicle's first positioning information, and the INS system provides the positioning fusion system with the vehicle's second positioning information. Then, the positioning fusion system fuses the first and second positioning information through a filter (e.g., a Kalman filter) and outputs positioning correction information, which is then sent to the INS system. Next, the INS system corrects the second positioning information based on the received positioning correction information to obtain the third positioning information (the final positioning information, which is the result of superimposing the second positioning information and the positioning correction information), and sends the positioning information to an external application module (e.g., a map display module) for use.

[0062] In practical applications, it has been found that when GNSS satellite signals are normal and good, the above-mentioned vehicle positioning system can achieve good positioning; however, when GNSS satellite signals are poor (such as tunnel entrances and exits, urban canyons and other locations with weak satellite signals), the positioning location is very likely to jump back and forth and the positioning deviation is obvious.

[0063] Research revealed that when GNSS satellite signals are weak, the positioning location fluctuates and exhibits significant deviations. The primary reason for this is the poor correction effect of the positioning correction information output by the positioning fusion system. Further investigation revealed that in situations with weak GNSS signals, although the GNSS system still outputs a positioning signal, its signal quality is unreliable. The positioning fusion system continues to use this weak signal for fusion calculations, inevitably leading to poor correction effects in the output positioning correction information. This, in turn, results in poor accuracy of the third positioning information output by the INS system based on the positioning correction information.

[0064] To effectively improve at least one of the technical problems existing in related technologies, this disclosure provides a method for generating information for positioning correction. Figure 2 This is a flowchart illustrating a method for generating location correction information according to an embodiment of this disclosure. Figure 2 As shown, this positioning correction information generation method is applied to a positioning fusion system within a vehicle-mounted positioning system. The vehicle-mounted positioning system also includes a GNSS system and an INS system. The positioning correction information generation method includes:

[0065] Step S1: Obtain the first positioning information and positioning reliability assessment information sent by the GNSS system. The positioning reliability assessment information is information that can characterize the reliability of the first positioning information.

[0066] Step S2: Obtain the second location information sent by the INS system.

[0067] Step S3: Determine the residual information between the first positioning information and the second positioning information, and determine the corresponding residual correction weight based on the positioning reliability assessment information. The residual correction weight takes a value in the range [0,1]. The higher the reliability of the first positioning information, the larger the residual correction weight.

[0068] Step S4: Correct the residual information according to the residual correction weight to obtain the positioning correction information.

[0069] Optionally, the positioning correction information is the product of the residual correction weight and the residual information.

[0070] As an example, the first positioning information is denoted as L1, the second positioning information as L2, the residual information as R, R=L1-L2, the residual correction weight as K, and the positioning correction information as △L, △L=K*R.

[0071] In some embodiments, the first positioning information L1 contains the first position information p1 and the first speed information v1 of the vehicle output by the GNSS system, i.e., {p1, L1}∈L1; the second positioning information L2 contains the second position information p2 and the second speed information v2 of the vehicle output by the INS system, i.e., {p2, L2}∈L2.

[0072] The residual information R includes: position residual information rp and velocity residual information rv, i.e., {rp, rv}∈R; where the position residual information rp is the difference between the first position information p1 and the second position information p2, and the velocity residual information rv is the difference between the first vehicle speed information v1 and the second vehicle speed information v2, i.e., rp = p1 - p2, rv = v1 - v2.

[0073] The positioning correction information △L includes: position correction information △Lp and velocity correction information △Lv, i.e., {△Lp, △Lv}∈△L; the position correction information △Lp is equal to the product of the position residual information rp and the residual correction weight K, and the velocity correction information △Lv is equal to the product of the velocity residual information rv and the residual correction weight K, i.e., △Lp=rp*K, △Lv=rv*K.

[0074] It should be noted that the execution order of steps S1 and S2 is not limited in this disclosure. That is, step S1 can be executed before step S2, after step S2, or simultaneously with step S2.

[0075] Unlike related technologies, in this disclosure, the GNSS system not only sends the first positioning information to the positioning fusion system, but also sends positioning reliability assessment information to the positioning fusion system to characterize the reliability of the first positioning information. At this time, the positioning fusion system not only calculates the residual information based on the positioning information sent by the GNSS system and the INS system respectively, but also determines a corresponding residual correction weight based on the positioning reliability assessment information (which can be understood as mapping the positioning reliability assessment information to a number with a value in the range [0,1]). The higher the reliability of the first positioning information, the larger the residual correction weight. Finally, the positioning fusion system corrects the residual information according to the residual correction weight to obtain the positioning correction information.

[0076] In the process of generating positioning correction information in this disclosure, the reliability of the first positioning information transmitted by the GNSS system is fully considered. When the reliability of the first positioning information is low, the residual information can be weakened by reducing the residual modification weight. This allows the INS system to weaken the influence of the first positioning information and strengthen the second positioning information when it corrects the second positioning information based on the positioning correction information (the information obtained after weakening the residual information). This effectively improves the problem of the positioning position output by the INS system jumping back and forth and the significant positioning deviation caused by the low reliability of the first positioning information (due to poor GNSS satellite signal).

[0077] In some embodiments, step S1 includes the following steps S101 and S102.

[0078] Step S101: Obtain positioning service-related information output by the GNSS system using the NMEA0183 protocol;

[0079] Step S102: Extract the first location information and location reliability assessment information from the location service related information.

[0080] The NMEA0183 protocol is a standard communication protocol widely used in the Global Positioning System (GPS) and other navigation devices for transmitting navigation-related data such as position, speed, and time between devices. Developed by the National Marine Electronics Association (NMEA), it has become a universal standard in the navigation field.

[0081] The NMEA0183 protocol has various statements, the most common of which are as follows:

[0082] The GGA (Global Positioning System Fix Data) statement is used to output positioning information, including time, latitude, longitude, positioning quality, number of satellites, etc.

[0083] The RMC (Recommended Minimum Navigation Information) statement is used to output recommended minimum navigation information, including time, date, location, speed, heading, etc., and is suitable for simple navigation scenarios.

[0084] The GSV (Satellites in View) statement is used to output information about visible satellites, including the number of satellites, satellite number, elevation angle, azimuth angle, signal-to-noise ratio, etc.

[0085] The VTG (Track Made Good and Ground Speed) statement is used to output the device's ground heading (track angle) and ground speed information.

[0086] The GPGLL (Geographic Position-Latitude / Longitude) statement is used to output theorem positioning information, including latitude, longitude, and time.

[0087] In this embodiment of the disclosure, the location service-related information includes at least one of GGA statements, VTG statements, and GSV statements; wherein, the GGA statement contains a location quality indicator value, the VTG statement contains a velocity effectiveness indicator value, and the GSV statement contains a satellite signal-to-noise ratio (SNR) strength. The information used for location reliability assessment includes at least one of the location quality indicator value, velocity effectiveness indicator value, and satellite signal-to-noise ratio (SNR) strength.

[0088] Specifically, according to the NMEA0183 protocol, the sixth field in the GGA statement is used to represent the positioning quality indicator value, which reflects the GNSS positioning quality. Common values ​​for the positioning quality indicator value (0, 1, 2, 3, 6) and their meanings are as follows: 0 indicates no positioning (no positioning result), 1 indicates non-differential positioning (single-point positioning), 2 indicates differential positioning (differential precise positioning), 3 indicates invalid positioning (extremely low reliability), and 6 indicates estimation in progress (no positioning result). Therefore, when the GNSS system has initial positioning information, the reliability mapping values ​​can be pre-configured for positioning quality indicator values ​​of 1, 2, and 3 respectively. As an example, the reliability configured when the positioning quality indicator value is 1 is 0.8, the reliability configured when the positioning quality indicator value is 2 is 1, and the reliability configured when the positioning quality indicator value is 3 is 0.1.

[0089] According to the NMEA0183 protocol, the fifth field in the VTG statement is used to represent the velocity validity indication value, which can reflect the GNSS positioning quality to a certain extent. Common values ​​for the positioning quality indication value (A, D, E, N) and their meanings are as follows: A represents a non-differential calculation result (single-point calculation), B represents a differential calculation result (differential calculation), E represents an estimation result, and N represents invalid data. Therefore, when the GNSS system has initial positioning information, corresponding confidence mapping values ​​can be configured in advance for the velocity validity indication value to be A, D, E, or N. As an example, the confidence level is configured as follows: a confidence level of 0.8 for a velocity validity indication value of A, 1 for a velocity validity indication value of D, 0.5 for a velocity validity indication value of E, and 0 for a velocity validity indication value of N.

[0090] According to the NMEA0183 protocol, field 7 in the GSV statement is used to represent the satellite signal-to-noise ratio (SNR). The SNR can reflect GNSS positioning quality to a certain extent. Common values ​​for the positioning quality indicator (standard range 0–99 dB) and their meanings are as follows: 0–10 dB: Indicates extremely weak or no effective signal, possibly due to satellite obstruction (e.g., buildings, trees), equipment malfunction, or electromagnetic interference. In this case, the satellite cannot be used for positioning. 10–25 dB (excluding 10 dB): Indicates a weak signal; the satellite signal is unstable and may introduce significant errors during positioning, even affecting the positioning result. Unreliable (e.g., drift, jump); 25–40 dB (excluding 25 dB): Indicates good signal, stable satellite signal, ideal for positioning, providing reliable data and ensuring accuracy (typically within 10 meters for civilian positioning); 40–50 dB (excluding 40 dB): Indicates strong signal, no obstruction between satellite and receiving equipment, minimal environmental interference, excellent signal quality, further improving positioning accuracy and stability; >50 dB: Indicates extremely strong signal (rare), usually found in open, unobstructed environments (e.g., high altitude, ocean), excellent signal quality, but limited by equipment hardware, the improvement in positioning accuracy is not significant beyond 50 dB. Therefore, given the existence of initial positioning information in the GNSS system, corresponding reliability mapping values ​​can be pre-configured for different satellite signal-to-noise ratio strengths. As an example, the confidence level is set to 0 when the satellite signal signal-to-noise ratio (SNR) is between 0 and 10 dB, 0.5 when the SNR is between 10 and 25 dB (excluding 10 dB), 0.8 when the SNR is between 25 and 40 dB (excluding 25 dB), and 1 when the SNR is greater than 40 dB.

[0091] Of course, a corresponding mapping algorithm (such as linear or nonlinear mapping) can also be pre-configured to map the signal-to-noise ratio (SNR) of different satellite signals to a value in the range [0, 1]. This situation should also fall within the protection scope of this disclosure.

[0092] In some embodiments, the location reliability assessment information includes at least two location reliability assessment parameters that can respectively characterize the reliability level of the first location information. The step of determining the corresponding residual correction weight based on the location reliability assessment information includes: for each location reliability assessment parameter, mapping the location reliability assessment parameter to the [0,1] interval according to the mapping algorithm corresponding to the location reliability assessment parameter to obtain the reliability assessment value corresponding to the location reliability assessment parameter, wherein a larger reliability assessment value indicates higher reliability; calculating the weighted average of the reliability assessment values ​​corresponding to all location reliability assessment parameters, and using the calculation result as the residual correction weight.

[0093] As an example, the information used for positioning reliability assessment includes the aforementioned positioning quality indicator, velocity effectiveness indicator, and satellite signal-to-noise ratio (SNR), totaling three parameters. In this case, the reliability assessment values ​​k1, k2, and k3 corresponding to the positioning quality indicator, velocity effectiveness indicator, and satellite signal-to-noise ratio can be determined first based on different mapping algorithms. Then, a weighted average of the three reliability assessment values ​​is calculated (the weights a1, a2, and a3 corresponding to each reliability assessment value can be pre-configured, a1+a2+a3=1). The calculation result is used as the residual correction weight K, K=a1*k1+a2*k2+a3*k3.

[0094] It should be noted that the above-described technical solution, which uses at least one of the positioning quality indicator, velocity effectiveness indicator, and satellite signal-to-noise ratio (SNR) as information for positioning reliability assessment, is only one optional implementation scheme in this disclosure and does not limit the technical solution of this disclosure. In this disclosure, other information that can be used to assess the positioning reliability of a GNSS system can also be used as positioning reliability assessment information.

[0095] As another aspect of this disclosure, the accuracy of the first positioning information output by the GNSS system to the positioning fusion system can also be improved through corresponding technical means. Specifically, when an autonomous driving system is installed in a car, the autonomous driving system includes an RTK (Real-Time Kinematic) module. The RTK module is a high-precision positioning technology based on satellite navigation systems, which provides the vehicle with centimeter-level absolute position information by correcting positioning errors in real time. After the GNSS system obtains the vehicle's low-precision position information (generally meter-level accuracy) and low-precision speed information (generally meter / second-level accuracy) through its own algorithm, it then reuses the high-precision position information (generally centimeter-level accuracy) and high-speed information (generally centimeter / second-level accuracy) obtained by the RTK module to perform differential correction on the low-precision position information and low-precision speed information, enabling the GNSS system to output high-precision first positioning information.

[0096] Figure 3 A flowchart illustrating another method for generating location correction information provided in an embodiment of this disclosure. (For example...) Figure 3 As shown in the illustration, as a novel embodiment, this disclosure also utilizes corresponding technical means to improve the accuracy of the second positioning information output by the INS system to the positioning fusion system. Specifically, automobiles are equipped with active safety systems (ABS anti-lock braking system and ESP electronic stability system). These active safety systems collect vehicle speed information through wheel speed sensors, recording it as third vehicle speed information, and this third vehicle speed information is highly accurate. Therefore, this third vehicle speed information can be provided to the INS system to improve the accuracy of the second positioning information estimated by the INS system.

[0097] In this disclosure, before step S2, steps Sa and Sb are also included.

[0098] Step Sa: Obtain the third vehicle speed information based on the wheel speed sensors collected by the active safety system configured in the vehicle.

[0099] As an example, an active safety system can send third-party vehicle speed information, collected by wheel speed sensors, to a positioning fusion system via the CAN bus.

[0100] As another example, an active safety system can send third vehicle speed information collected by wheel speed sensors to the cloud, and a positioning fusion system can obtain this third vehicle speed information from the cloud.

[0101] Step Sb: Send the third vehicle speed information to the INS system so that the INS system can generate the second positioning information based on the third vehicle speed information.

[0102] After the positioning fusion system sends the third vehicle speed information to the INS system, the INS system can generate the second positioning information in the following way: First, the INS system integrates the angular velocity measured by the angular velocity sensor over time from the previous moment to the current moment to obtain attitude change information, and obtains the attitude information at the current moment based on the attitude information and attitude change information from the previous moment; then, the INS system integrates the acceleration measured by the accelerometer over time from the previous moment to the current moment to obtain vehicle speed change information, and obtains the vehicle speed information at the current moment based on the vehicle speed information and vehicle speed change information from the previous moment, and then corrects the vehicle speed information at the current moment using the third vehicle speed information (differential correction) to obtain the vehicle's second speed information; next, the INS system integrates the vehicle speed over time from the previous moment to the current moment to obtain position change information, and obtains the second position information at the current moment based on the position information and position change information from the previous moment; wherein, the second positioning information may include the second position information and the second vehicle speed information.

[0103] As can be seen from the foregoing, the technical solution disclosed herein introduces positioning reliability assessment information that can assess the reliability of the first positioning information provided by the standard GNSS system, and dynamically adjusts the residual correction weight based on the positioning reliability assessment information. This allows the INS system to quickly intervene in scenarios with poor satellite signals (such as tunnel entrances and exits, urban canyons, etc.), thereby enhancing the accuracy and real-time performance of positioning calculations, avoiding frequent changes in positioning location, and resulting in a better user experience.

[0104] Figure 4 This is a structural block diagram of a positioning fusion system provided in an embodiment of this disclosure. Figure 4 As shown, the positioning fusion system can realize the positioning correction information generation method provided in the previous embodiment. The positioning fusion system includes: a first acquisition module, a second acquisition module, a residual determination module, and an information generation module.

[0105] The first acquisition module is used to acquire the first positioning information and positioning reliability assessment information sent by the GNSS system. The positioning reliability assessment information is information that can characterize the reliability of the first positioning information.

[0106] The second acquisition module is used to acquire the second location information sent by the INS system.

[0107] The residual determination module is used to determine the residual information between the first positioning information and the second positioning information, and to determine the corresponding residual correction weight based on the positioning reliability assessment information. The residual correction weight takes a value in the range [0,1]. The higher the reliability of the first positioning information, the larger the residual correction weight.

[0108] The information generation module is used to correct the residual information according to the residual correction weight to obtain the positioning correction information.

[0109] In some embodiments, the positioning fusion system further includes a third acquisition module and a transmission module.

[0110] The third acquisition module is used to acquire the third vehicle speed information collected by the active safety system configured in the vehicle based on the wheel speed sensor.

[0111] The sending module is used to send the third vehicle speed information to the INS system, so that the INS system can generate the second positioning information based on the third vehicle speed information.

[0112] For a detailed description of each of the above functional modules, please refer to the content in the previous method embodiments, which will not be repeated here.

[0113] See also Figure 1 As shown, based on the same inventive concept, this disclosure also provides a vehicle-mounted positioning system. The vehicle-mounted positioning system includes a positioning fusion system, a GNSS system, and an INS system. The positioning fusion system can be the positioning fusion system provided in the preceding embodiments. The GNSS system is used to generate first positioning information and positioning reliability assessment information; the INS system is used to generate second positioning information and to correct the second positioning information based on positioning correction information sent by the positioning fusion system to obtain third positioning information.

[0114] In some embodiments, the positioning fusion system can acquire first vehicle speed information collected by the active safety system configured in the vehicle based on wheel speed sensors, and send the first vehicle speed information to the INS system; at this time, the INS system is specifically used to generate second positioning information based on the first vehicle speed information.

[0115] Accordingly, the INS system may include: an attitude prediction module, a vehicle speed prediction module, and a position prediction module.

[0116] The attitude prediction module is used to obtain attitude change information by integrating the angular velocity measured by the angular velocity sensor over time from the previous moment to the current moment, and to obtain the attitude information at the current moment based on the attitude information and attitude change information from the previous moment.

[0117] The vehicle speed prediction module is used to obtain vehicle speed change information based on the time integral result of the acceleration measured by the acceleration sensor from the previous moment to the current moment, and to obtain the vehicle speed information at the current moment based on the vehicle speed information and vehicle speed change information at the previous moment. Then, the vehicle speed information at the current moment is corrected using the third vehicle speed information to obtain the second vehicle speed information.

[0118] The position prediction module is used to obtain position change information based on the time integral of the vehicle speed from the previous moment to the current moment, and to obtain the second position information at the current moment based on the position information and position change information from the previous moment.

[0119] At this point, the second positioning information includes at least the second position information and the second vehicle speed information; of course, the second positioning information may also include the attitude information at the current moment.

[0120] Based on the same inventive concept, embodiments of the present invention also provide an electronic device. Figure 5 This is a structural block diagram of an electronic device provided in an embodiment of the present invention. Figure 5 As shown, an embodiment of the present invention provides an electronic device including: one or more processors 101, a memory 102, and one or more I / O interfaces 103. The memory 102 stores one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement any of the positioning correction information generation methods described in the above embodiments; the one or more I / O interfaces 103 are connected between the processor and the memory, configured to enable information interaction between the processor and the memory.

[0121] The processor 101 is a device with data processing capabilities, including but not limited to a central processing unit (CPU); the memory 102 is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), and flash memory (FLASH); the I / O interface (read / write interface) 103 is connected between the processor 101 and the memory 102, and can realize information interaction between the processor 101 and the memory 102, including but not limited to a data bus (Bus).

[0122] In some embodiments, the processor 101, memory 102, and I / O interface 103 are interconnected via bus 104, and thus connected to other components of the computing device.

[0123] In some embodiments, the one or more processors 101 include a field-programmable gate array.

[0124] This invention also provides a computer-readable medium. The computer-readable medium stores a computer program, which, when executed by a processor, implements the steps of any of the positioning correction information generation methods described in the above embodiments. The computer-readable storage medium may be volatile or non-volatile.

[0125] This invention also provides a computer program product, including computer-readable code, or a non-volatile computer-readable storage medium carrying computer-readable code. When the computer-readable code is run in the processor of an electronic device, the processor in the electronic device executes the above-described method for generating information for location correction.

[0126] Those skilled in the art will understand that all or some of the steps, systems, and apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software can be distributed on a computer-readable storage medium, which may include computer storage media (or non-transitory media) and communication media (or transient media).

[0127] As is known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable program instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), static random access memory (SRAM), flash memory or other memory technologies, portable compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, it is known to those skilled in the art that communication media typically contain computer-readable program instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0128] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0129] The computer program instructions used to perform the operations of this invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing state information from the computer-readable program instructions. This electronic circuitry can execute the computer-readable program instructions to implement various aspects of the invention.

[0130] The computer program product described herein can be implemented specifically through hardware, software, or a combination thereof. In one alternative embodiment, the computer program product is specifically embodied in a computer storage medium; in another alternative embodiment, the computer program product is specifically embodied in a software product, such as a software development kit (SDK), etc.

[0131] Various aspects of the present invention are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should 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-readable program instructions.

[0132] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0133] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0134] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0135] Example embodiments have been disclosed herein, and while specific terminology has been used, it is for illustrative purposes only and should be construed as such, and is not intended to be limiting. In some instances, it will be apparent to those skilled in the art that features, characteristics, and / or elements described in conjunction with particular embodiments may be used alone, or in combination with features, characteristics, and / or elements described in conjunction with other embodiments, unless otherwise expressly indicated. Therefore, those skilled in the art will understand that various changes in form and detail may be made without departing from the scope of the invention as set forth in the appended claims.

Claims

1. A method of generating information for position correction, characterized by, The application relates to a positioning fusion system applied to a vehicle positioning system, wherein a global navigation satellite system and an inertial navigation system are arranged in the vehicle positioning system, and a positioning correction information generation method comprises the following steps: obtaining first positioning information and positioning credibility evaluation information sent by the global navigation satellite system, wherein the positioning credibility evaluation information is information capable of representing credibility of the first positioning information; obtaining second positioning information sent by the inertial navigation system; determining residual error information between the first positioning information and the second positioning information, and determining corresponding residual error correction weight according to the positioning credibility evaluation information, wherein the residual error correction weight is in the range of [0, 1], the higher the credibility of the first positioning information is, the greater the residual error correction weight is; correcting the residual error information according to the residual error correction weight to obtain positioning correction information.

2. The method of claim 1, wherein, The step of obtaining the first positioning information and the positioning credibility evaluation information sent by the global navigation satellite system comprises the following steps: obtaining positioning service related information output by the global navigation satellite system in NMEA0183 protocol; extracting the first positioning information and the positioning credibility evaluation information from the positioning service related information.

3. The method of claim 2, wherein, The positioning service related information comprises at least one of GGA statements, VTG and GSV statements; the positioning quality indication value is recorded in the GGA statement, the speed validity indication value is recorded in the VTG statement, and the satellite signal signal-to-noise ratio strength is recorded in the GSV statement; the positioning credibility evaluation information comprises at least one of the positioning quality indication value, the speed validity indication value and the satellite signal signal-to-noise ratio strength.

4. The method of claim 1, wherein, The positioning credibility evaluation information comprises at least two positioning credibility evaluation parameters capable of representing the credibility of the first positioning information respectively. The step of determining the corresponding residual error correction weight according to the positioning credibility evaluation information comprises the following steps: for each positioning credibility evaluation parameter, the positioning credibility evaluation parameter is mapped to the interval [0, 1] according to a mapping algorithm corresponding to the positioning credibility evaluation parameter, so as to obtain a credibility evaluation value corresponding to the positioning credibility evaluation parameter, wherein the greater the credibility evaluation value is, the higher the credibility is; the weighted average value of the credibility evaluation values corresponding to all the positioning credibility evaluation parameters is calculated, and the calculation result is taken as the residual error correction weight.

5. The method of claim 1, wherein, the first position information and the first speed information of the vehicle output by the global navigation satellite system are recorded in the first positioning information; the second position information and the second speed information of the vehicle output by the inertial navigation system are recorded in the second positioning information; the residual error information comprises position residual error information and speed residual error information; the positioning correction information comprises position correction information and speed correction information, the position correction information is equal to the product of the position residual error information and the residual error correction weight, and the speed correction information is equal to the product of the speed residual error information and the residual error correction weight.

6. The method of claim 1, wherein, Before the step of acquiring the second positioning information sent by the inertial navigation system, the method further comprises: acquiring third vehicle speed information collected by a wheel speed sensor based on an active safety system configured to the vehicle; sending the third vehicle speed information to the inertial navigation system, so that the inertial navigation system generates the second positioning information based on the third vehicle speed information.

7. A positioning fusion system, characterized by The method is configured to implement the positioning correction information generation method according to any one of claims 1 to 6. The positioning fusion system comprises: a first acquisition module, configured to acquire first positioning information and positioning trustworthiness evaluation information sent by the global navigation satellite system, the positioning trustworthiness evaluation information being information capable of representing the trustworthiness of the first positioning information; a second acquisition module, configured to acquire second positioning information sent by the inertial navigation system; a residual error determination module, configured to determine residual error information between the first positioning information and the second positioning information, and determine a corresponding residual error correction weight according to the positioning trustworthiness evaluation information, the residual error correction weight being in a range of [0, 1], and the higher the trustworthiness of the first positioning information, the greater the residual error correction weight; an information generation module, configured to correct the residual error information according to the residual error correction weight to obtain positioning correction information.

8. A vehicle location system, characterized by The positioning fusion system comprises: the positioning fusion system adopts the positioning fusion module according to claim 7; the global navigation satellite system is configured to generate first positioning information and positioning trustworthiness evaluation information; the inertial navigation system is configured to generate second positioning information, and correct the second positioning information according to the positioning correction information sent by the positioning fusion system to obtain third positioning information.

9. The vehicle location system of claim 8, wherein, The positioning fusion system is capable of acquiring first vehicle speed information collected by a wheel speed sensor based on an active safety system configured to the vehicle, and sending the first vehicle speed information to the inertial navigation system; The inertial navigation system is specifically configured to generate the second positioning information based on the third vehicle speed information; The inertial navigation system comprises: an attitude prediction module, configured to integrate angular velocity measured by an angular velocity sensor in a time corresponding to a previous time to a current time to obtain attitude change information, and obtain attitude information of the current time according to attitude information of the previous time and the attitude change information; a vehicle speed prediction module, configured to integrate acceleration measured by an acceleration sensor in a time corresponding to the previous time to the current time to obtain vehicle speed change information, and obtain vehicle speed information of the current time according to vehicle speed information of the previous time and the vehicle speed change information, and correct the vehicle speed information of the current time by using the third vehicle speed information to obtain second vehicle speed information of the vehicle; a position prediction module, configured to integrate vehicle speed in a time corresponding to the previous time to the current time to obtain position change information, and obtain second position information of the current time according to position information of the previous time and the position change information; The second positioning information comprises the second position information and the second vehicle speed information.

10. An electronic device, comprising: The method comprises: one or more processors; a memory, configured to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement a method as claimed in any one of claims 1 to 6.

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