CN110926481A

Movatterモバイル変換

Info

Publication number: CN110926481A
Application number: CN201911223734.5A
Authority: CN
Inventors: 陈效双; 李庆国; 吴健琦
Original assignee: Hua Anxin Creation (beijing) Ltd By Share Ltd
Current assignee: Hua Anxin Creation (beijing) Ltd By Share Ltd
Priority date: 2019-12-03
Filing date: 2019-12-03
Publication date: 2020-03-27

Abstract

The embodiment of the application provides a vehicle positioning and navigation method and a device thereof, wherein the method comprises the following steps: the analysis equipment determines a target diagnosis protocol supported by an on-board self-diagnosis system (OBD) of the vehicle from a plurality of locally preset diagnosis protocols; acquiring a data packet representing the working condition of the vehicle through an OBD interface, wherein the data packet at least comprises speed information and direction information of the vehicle; analyzing the data packet according to a target diagnosis protocol to obtain speed information and direction information of the vehicle; determining an input level allowed by the inertial navigation device; and sending the speed information and the direction information of the vehicle to the inertial navigation equipment at an input level allowed by the inertial navigation equipment, wherein the speed information and the direction information of the vehicle are used for positioning and navigating the vehicle by the inertial navigation equipment. By implementing the embodiment of the application, the problem that the GPS navigation signal is weak or the GPS signal is lost so that the positioning navigation cannot be carried out in the prior art can be avoided, and the use experience of a user is improved.

Description

Vehicle positioning navigation method and device thereof

Technical Field

The present application relates to the field of communications technologies, and in particular, to a vehicle positioning and navigation method and apparatus.

Background

With the rapid development of automobiles, the existing positioning navigation technology is also continuously developed, and navigation systems are installed on the existing automobiles, so that when people go out to an unfamiliar or unfamiliar place, navigation equipment is needed to help people to plan a route.

For example, people generally use GPS navigation devices for positioning and navigation. The method for positioning and navigating by the GPS navigation equipment comprises the following steps that firstly, an antenna of the GPS navigation equipment can receive the three-dimensional position of the automobile sent by a satellite, then, the GPS navigation equipment matches the three-dimensional position with a stored electronic map to determine the position of the automobile in the electronic map, and therefore the positioning of the automobile is achieved. When people need to go to a certain place, the destination is input through the display terminal of the GPS navigation equipment, at this time, the GPS navigation equipment automatically calculates the most appropriate route according to the electronic map, and the route information is transmitted to a driver through the display terminal, so that the navigation of the automobile is realized. However, when people are in a remote place or in a GPS navigation blind area, the GPS signal is often lost or weak, which results in the vehicle position being unable to be correctly located, and thus navigation is not possible.

A part of people also use inertial navigation devices for position navigation. However, when the inertial navigation device is used for positioning navigation, the speed and the direction of the vehicle need to be acquired, and the traditional method for acquiring the speed and the direction of the vehicle is to modify the vehicle, but the conventional manufacturer generally does not disclose the electrical principle of the original vehicle, and because the electrical principles are different for different vehicle types, the modification is not high in operability, and the acquisition of the speed and the direction of the vehicle is very difficult, so that the inertial navigation device is difficult to realize accurate positioning navigation.

Disclosure of Invention

The embodiment of the application provides a vehicle positioning and navigation method and a device thereof, which can overcome the defects of the prior art and are convenient and quick to operate.

In a first aspect, an embodiment of the present application provides a vehicle positioning and navigation method, including:

the analysis equipment determines a target diagnosis protocol supported by an on-board self-diagnosis system (OBD) of the vehicle from a plurality of locally preset diagnosis protocols;

acquiring a data packet representing the working condition of the vehicle through an interface of the OBD, wherein the data packet at least comprises speed information and direction information of the vehicle;

analyzing the data packet according to the target diagnosis protocol to obtain speed information and direction information of the vehicle;

determining an input level allowed by the inertial navigation device;

and sending the speed information and the direction information of the vehicle to the inertial navigation equipment under the input level allowed by the inertial navigation equipment, wherein the speed information and the direction information of the vehicle are used for positioning and navigating the vehicle by the inertial navigation equipment.

It can be seen that in the embodiment of the application, the analysis device comprises a plurality of diagnosis protocols, and can be suitable for different vehicle-mounted self-diagnosis systems; after a target diagnosis protocol supported by a vehicle-mounted self-diagnosis system of the vehicle is determined, data are obtained from an interface of the OBD according to the target diagnosis protocol, the data are analyzed to obtain speed information and direction information of the vehicle, and then the speed information and the direction information of the vehicle are sent to the inertial navigation equipment according to an input level allowed by the inertial navigation equipment, so that the inertial navigation equipment can position and navigate the vehicle according to the speed information and the direction information. Therefore, by implementing the embodiment of the application, the navigation of the inertial navigation equipment does not depend on the GPS navigation equipment or the base station equipment any more, so that the problem that the signal of the GPS navigation equipment or the base station equipment is weak or the signal is lost is avoided, meanwhile, the vehicle does not need to be modified, the speed and the direction of the vehicle can be obtained, and therefore the inertial navigation equipment is used for positioning and navigating the vehicle, and the user experience is improved.

Based on the first aspect, in a possible implementation, the sending the speed information and the direction information of the vehicle to the inertial navigation device at an input level allowed by the inertial navigation device includes:

according to the input level allowed by the inertial navigation equipment, the speed information and the direction information of the vehicle are modulated to obtain a speed modulation signal and a direction modulation signal;

and sending the speed modulation signal and the direction modulation signal to the inertial navigation equipment.

It can be seen that, in the embodiment of the present application, before sending the speed information and the direction information of the vehicle to the inertial navigation device, the analysis device needs to modulate the speed information and the direction information of the vehicle into a signal matched with an input level of the inertial navigation device, so that different inertial navigation devices can be matched, and the method has better applicability.

Based on the first aspect, in a possible implementation, the method further includes:

the analysis equipment acquires initial position information of the vehicle;

according to the input level allowed by the inertial navigation equipment, the initial position information of the vehicle is modulated to obtain an initial position modulation signal;

sending the initial position modulation signal to the inertial navigation equipment;

the starting position information of the vehicle is used together with the speed information and the direction information of the vehicle for positioning and navigation of the vehicle by the inertial navigation equipment.

In the embodiment of the application, the analysis device can obtain the initial position information of the vehicle through the GPS navigation device or the base station device, modulate the initial position information into a signal that can be matched with the inertial navigation device, and then send the signal to the inertial navigation device, so that the inertial navigation device can position and navigate the vehicle according to the initial position information, the speed information, and the direction information. Therefore, by implementing the embodiment of the application, the initial position of the vehicle is obtained only when the vehicle starts, and the subsequent navigation does not depend on the GPS navigation equipment or the base station equipment any more, so that the problem that the signal of the GPS navigation equipment or the base station equipment is weak or the signal is absent is avoided, and the use experience of a user is improved.

the inertial navigation equipment is further used for obtaining the initial position information of the vehicle, and the initial position information of the vehicle, the speed information and the direction information of the vehicle are jointly used for positioning and navigating the vehicle by the inertial navigation equipment.

It can be seen that, in the embodiment of the present application, the inertial navigation device may also directly obtain the start position information of the vehicle through the GPS navigation device or the base station device, and then the inertial navigation device locates and navigates the vehicle according to the start position information, the speed information, and the direction information. Therefore, by implementing the embodiment of the application, the inertial navigation equipment can obtain the initial position of the vehicle when the vehicle starts, and the subsequent navigation does not depend on the GPS navigation equipment or the base station equipment any more, so that the problem that the GPS navigation equipment or the base station equipment is weak in signal or missing in signal is avoided, and the use experience of a user is improved.

Based on the first aspect, in a possible embodiment, the plurality of diagnostic protocols includes at least a first diagnostic protocol, a second diagnostic protocol, and a third diagnostic protocol;

the analysis equipment determines a target diagnosis protocol supported by an on-board self-diagnosis system OBD of the vehicle from a plurality of locally preset diagnosis protocols, and the method comprises the following steps:

the analysis equipment sends a first query instruction to the on-board self-diagnosis system OBD, wherein the first query instruction is used for querying whether the OBD supports the first diagnosis protocol; if the OBD determination response is received, the analysis equipment determines that the target diagnosis protocol comprises the first diagnosis protocol; if not, then,

the analysis equipment sends a second inquiry instruction to the on-board self-diagnosis system OBD, wherein the second inquiry instruction is used for inquiring whether the OBD supports the second diagnosis protocol; if the OBD determination response is received, the analysis equipment determines that the target diagnosis protocol comprises the second diagnosis protocol; if not, then,

the analysis equipment sends a third inquiry instruction to the on-board self-diagnosis system OBD, wherein the third inquiry instruction is used for inquiring whether the OBD supports the third diagnosis protocol; and if the determination response of the OBD is received, the analysis equipment determines that the target diagnosis protocol comprises the third diagnosis protocol.

It can be seen that, since the analysis device includes multiple diagnostic protocols, for different on-board self-diagnosis systems, the analysis device may determine a target diagnostic protocol supported by the OBD of the vehicle by traversing all the diagnostic protocols in the analysis device and adopting a question-and-answer manner.

In a second aspect, an embodiment of the present application provides a vehicle positioning and navigation device, including:

the determining module is used for determining a target diagnosis protocol supported by an on-board self-diagnosis system (OBD) of the vehicle from multiple locally preset diagnosis protocols by the analysis equipment;

the acquisition module is used for acquiring a data packet representing the working condition of the vehicle through an interface of the OBD, wherein the data packet at least comprises speed information and direction information of the vehicle;

the analysis module is used for analyzing the data packet according to the target diagnosis protocol to obtain the speed information and the direction information of the vehicle;

the determination module is further used for determining the input level allowed by the inertial navigation equipment;

the communication module is used for sending the speed information and the direction information of the vehicle to the inertial navigation equipment under the input level allowed by the inertial navigation equipment, and the speed information and the direction information of the vehicle are used for positioning and navigating the vehicle by the inertial navigation equipment.

In a specific embodiment, the communication module is further specifically configured to: according to the input level allowed by the inertial navigation equipment, the speed information and the direction information of the vehicle are modulated to obtain a speed modulation signal and a direction modulation signal; and sending the speed modulation signal and the direction modulation signal to the inertial navigation equipment.

In a specific embodiment, the obtaining module is further configured to: the analysis equipment acquires initial position information of the vehicle;

the communication module is further configured to: according to the input level allowed by the inertial navigation equipment, the initial position information of the vehicle is modulated to obtain an initial position modulation signal; sending the initial position modulation signal to the inertial navigation equipment; the starting position information of the vehicle is used together with the speed information and the direction information of the vehicle for positioning and navigation of the vehicle by the inertial navigation equipment.

In a specific embodiment, the apparatus further comprises:

In a specific embodiment, the plurality of diagnostic protocols includes at least a first diagnostic protocol, a second diagnostic protocol, and a third diagnostic protocol;

the determining module is further specifically configured to:

In one implementation, the apparatus may be applied to a parsing device.

Each functional module in the apparatus provided in the embodiment of the present application is specifically configured to implement the method described in the first aspect.

In a third aspect, an embodiment of the present application provides a computing device, including a processor, a communication interface, and a memory; the memory is configured to store instructions, the processor is configured to execute the instructions, and the communication interface is configured to receive or transmit data; wherein the processor executes the instructions to perform the method as described in the first aspect or any specific implementation manner of the first aspect.

In a fifth aspect, embodiments of the present application provide a non-volatile storage medium for storing program instructions, which, when applied to a parsing device, can be used to implement the method described in the first aspect.

In a sixth aspect, the present application provides a computer program product, which includes program instructions, and when the computer program product is executed by a parsing device, the parsing device executes the method according to the first aspect. The computer program product may be a software installation package, which may be downloaded and executed on a parsing device in case it is desired to use the method provided by any of the possible designs of the first aspect described above, to implement the method of the first aspect.

It can be seen that the embodiment of the application provides a vehicle positioning and navigation method, which is applied to a resolving device. The analytical equipment comprises a plurality of diagnostic protocols, so that the analytical equipment can support vehicles with different diagnostic protocols; in order to match different inertial navigation devices, the resolving device determines the input level allowed by the inertial navigation devices, and at that level, modulates the speed information and direction information of the vehicle obtained and resolved from the interface of the OBD into signals received by the inertial navigation devices. The analysis device can also send the initial position information of the vehicle to the inertial navigation device, or the inertial navigation device actively obtains the initial position information of the vehicle from the GPS navigation device or the base station device, and then the inertial navigation device can realize positioning navigation according to the speed information and the direction information of the vehicle and the initial position information of the vehicle. Therefore, the embodiment of the application is implemented as long as the initial position of the vehicle is obtained when the vehicle starts, and the subsequent navigation does not depend on the GPS navigation equipment or the base station equipment any more, so that the problem that the signal of the GPS navigation equipment or the base station equipment is weak or the signal is lost is avoided, the vehicle does not need to be modified, the speed and the direction of the vehicle can be obtained, the inertial navigation equipment is used for positioning and navigating the vehicle according to the speed and the direction of the vehicle, and the use experience of a user is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic diagram of a system framework of two vehicle positioning and navigation systems provided by an embodiment of the present application;

FIG. 2 is a schematic diagram of a vehicle positioning and navigation method according to an embodiment of the present disclosure;

fig. 3 is an embodiment of a modulation method provided in the present application;

FIG. 4 is an embodiment of another modulation method provided herein;

FIG. 5 is a schematic view of a vehicle positioning and navigation apparatus according to an embodiment of the present application;

FIG. 6 is a schematic view of another vehicle positioning and navigation system provided by an embodiment of the present application;

fig. 7 is a schematic view of another vehicle positioning and navigation device provided in the embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It is to be understood that the terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only, and is not intended to be limiting of the application. As used in the examples of this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It is noted that, as used in this specification and the appended claims, the term "comprises" and any variations thereof are intended to cover non-exclusive inclusions. For example, a system, article, or apparatus that comprises a list of elements/components is not limited to only those elements/components but may alternatively include other elements/components not expressly listed or inherent to such system, article, or apparatus.

It is also understood that the term "if" may be interpreted as "when", "upon" or "in response to" determining "or" in response to detecting "or" in the case of … "depending on the context.

It should also be noted that the terms "first," "second," "third," "fourth," and the like in the description and in the claims, are used for distinguishing between different objects and not necessarily for describing a particular sequential or chronological order.

The vehicle-mounted positioning navigation method is realized based on an OBD interface, and for facilitating understanding of the technical scheme of the embodiment of the application, related concepts related to the embodiment of the application are explained first.

Obd (on Board diagnostics), a detection system extended for vehicle fault diagnosis, also called "vehicle-mounted self-diagnostic system", can monitor the working conditions of systems such as engine, catalytic converter, particulate trap, oxygen sensor, emission control system, fuel system, etc. and other functional modules of the vehicle in real time during the running process of the vehicle. And then is connected to an Electronic Control Unit (ECU) (also called a traveling computer or a vehicle-mounted computer) through different related emission components, and the ECU can detect and analyze the functions of emission-related faults. When an abnormality occurs, the OBD determines a specific fault according to a specific algorithm, and stores the specific fault in the ECU in the form of a Diagnostic fault code (DTC). Useful information obtained after the system self-diagnosis can provide help for the maintenance and the repair of the vehicle, and maintenance personnel can read the fault code by using a special instrument of an original automobile factory, so that the fault can be quickly positioned, and after the fault is eliminated, the fault code is cleared by using the special instrument. However, OBD systems of different manufacturers are not compatible with each other at this time, and thus are called First-generation On-board self-diagnostic systems (OBD-I).

For the purpose of unifying standards, in 1988, the Society of Automotive Engineers (SAE) made the standard of OBDII (the Second On-Board Diagnostics), also called the Second generation vehicle-mounted self-diagnostic system. From 1996, all new vehicles sold in the united states had to have similar diagnostic instrumentation, fault coding and repair procedures, i.e., compliance with OBDII procedures. With the increasing degree of economic globalization and automobile internationalization, the OBDII system is widely implemented and applied as a driving and emission diagnosis basis. The OBDII can detect the running parameters of each system of the automobile and read data, so that the detection, maintenance and management of the automobile are integrated, and the requirement of environmental protection is met.

It should be noted that the OBD in the embodiment of the present application includes a first generation vehicle-mounted self-diagnosis system and a second generation vehicle-mounted self-diagnosis system, and an interface of the OBD is a 16-pin trapezoidal interface.

Referring to fig. 1, fig. 1 is a schematic diagram of two system architectures provided by the embodiment of the present application. The system involves a resolving device, an OBD, an inertial navigation device and a GPS navigation device/base station device.

Fig. 1 (1) is a schematic architecture diagram of a vehicle positioning and navigation system provided in an embodiment of the present application, where a resolving device is connected to an OBD, an inertial navigation device, and a GPS navigation device/base station device, respectively. The analysis equipment acquires a data packet representing the working condition of the vehicle through an OBD interface, then analyzes the data packet according to a target diagnosis protocol to obtain speed information and direction information of the vehicle, and also acquires initial position information of the vehicle through GPS navigation equipment/base station equipment, then under an input level allowed by the inertial navigation equipment, the analysis equipment sends the acquired speed information, direction information and initial position information of the vehicle to the inertial navigation equipment, and the inertial navigation equipment realizes positioning and navigation of the vehicle according to the speed information, the direction information and the initial position information of the vehicle.

Fig. 1 (2) is a schematic architecture diagram of another vehicle positioning and navigation system provided in an embodiment of the present application, where a resolving device is connected to an OBD and an inertial navigation device, respectively, and the inertial navigation device is connected to a GPS navigation device/base station device. The method comprises the steps that an analysis device obtains a data packet representing the working condition of a vehicle through an OBD interface, then analyzes the data packet according to a target diagnosis protocol to obtain speed information and direction information of the vehicle, then sends the obtained speed information and direction information of the vehicle to an inertial navigation device under an input level allowed by the inertial navigation device, the inertial navigation device receives the speed information and the direction information of the vehicle, obtains initial position information of the vehicle through a GPS navigation device/base station device, and then the inertial navigation device realizes positioning and navigation of the vehicle according to the speed information, the direction information and the initial position information of the vehicle.

Referring to fig. 2, fig. 2 is a vehicle positioning and navigation method provided by an embodiment of the present application, where the method flow includes, but is not limited to, the following steps:

s201, the analysis equipment determines a target diagnosis protocol supported by an on-board self-diagnosis system OBD of the vehicle from a plurality of locally preset diagnosis protocols.

In the embodiment of the application, the analysis device comprises a plurality of diagnosis protocols, such as ISO15765-4, ISO14230-4, ISO9141-2 and the like, and can support different on-board self-diagnosis systems OBD. Wherein the diagnostic protocol is used to acquire data and parse data of the OBD bus as follows. The diagnosis protocols supported by the on-board self-diagnosis system OBD may be different if the vehicle types are different. Different OBDs support different diagnostic protocols, some supporting the K bus and some supporting the CAN bus.

ISO14230 is a diagnostic protocol based on the road vehicle-diagnostic system-keyword protocol 2000, which is formulated by data communication using a K-line. ISO14230 includes the following four parts, part 1 (ISO14230-1 (1999)): a physical layer; part 2 (ISO14230-2 (1999)): a data link layer; part 3 (ISO14230-3 (1999)): an application layer; part 4 (ISO14230-4 (2000)): associated emission system requirements. Among them, ISO-14230-1, ISO-14230-2, ISO-14230-3 define an application layer, a data link layer, and a physical layer.

The road vehicle-diagnostic system-keyword protocol 2000 is also called the KWP2000 protocol or keyword protocol because it is known that keyword verification is involved when the system enters. The KWP2000 protocol is asynchronous and half-duplex for communication, and generally adopts the baud rate of 10416 BPS; the idle level is typically 12V.

ISO15765 is a vehicle-mounted diagnosis protocol based on road vehicle-control area network diagnosis (CAN), which is a KWP2000 protocol based on a CAN bus, and the protocol transplants diagnosis services of a KWP2000 application layer onto the CAN bus, and describes implementation standards of the vehicle-mounted diagnosis protocol in detail. ISO15765 consists of four parts: part 1 (ISO 15765-1 (2004)): general information (physical layer, data link layer); part 2 (ISO 15765-2 (2004)): network layer services (network layer); section 3 (ISO 15765-3 (2004)): universal diagnostic service (UDS CAN) (application layer); part 4 ISO15765-4 (2005): associated emission system requirements. The range of the ISO15765-4 diagnostic protocol is as follows: this section specifies the transmission requirements related to the CAN system applying the legal OBD, and the communication network is composed of an ECU equipped with a single or multiple related transmissions and external test equipment. This section is based on ISO15765-2, ISO11898-1 and ISO1189-2 which specify standard limits for legal OBDs, and does not specify a CAN bus structure within the vehicle. Vehicles employing legal OBD should follow the requirements of the external test equipment.

ISO15765 diagnostic protocol, where ISO11898-1 protocol is used in the data link layer, which is further standardized and normalized to CAN2.0B protocol; an application layer adopts an ISO 15765-3 protocol which is completely compatible with a K-line-based application layer protocol 14230-3 and is added with a CAN bus diagnosis functional group; the network layer adopts an ISO15765-2 protocol, specifies the mapping relation between a network layer protocol data unit and a bottom layer CAN data frame and an upper layer KWP2000 service, and provides synchronous control, sequence control, flow control and error recovery functions for the multi-packet data transmission process of a long message.

ISO9141-2(CARB digital information exchange requirement) is a diagnostic protocol proposed by a road vehicle-based diagnostic system in 1994, is forward compatible with ISO14230-4, and the K lines supported by the interface of the OBD at present contain the definition of the protocol.

According to the seven-layer structure basic reference model of the Open Systems Interconnection (OSI), ISO9141-2 is divided into three layers: a physical layer, a data link layer, and an application layer. The physical layer mainly describes the signal and electrical characteristics of the system and is used for configuring a hardware system and guiding the design of an interface circuit; the data link layer mainly describes a message structure during communication; the application layer specifies the requirements for implementing a protocol service, including byte-coding and hexadecimal values of service identifiers, byte-coding of service request and response parameters and hexadecimal values of standard parameters, at which layer the service definition conforms to the definition of a diagnostic service in diagnostic standard J1979.

S202, obtaining a data packet representing the working condition of the vehicle through an OBD interface, wherein the data packet at least comprises speed information and direction information of the vehicle.

And S203, analyzing the data packet according to the target diagnosis protocol to obtain the speed information and the direction information of the vehicle.

The OBD is connected to the ECUs of the speed controller, the direction controller, the engine, the transmission, the anti-lock brake system, and the like of the vehicle, and directly acquires the speed information periodically transmitted from the speed controller ECU, the direction information periodically transmitted from the direction controller ECU, and the like.

In the embodiment of the present application, the data packet actually refers to a message, and the bus sends the message to the parsing device in a broadcast manner. The analysis equipment can read data sent by each ECU on the bus at regular time from the OBD through an interface of the OBD in a receiving-only mode, and the data is transmitted in a message mode, so the analysis equipment acquires data representing the working condition of the vehicle, wherein the data may comprise speed information, direction information, coolant temperature, voltage, intake manifold pressure, intake temperature, air flow rate, throttle position, oxygen sensor voltage, fuel pressure and other data of the vehicle, and then the speed information and the direction information of the vehicle are acquired; the analysis device may also adopt a question-and-answer mode, that is, the analysis device sends a request for acquiring speed information and direction information of the vehicle to the OBD according to the target diagnosis protocol, and then the analysis device receives a return result of the OBD, where the return result is sent in the form of a message, where the message includes the speed information and the direction information of the vehicle.

The analysis equipment needs to analyze the data packet after obtaining the data packet, and can receive and analyze the messages sent by the OBD one by one in a message analysis mode to obtain the speed information and the direction information of the vehicle.

And S204, determining the input level allowed by the inertial navigation equipment.

In this embodiment, the parsing device needs to determine the input level allowed by the inertial navigation device, and the parsing device may send a message or an instruction to the inertial navigation device to obtain the input level, and then the inertial navigation device sends the allowed input level to the parsing device.

And S205, sending the speed information and the direction information of the vehicle to the inertial navigation equipment under the input level allowed by the inertial navigation equipment.

And according to the input level allowed by the inertial navigation equipment, modulating the speed information and the direction information of the vehicle into signals matched with the inertial navigation equipment, namely obtaining a speed modulation signal and a direction modulation signal. And then sending the speed modulation signal and the direction modulation signal obtained after modulation to inertial navigation equipment. The modulation is to match the transmitted signals (velocity modulation signal and direction modulation signal) with the input level of the inertial navigation device.

For example, if the acquired speed of the vehicle is +40km/h and the input level of the inertial navigation device is +5V, assuming that the modulation rule is that the speed is represented by 9-bit binary numbers, where the first-bit binary number represents the direction of the speed, the "1" represents the forward movement of the vehicle, i.e., "+", the "0" represents the backward movement of the vehicle, i.e., "-", and the second-to ninth-bit binary numbers represent the speed values, the speed +40km/h is represented by "100101000" in binary, and the modulated speed modulation signal can be represented as shown in fig. 3. And then the speed modulation signal in fig. 3 is sent to the inertial navigation device.

For another example, if the acquired speed of the vehicle is-8 km/h and the input level of the inertial navigation device is +5V, assuming that the modulation rule is that the speed is represented by 9-bit binary numbers, where the first-bit binary number represents the direction of the speed, the "1" represents the forward movement of the vehicle, i.e., "+", the "0" represents the backward movement of the vehicle, i.e., "-", and the second-to ninth-bit binary numbers represent the speed value, the speed-8 km/h is represented by binary "000001000", and the modulated speed modulation signal can be represented as shown in fig. 4. And then the speed modulation signal in fig. 4 is sent to the inertial navigation device.

And S206, the inertial navigation equipment carries out positioning navigation on the vehicle according to the speed information, the direction information and the initial position information of the vehicle.

In one embodiment, the resolver device may obtain the start position information of the vehicle from the GPS navigation device or the base station device, and then send the start position information of the vehicle to the inertial navigation device. However, in order to match the transmitted signal with the input level of the inertial navigation device, it is necessary to modulate the start position information according to the input level allowed by the inertial navigation device to obtain a start position modulation signal, and then transmit the start position modulation signal to the inertial navigation device.

The inertial navigation equipment demodulates the obtained speed modulation signal, direction modulation signal and initial position modulation signal to obtain the speed information, direction information and initial position information of the vehicle, and then the inertial navigation equipment positions and navigates the vehicle according to the speed information, direction information and initial position information.

The following describes a process of determining a starting position of a vehicle by using a GPS navigation device as an example.

The operation of the GPS navigation device is mainly performed by a Global Positioning System (GPS). The GPS consists of three separate parts, namely a spatial part: 21 working satellites and 3 spare satellites; a ground part: 1 master control station, 3 injection stations and 5 monitoring stations; the user equipment part: and receiving GPS satellite transmitting signals to obtain necessary navigation and positioning information, and completing navigation and positioning work through data processing.

The process of the GPS navigation device determining the start position is as follows. 24 satellites in the space form a distribution network which is respectively distributed on 6 quasi-synchronous orbits of the earth with 2 kilometres away from the ground and an inclination angle of 55 degrees, and each orbit is provided with 4 satellites. The GPS satellite circles the earth every 12 hours, so that signals of 7-9 satellites can be simultaneously received at any place on the earth. And 1 main control station and 5 monitoring stations on the ground are responsible for monitoring, telemetering, tracking and controlling the satellite. 5 monitoring stations observe each satellite and provide observation data to the master control station. After receiving the data, the main control station calculates the precise position of each satellite at each moment, and transmits the precise position to the satellite through 3 injection stations, the satellite transmits the data to GPS navigation equipment through radio waves, and the GPS navigation equipment receives the data transmitted by the GPS satellite and calculates the three-dimensional position of the vehicle, thereby determining the initial position of the vehicle. Therefore, the analysis device can acquire the initial position information of the vehicle from the GPS navigation device.

The process of determining the vehicle starting position by the base station device is not described herein again.

In yet another embodiment, the inertial navigation device demodulates the obtained speed modulation signal and direction modulation signal to obtain the speed information and direction information of the vehicle, and then the inertial navigation device directly obtains the start position information of the vehicle from the GPS navigation device or the base station device, so that the inertial navigation device locates and navigates the vehicle according to the speed information, direction information and start position information.

In another embodiment, the inertial navigation device may store the initial position information of the vehicle itself, and the vehicle may be positioned and navigated directly according to the demodulated speed information and direction information without acquiring the initial position information from other devices.

The process of positioning and navigating the inertial navigation device according to the speed information, the direction information and the initial position information is briefly described as follows.

The mode of positioning and navigating by the inertial navigation equipment belongs to a dead reckoning navigation mode, namely the position of the next point of the vehicle can be calculated from the initial position of the vehicle according to the speed and the direction, and the current position of the vehicle can be measured through continuous calculation to realize the positioning of the vehicle. The inertial navigation device then determines the exact location of the vehicle in the electronic map by matching the determined current location with stored electronic map data. Then, automatically calculating the most appropriate route according to the electronic map, transmitting information to a driver through a navigation display terminal by the inertial navigation equipment, and reminding the driver to drive according to the calculated route in the driving process of the vehicle; when the automobile deviates from the route, the inertial navigation equipment can recalculate the path information, and in the whole driving process, a driver can accurately and quickly arrive at the destination only by pressing the voice prompt of the inertial navigation equipment.

It can be seen that the analysis device comprises a plurality of diagnosis protocols, the analysis device determines a target diagnosis protocol according to a vehicle-mounted self-diagnosis system OBD of the vehicle, then acquires data according to the target diagnosis protocol, analyzes the data to obtain speed information and direction information of the vehicle, and sends the speed information and the direction information to the inertial navigation device at an input level allowed by the inertial navigation device. Then, the analysis device acquires the initial position information of the vehicle from the GPS navigation device or the base station device and sends the initial position information to the inertial navigation device, or the inertial navigation device directly acquires the initial position information of the vehicle from the GPS navigation device or the base station device. And finally, the inertial navigation equipment positions and navigates the vehicle according to the acquired speed information, direction information and initial position information of the vehicle. In addition, the analysis equipment comprises a plurality of diagnosis protocols and can support a plurality of vehicle-mounted self-diagnosis systems. The vehicle positioning and navigation method in the embodiment of the application is particularly suitable for places without GPS signals or with weak GPS signals, so that the embodiment of the application is implemented as long as the initial position of the vehicle is obtained when the vehicle starts, and subsequent navigation does not depend on GPS navigation equipment or base station equipment any more, so that the problems that the vehicle cannot be positioned and navigated due to weak signals or signal loss of the GPS navigation equipment or the base station equipment are solved, the vehicle does not need to be refitted, the speed and the direction of the vehicle can be obtained, the inertial navigation equipment can position and navigate the vehicle according to the obtained vehicle speed and direction, and the use experience of a user is improved.

Referring to fig. 5, fig. 5 is a schematic diagram of anapparatus 50 provided in an embodiment of the present application, where theapparatus 50 is applied to a resolvingdevice 60, and may include:

a determiningmodule 501, configured to determine, by the parsingdevice 60, a target diagnostic protocol supported by an on-board self-diagnostic system OBD of the vehicle from multiple locally preset diagnostic protocols;

an obtainingmodule 502, configured to obtain a data packet representing a vehicle operating condition through an OBD interface, where the data packet at least includes speed information and direction information of a vehicle;

theanalysis module 503 is configured to analyze the data packet according to the target diagnosis protocol to obtain speed information and direction information of the vehicle;

a determiningmodule 501, configured to determine an input level allowed by the inertial navigation device;

thecommunication module 504 is configured to send speed information and direction information of the vehicle to the inertial navigation device at an input level allowed by the inertial navigation device, where the speed information and the direction information of the vehicle are used for positioning and navigation of the vehicle by the inertial navigation device.

In an embodiment, thecommunication module 504 is further specifically configured to: according to the input level allowed by the inertial navigation equipment, the speed information and the direction information of the vehicle are modulated to obtain a speed modulation signal and a direction modulation signal; and sending the speed modulation signal and the direction modulation signal to the inertial navigation equipment.

In a specific embodiment, the obtainingmodule 502 is further configured to: theanalysis device 60 acquires the initial position information of the vehicle;

thecommunication module 504 is further configured to: according to the input level allowed by the inertial navigation equipment, the initial position information of the vehicle is modulated to obtain an initial position modulation signal; sending the initial position modulation signal to inertial navigation equipment; the initial position information of the vehicle is used together with the speed information and the direction information of the vehicle for positioning and navigation of the vehicle by the inertial navigation device.

In one embodiment, theapparatus 50 further comprises:

the inertial navigation device is further used for obtaining the initial position information of the vehicle, and the initial position information of the vehicle is used for positioning and navigating the vehicle by the inertial navigation device together with the speed information and the direction information of the vehicle.

In a particular embodiment, the plurality of diagnostic protocols includes at least a first diagnostic protocol, a second diagnostic protocol, and a third diagnostic protocol;

the determiningmodule 501 is further specifically configured to:

theanalysis device 60 sends a first query instruction to the on-board self-diagnosis system OBD, where the first query instruction is used to query whether the OBD supports a first diagnosis protocol; if the OBD determination response is received, theanalysis device 60 determines that the target diagnostic protocol includes the first diagnostic protocol; if not, then,

theanalysis device 60 sends a second query instruction to the on-board self-diagnosis system OBD, where the second query instruction is used to query whether the OBD supports a second diagnosis protocol; if the OBD determination response is received, theanalysis device 60 determines that the target diagnostic protocol includes the second diagnostic protocol; if not, then,

theanalysis device 60 sends a third query instruction to the on-board self-diagnosis system OBD, where the third query instruction is used to query whether the OBD supports a third diagnosis protocol; if a determination response of the OBD is received, the parsingdevice 60 determines that the target diagnostic protocol includes a third diagnostic protocol.

The functional modules of theapparatus 50 may be used to implement the method described in the embodiment of fig. 2, and for specific content, reference may be made to the description in the relevant content of the embodiment of fig. 2, and for brevity of description, no further description is given here.

Referring to fig. 6, fig. 6 is a schematic diagram of another vehicle positioning and navigation system provided by the embodiment of the present application, which includes aparsing device 60, an on-board self-diagnosis system OBD61 and aninertial navigation device 62. Theanalysis device 60 at least comprises a POWER supply, a BUS, a Micro Control Unit (MCU), a communication interface USB and a memory, wherein the POWER supply supplies POWER to theanalysis device 60, the BUS is a serial data communication protocol, is a common communication trunk for transmitting information among all components, can be used for sending or receiving information to other network nodes, transmitting address information and data information, realizing control over other components and the like, and can also complete framing processing and the like of communication data. The micro control unit MCU is used for acquiring data and instructions transmitted by the BUS BUS and processing the data or the instructions. For example, the MCU may receive data information transmitted by the BUS, including the speed, direction, etc. of the vehicle, process the data, and send it to theinertial navigation device 62 via the interface USB. The parsingdevice 60 further comprises a memory for storing data information and instruction information of the BUS, the micro control unit MCU, the communication interface USB, and temporary data information generated during their transmission, and the memory may exist in theparsing device 60 as a separate component or may be coupled with the micro control unit MCU. Theanalysis device 60 firstly determines a target diagnosis protocol supported by the OBD61, then obtains data according to the target diagnosis protocol, analyzes the data to obtain speed information and direction information of the vehicle, and then sends the speed information and the direction information of the vehicle to theinertial navigation device 62, and theinertial navigation device 62 realizes positioning and navigation of the vehicle according to the speed information and the direction information of the vehicle. In this embodiment of the application, the memory in theparsing device 60 may be used to store program instructions, and the MCU may call the program instructions stored in the memory to execute the functional steps of the parsing device in the method embodiment in fig. 2.

Referring to fig. 7, fig. 7 is a schematic diagram of anotherparsing apparatus 700 provided in an embodiment of the present application, where theparsing apparatus 700 at least includes:processor 710,communication interface 720, andmemory 730, withprocessor 710,communication interface 720, andmemory 730 coupled by abus 740. Wherein,

theprocessor 710 is used to execute the determiningmodule 501, the obtainingmodule 502, theparsing module 503 and thecommunication module 504 in fig. 5 by calling the program code in thememory 730. In practical applications,processor 710 may include one or more general-purpose processors, wherein a general-purpose processor may be any type of device capable of Processing electronic instructions, including a Central Processing Unit (CPU), a microprocessor, a microcontroller, a main processor, a controller, an Application Specific Integrated Circuit (ASIC), and so on. Theprocessor 710 reads the program code stored in thememory 730 and cooperates with thecommunication interface 720 to perform some or all of the steps of the method performed by theparsing device 700 in the embodiments described above.

Communication interface 720 may be a wired interface (e.g., an ethernet interface) for communicating with other computing nodes or devices. Whencommunication interface 720 is a wired interface,communication interface 720 may employ a Protocol family over TCP/IP, such as RAAS Protocol, Remote Function Call (RFC) Protocol, Simple Object Access Protocol (SOAP) Protocol, Simple Network Management Protocol (SNMP) Protocol, Common Object Request Broker Architecture (CORBA) Protocol, and distributed Protocol, among others.

Memory 730 may store program codes as well as program data. The program code includes code of the determiningmodule 501, code of the obtainingmodule 502, code of theparsing module 503, and code of thecommunication module 504. The program data includes: speed information of the vehicle, direction information, start position information, input levels allowed by the inertial navigation device, and the like. In practical applications, theMemory 730 may include a Volatile Memory (Volatile Memory), such as a Random Access Memory (RAM); the Memory may also include a Non-Volatile Memory (Non-Volatile Memory), such as a Read-Only Memory (ROM), a Flash Memory (Flash Memory), a Hard Disk Drive (HDD), or a Solid-State Drive (SSD) Memory, which may also include a combination of the above types of memories.

Embodiments of the present application also provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, where the computer program is executed by hardware (for example, a processor, etc.) to implement part or all of the steps of any one of the methods performed by the vehicle positioning and navigation device in the embodiments of the present application.

The embodiments of the present application also provide a computer program product, which, when being read and executed by a computer, causes the parsing device to perform part or all of the steps of the vehicle positioning and navigation method in the embodiments of the present application.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented, in whole or in part, by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., coaxial cable, fiber optic, digital subscriber line) or wirelessly (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, memory Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state Disk, SSD)), among others. In the embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electric, mechanical or other form of connection.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiments of the present application.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially or partially contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A vehicle positioning and navigation method is characterized by comprising the following steps:

determining an input level allowed by the inertial navigation device;

2. The method of claim 1, wherein sending the speed information and the direction information of the vehicle to the inertial navigation device at an input level allowed by the inertial navigation device comprises:

3. The method according to claim 1 or 2, characterized in that the method further comprises:

the analysis equipment acquires initial position information of the vehicle;

4. The method according to claim 1 or 2, characterized in that the method further comprises:

5. The method of claim 1, wherein the plurality of diagnostic protocols comprises at least a first diagnostic protocol, a second diagnostic protocol, and a third diagnostic protocol;

6. An apparatus, comprising:

7. The apparatus of claim 6,

the communication module is further specifically configured to: according to the input level allowed by the inertial navigation equipment, the speed information and the direction information of the vehicle are modulated to obtain a speed modulation signal and a direction modulation signal; and sending the speed modulation signal and the direction modulation signal to the inertial navigation equipment.

8. The apparatus according to claim 6 or 7,

the acquisition module is further configured to: the analysis equipment acquires initial position information of the vehicle;

9. The apparatus of claim 6 or 7, further comprising:

10. The apparatus of claim 6, wherein the plurality of diagnostic protocols comprises at least a first diagnostic protocol, a second diagnostic protocol, and a third diagnostic protocol;

the determining module is further specifically configured to: