Summary of the invention
In view of above-mentioned the deficiencies in the prior art, the object of the present invention is to provide a kind of high precision onboard navigation system and method, can realize relative to the more high-precision performance in non-differential satellite navigation location, and sustainablely when weak or serious shielding at satellite-signal provide stable, seamless navigator fix result.
Technical scheme of the present invention is as follows:
The vehicle-mounted navigation positioning system of a kind of high precision, comprise double-fed point satellite navigation antenna, satellite navigation Differential positioning module and inertial navigation module, also comprise: the integrated navigation module be connected respectively with satellite navigation Differential positioning module and inertial navigation module, for when satellite navigation Differential positioning module Received signal strength is good, inertial navigation module leading by satellite navigation Differential positioning module is auxiliary exports positioning and orientation result; Also for when satellite navigation Differential positioning module Received signal strength is more weak or cannot receiving satellite signal time, export positioning result by leading the continuing of inertial navigation module; The positioning result that satellite navigation Differential positioning module exports is checked through inertial navigation module, the satellite navigation positioning result that automatism isolation is poor.
In the vehicle-mounted navigation positioning system of described high precision, comprise wireless communication module, for obtaining differential correcting data and reporting positioning result to external terminal or equipment.
In the vehicle-mounted navigation positioning system of described high precision, described double-fed point satellite navigation antenna is double-fed point microstrip antenna or helical antenna, and described double-fed point satellite navigation antenna is for receiving electromagnetic wave feeble signal and being translated into radio-frequency front-end picked-up and the process that electric signal supplies satellite navigation Differential positioning module.
In the vehicle-mounted navigation positioning system of described high precision, described satellite navigation Differential positioning module comprises again:
The radio circuit be connected with described double-fed point antenna, for being carried out by the electric signal received amplifying, down-converted exports intermediate-freuqncy signal, and described intermediate-freuqncy signal converts digital medium-frequency signal to through analog to digital converter and exports;
The baseband processing module be connected with radio circuit, for carrier wave demodulation, C/A code solution harmonic integral according to the digital medium-frequency signal settling signal received, obtains integrated value and the observed quantity needed for location;
The Differential positioning module be connected with baseband processing module, for completing the feedback of baseband processing module track loop and resolving, according to the navigation data of the Differential corrections correction Differential positioning module output that CORS server sends, obtain high-precision position, speed, temporal information.
In the vehicle-mounted navigation positioning system of described high precision, described inertial navigation module comprises three-axis gyroscope, three axis accelerometer and inertial navigation computing unit, and described inertial navigation computing unit and three-axis gyroscope and three axis accelerometer are all electrically connected.
In the vehicle-mounted navigation positioning system of described high precision, described wireless communication module is one or more combinations in bluetooth module, wifi, 3G, 4G, GPRS, ZigBee.
The vehicle-mounted navigation locating method of a kind of high precision, comprises the following steps:
A, satellite navigation Differential positioning module and inertial navigation module export navigation data;
B, integrated navigation module, when satellite navigation Differential positioning module Received signal strength is good, inertial navigation module leading by satellite navigation Differential positioning module is auxiliary exports positioning and orientation result; Also for when satellite navigation Differential positioning module Received signal strength is more weak or cannot receiving satellite signal time, positioning result is exported by leading the continuing of inertial navigation module, the positioning result that satellite navigation Differential positioning module exports is checked through inertial navigation module, the satellite navigation positioning result that automatism isolation is poor;
C, terminal or equipment receive the navigator fix result of described integrated navigation module output by the mode of radio communication and export navigation, locator data according to this positioning result.
The vehicle-mounted navigation positioning system of high precision provided by the present invention and method, adopt the integrated navigation system of double-fed point antenna, Differential positioning, fusion satellite navigation and inertial navigation, ensure positioning result quality, be connected with other-end or equipment by radio communication, other-end or equipment are by carrying out high precision navigation, location in conjunction with map after wireless communication receiver to the data of integrated navigation system.
Embodiment
The invention provides the vehicle-mounted navigation positioning system of a kind of high precision and method, for making object of the present invention, technical scheme and effect clearly, clearly, referring to accompanying drawing examples, the present invention is described in more detail.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Refer to Fig. 1, the vehicle-mounted navigation positioning system of high precision provided by the invention, comprise double-fed point satellite navigation antenna 100, satellite navigation Differential positioning module 200 and inertial navigation module 300, the integrated navigation module 400 be connected respectively with satellite navigation Differential positioning module 200 and inertial navigation module 300, the wireless communication module 500 that described integrated navigation module 400 can be connected with terminal or equipment 600.Wherein satellite navigation Differential positioning module 200 adopts differential position, according to the navigation data of Differential corrections correction satellite navigation Differential positioning module 200 output that CORS server sends.
Further, described integrated navigation module 400, when satellite navigation Differential positioning module 200 Received signal strength is good, is dominated by satellite navigation, and inertial navigation is auxiliary provides reliable positioning and orientation result; When satellite navigation Differential positioning module 200 Received signal strength is more weak or cannot receiving satellite signal time, dominated by inertial navigation, continue to provide positioning result; On the other hand, satellite navigation Differential positioning module 200 positioning result is checked through inertial navigation 300, can the poor satellite navigation positioning result of automatism isolation.
I.e. integrated navigation module 400, when the intensity of satellite navigation Differential positioning module 200 Received signal strength is higher than setting threshold values (this threshold value setting can according to circumstances be determined), inertial navigation module 300 auxiliary output positioning and orientation result leading by satellite navigation Differential positioning module 200; When satellite navigation Differential positioning module 200 Received signal strength intensity lower than setting threshold values or cannot receiving satellite signal time, positioning result is exported by leading the continuing of inertial navigation module 300, the positioning result that satellite navigation Differential positioning module 200 exports is checked through inertial navigation module, the satellite navigation positioning result that automatism isolation is poor; Wherein, when the positioning result of satellite navigation Differential positioning module 200 output is compared with reality accurately positioning result, error is more than tens meters (as more than 10 meters), then regard as poor satellite navigation positioning result.
Refer to Fig. 1 to Fig. 4, with specific embodiment, the present invention is further described below.Described satellite navigation Differential positioning module 200 comprises: antenna, the radio circuit be connected with antenna, the baseband processing module be connected with radio circuit and the Differential positioning module with baseband digital signal downlink connection.
Antenna, for receiving electromagnetic wave feeble signal and being translated into radio-frequency front-end picked-up and the process that electric signal supplies satellite navigation Differential positioning module 200; Radio circuit, for being carried out by the electric signal received amplifying, filtering, down-converted export intermediate-freuqncy signal, and described intermediate-freuqncy signal converts digital medium-frequency signal to through analog to digital converter and exports; Baseband processing module, for carrier wave demodulation, C/A code solution harmonic integral according to the digital medium-frequency signal settling signal received, obtains integrated value and the observed quantity needed for location; Differential positioning module, for completing the feedback of baseband processing module track loop and resolving, according to the navigation data of the Differential corrections correction Differential positioning module output that CORS server sends, obtains high-precision position, speed, temporal information.
Its operation logic is:
1) antenna adopts double-fed point microstrip antenna, is connected to radio circuit after two feed probes are coupled into a road signal by 3dB electric bridge;
2) electric signal that antenna exports by radio circuit carries out amplifying and filtering through LNA LNA, wave filter, amplifier, wave filter successively, is then connected to radio frequency, baseband chip;
3) radio frequency, baseband chip comprise radio circuit part and baseband processing portion, and radio circuit part comprises wave filter, frequency mixer, analog to digital converter, finally exports digital medium-frequency signal, and is sent to baseband processing portion.The digital medium-frequency signal that baseband processing section divisional processing radio circuit part exports, successively through catching, follow the tracks of, bit synchronization, frame synchronization four-stage, come the carrier wave demodulation of settling signal, C/A code solution harmonic integral, obtain integrated value and some observed quantities needed for location;
4) the Differential positioning module be connected with baseband processing module, the observed quantity that baseband processing module exports is resolved, obtain initial position data, and Differential positioning module is connected by bluetooth and the differential corrections data of receiving terminal or equipment transmission (the differential corrections data that terminal or equipment are sent by 3G, 4G or other communications link reception CORS system), according to differential corrections data, initial position data is revised, calculate high-precision positional information, and high precision position information is input to KALMAN filtering integrated navigation;
5) KALMAN filtering combination navigation module connects terminal or equipment by bluetooth and integrated navigation and location information is sent to terminal or equipment;
6) terminal or equipment finally can in conjunction with the accurate navigator fix results of map denotation after receiving high-precision positional information.
Described inertial navigation module comprises three-axis gyroscope, 3-axis acceleration takes into account inertial navigation computing unit, described inertial navigation computing unit and three-axis gyroscope and three axis accelerometer are all electrically connected, described inertial navigation module sets up navigational coordinate system according to gyrostatic output, exports calculate the speed of carrier in navigational coordinate system and position according to accelerometer.Specifically comprise:
1) initial position data of carrier is obtained from satellite navigation Differential positioning module;
2) acceleration of carrier is recorded continuously by accelerometer;
3) gyroscope in inertial navigation system forms a navigational coordinate system, makes the survey of accelerometer
Amount axle is stablized in the coordinate system and provides course and attitude angle, by coordinate transform, the acceleration of carrier relative inertness coordinate system is transformed into navigation coordinate and fastens;
4) acceleration is through obtaining speed to an integration of time, speed pass through again to the time once
Namely integration obtains distance, records the present position information of navigational coordinate system according to initial position and course angle;
5) inertial navigation result is sent to KALMAN filtering combination navigation module by inertial navigation module,
Integrated navigation module locating information is sent to terminal or equipment by bluetooth by integrated navigation;
6) terminal or equipment are by Bluetooth receptions KALMAN filtering combination navigation information, finally can be in conjunction with
The accurate navigator fix result of map denotation.
Satellite navigation and inertial navigation are merged by KALMAN filtering integrated navigation mutually.Under normal operating conditions, located by satellite navigation and determine, inertial navigation auxiliary under provide reliable positioning and orientation result; When satellite-signal is weak, then dominated by inertial navigation, continue to provide positioning result; On the other hand, satellite navigation positioning result is checked through inertial navigation, the satellite navigation positioning result that automatism isolation is poor.
In addition, vehicle mileage meter can be connected to KALMAN filtering integrated navigation, vehicle mileage meter is used for the travel speed of registration of vehicle or each wheel, is transferred to terminal or equipment, the operating range of terminal or equipment display vehicle by wireless communication module simultaneously.
Described wireless communication module is one or more combinations in bluetooth module, wifi, 3G, 4G, GPRS, ZigBee.
As shown in Figure 5, the present invention also provides a kind of high precision vehicle-mounted navigation locating method, comprises the following steps:
S100, satellite navigation Differential positioning module and inertial navigation module export navigation data;
S200, integrated navigation module, when satellite navigation Differential positioning module Received signal strength is good, inertial navigation module leading by satellite navigation Differential positioning module is auxiliary exports positioning and orientation result; Also for when satellite navigation Differential positioning module Received signal strength is more weak or cannot receiving satellite signal time, export positioning result by leading the continuing of inertial navigation; The positioning result that satellite navigation Differential positioning module exports is checked through inertial navigation module, the satellite navigation positioning result that automatism isolation is poor;
S300, terminal or equipment receive the navigation data of described integrated navigation module output by the mode of radio communication and carry out navigating, locating according to this navigation data.
In sum, the vehicle-mounted navigation positioning system of high precision and method that there is provided are provided, adopt the integrated navigation system that high-precision antenna, Differential positioning, satellite navigation and inertial navigation combine, ensure positioning result quality, be connected with other-end or equipment by radio communication, other-end or equipment are by carrying out high precision navigation, location in conjunction with map after wireless communication receiver to the data of integrated navigation system.
Should be understood that, application of the present invention is not limited to above-mentioned citing, for those of ordinary skills, can be improved according to the above description or convert, and all these improve and convert the protection domain that all should belong to claims of the present invention.