CN1595191A - Self-contained assistant navigation and position method of a GPS receiving device - Google Patents
Self-contained assistant navigation and position method of a GPS receiving device Download PDFInfo
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- CN1595191A CN1595191A CN 200410010363 CN200410010363A CN1595191A CN 1595191 A CN1595191 A CN 1595191A CN 200410010363 CN200410010363 CN 200410010363 CN 200410010363 A CN200410010363 A CN 200410010363A CN 1595191 A CN1595191 A CN 1595191A
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Abstract
This invention relates to self-discipline assisted navigation location method of the GPS receiving apparatus which can realize the location continuity of the GPS satellite signal blind area and enlarge the GPS utility range and the GPS performance to cost ratio. The method is the following: to base on the data before signal interval and to calculate the operation speed and operation direction and to output the two-dimension location information; the GPS antenna receives the signals which are amplified, filtered, expand demodulated, CPU demode calculation; the CPU after demode judges the signal satellite amount and judges whether the signal intensity meets the location requirements. If the GPS cannot locate, then it will be automatically switched into the self-discipline navigation status and get the mobile direction through the angle sensor integral operation and get the distance through the calculation of the impulse signals of the speed sensor.
Description
Technical field
The invention belongs to the land navigation technical field, relate in particular to and a kind ofly be implemented in city block, overpass down and the location continuity of gps satellite signal blind area such as culvert tunnel, improve the self-discipline assisting navigation localization method of the GPS receiving trap of GPS range of application and GPS equipment performance price ratio.
Background technology
The widely used GPS navigation device of present China, gps satellite signal places one's entire reliance upon, accelerate day by day in stereo urban traffic development, Development of High-rise Buildings is swift and violent etc. to have formed a lot of gps signals blind area under numerous factor affecting, the GPS receiver can't be located at all in this case.Therefore, press for a kind of can be in the method for blind area auxiliary positioning, to guarantee the continuity of navigation.At present, the method that can realize auxiliary positioning mainly contains: radio distance-measuring auxiliary positioning, geomagnetic sensor auxiliary positioning and electronic sensor auxiliary positioning.The wireless distance finding auxiliary positioning requires in known GPS blind area large tracts of land wireless transmitting device to be installed, and its cost is difficult to control, also is unfavorable for implementing in addition in cities such as mountain areas.Another complementary localization method carries out for relying on big terrestrial magnetic field, geomagnetic sensor promptly is installed in body, near the more intense or mining area, especially the assisting navigation location can't be carried out in ferromagnetic mining area such as iron, nickel to this method at all because of geomagnetic sensor is malfunctioning in electromagnetic interference (EMI) such as vehicles.Adopt the method for electronic sensor auxiliary positioning simple, cost is low, instant effect, precision height, good in anti-interference performance in the short time, not losing is a kind of effective assisted location method.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art and provide a kind of on the basis of former gps data, by measuring and calculating to travelling speed, traffic direction data, the real-time locating information of output bidimensional, the GPS navigation system realizes non-blind area, anti-ly blocks, the self-discipline assisting navigation localization method of the GPS receiving trap of free of discontinuities location navigation thereby allow.
The object of the present invention is achieved like this: self-discipline assisting navigation localization method of the present invention is as follows:
The first step: after the gps antenna received signal, selectively the signal of 1575.42+1MHz is amplified by prime amplifier CIL, after the signal process bandwidth filter BPF filtering, by pseudo-random code exhibition detuner (KCA-36) exhibition frequently back demodulation frequently, and by microprocessor CPU (KCD-63) computing of decoding, and the data after will handling are used Transistor-Transistor Logic level output
Second step: the pseudo-random code exhibition is connected with standard frequency device KCY-71 on the detuner (KCA-36) frequently, after decoding, CPU judges can receive the signal number of satellite, whether signal intensities etc. satisfy the location needs, when using first, require at first to carry out initialization behind the erecting equipment, so that obtain and preserve the pulse distance constant, initial method is: GPS location relief carrier travelling speed remains on more than 20 kilometers, straight-line travelling a period of time (30 to 50 seconds) at the uniform velocity, the pulse distance constant that will calculate automatically like this, and be saved among the RAM, the data among the RAM are kept by reserce cell
The 3rd step: after initial work finishes as run into GPS and can not locate and to automatically switch to the self-discipline navigational state, by the angular-rate sensor that is connected with the outside, obtain the traffic direction of current vehicle the last time on Ding Wei the basis by integral operation, again the pulse signal of vehicle speed sensor is carried out the unit interval and count to get forward travel distance, converse the deviate of longitude and latitude then, thereby obtain current actual longitude and latitude
The 4th step: after initial work finishes, as long as under positioning states, speed is more than 20 kilometers, and remain a constant speed when travelling, just automatic correction pulse distance constant, the error of the different tire radius that bring of tire balance wearing and tearing at any time so just with inner gas pressure, the correction environmental impact causes the error of pulsewidth, and this is the self-discipline place carried of this device just also.
Satellite-signal receiving element circuit comprises the GPS receiving antenna, prime amplifier CIL and bandwidth filter BPF, after gps antenna is received signal, by prime amplifier CIL the signal of 1575.42 ± 1MHz is amplified, after bandwidth filter BPF filtering, be connected with frequency mixer by bandwidth filter BPF signal is sent into satellite-signal processing unit circuit, satellite-signal processing unit circuit comprises pseudo-random code exhibition detuner (KCA-36) and the microprocessor CPU (KCD-63) that is connected with pseudo-random code exhibition frequency detuner (KCA-36) frequently, CPU (KCD-63) finishes the navigation message demodulation, finish the A/D translation function, finish the accumulation calculating after A/D changes, import the program storage program, import RAM district running parameter, be responsible for providing the frequency marking 1Hz service of pulse after the decoding, be responsible for output scale-of-two navigation data.
The angular-rate sensor of vehicle adopts piezoelectric ceramics angular-rate sensor (EWT-82), this sensor has three connection terminals, power supply ground respectively uses a terminal, another terminal is a lead-out terminal, directly link microprocessor CPU (KCD-63) input end on the GPS receiver, its signal excursion is in 1～1.5V, center voltage is 1.25V, p.s. sensing range less than 60 degree, every degree change in voltage unit is 25mV, the voltage that turns clockwise raises, be rotated counterclockwise voltage and reduce, angular deflection takes place after, by the microprocessor CPU (KCD-63) of GPS receiver this voltage is carried out digital-to-analog conversion, and carry out integral operation, try to achieve deflection angle.
Generally speaking, after gps satellite signal is blocked, common GPS receiver is with at a standstill, the present invention is then on the data basis before gps signal interrupts, by measuring and calculating to travelling speed, traffic direction data, calculate in real time and the locating information of output bidimensional, thereby realized under city block, overpass and the location continuity of gps satellite signal blind area such as culvert tunnel, greatly improved the ratio of performance to price of GPS range of application and GPS equipment.Characteristics of the present invention are to finish to be fit to the realization of self-discipline assisting navigation on the basis of existing GPS receiver, utilize the integrated A/D converter of GPS inside, be connected with the external angular velocity sensor, obtain the traffic direction of vehicle by integral operation, again the pulse signal of vehicle speed sensor is carried out the unit interval and count to get forward travel distance, converse the deviate of longitude and latitude then, thereby obtain current actual longitude and latitude.Therefore the present invention have that the location is simple, cost is low, instant effect, precision height, good in anti-interference performance, can realize non-blind area, anti-ly block, the advantage of free of discontinuities location navigation, not losing is a kind of effective assisted location method.
Description of drawings
Fig. 1 is a fundamental diagram of the present invention.
Embodiment
As shown in Figure 1, self-discipline assisting navigation localization method of the present invention is specific as follows:
The first step: after the gps antenna received signal, selectively the signal of 1575.42 ± 1MHz is amplified by prime amplifier CIL, after the signal process bandwidth filter BPF filtering, by pseudo-random code exhibition detuner (KCA-36) exhibition frequently back demodulation frequently, and by microprocessor CPU (KCD-63) computing of decoding, and the data after will handling are used Transistor-Transistor Logic level output
Second step: the pseudo-random code exhibition is connected with standard frequency device KCY-71 on the detuner (KCA-36) frequently, after decoding, CPU judges can receive the signal number of satellite, whether signal intensities etc. satisfy the location needs, when using first, require at first to carry out initialization behind the erecting equipment, so that obtain and preserve the pulse distance constant, initial method is: GPS location relief carrier travelling speed remains on more than 20 kilometers, straight-line travelling a period of time (30 to 50 seconds) at the uniform velocity, the pulse distance constant that will calculate automatically like this, and be saved among the RAM, the data among the RAM are kept by reserce cell
The 3rd step: after initial work finishes as run into GPS and can not locate and to automatically switch to the self-discipline navigational state, by the angular-rate sensor that is connected with the outside, obtain the traffic direction of current vehicle the last time on Ding Wei the basis by integral operation, again the pulse signal of vehicle speed sensor is carried out the unit interval and count to get forward travel distance, converse the deviate of longitude and latitude then, thereby obtain current actual longitude and latitude
The 4th step: after initial work finishes, as long as under positioning states, speed is more than 20 kilometers, and remain a constant speed when travelling, just automatic correction pulse distance constant, the error of the different tire radius that bring of tire balance wearing and tearing at any time so just with inner gas pressure, the correction environmental impact causes the error of pulsewidth, and this is the self-discipline place carried of this device just also.
Satellite-signal receiving element circuit comprises the GPS receiving antenna, prime amplifier CIL and bandwidth filter BPF, after gps antenna is received signal, by prime amplifier CIL the signal of 1575.42+1MHz is amplified, after bandwidth filter BPF filtering, be connected with frequency mixer by bandwidth filter BPF signal is sent into satellite-signal processing unit circuit, satellite-signal processing unit circuit comprises pseudo-random code exhibition detuner (KCA-36) and the microprocessor CPU (KCD-63) that is connected with pseudo-random code exhibition frequency detuner (KCA-36) frequently, CPU (KCD-63) finishes the navigation message demodulation, finish the A/D translation function, finish the accumulation calculating after A/D changes, import the program storage program, import RAM district running parameter, be responsible for providing the frequency marking 1Hz service of pulse after the decoding, be responsible for output scale-of-two navigation data.
The angular-rate sensor of vehicle adopts piezoelectric ceramics angular-rate sensor (EWT-82), this sensor has three connection terminals, power supply ground respectively uses a terminal, another terminal is a lead-out terminal, directly link microprocessor CPU (KCD-63) input end on the GPS receiver, its signal excursion is in 1～1.5V, center voltage is 1.25V, p.s. sensing range less than 60 degree, every degree change in voltage unit is 25mV, the voltage that turns clockwise raises, be rotated counterclockwise voltage and reduce, angular deflection takes place after, by the microprocessor CPU (KCD-63) of GPS receiver this voltage is carried out digital-to-analog conversion, and carry out integral operation, try to achieve deflection angle.With after microprocessor CPU (KCD-63) is connected, power supply and GPS common-battery can guarantee the precision of angular transition calculating to the output terminal of the angular-rate sensor EWT-82 of vehicle like this through A/D converter conversion back.
Selecting for use according to the kind of speedometer of the velocity pulse sensor of vehicle selected for use, for the mechanical type speedometer, can use the sensor of being made up of photoelectric code disk and mechanical drive three-way device, can directly this electric impulse signal be carried out luffing for electric impulse counter, promptly requiring its level is Transistor-Transistor Logic level.
Pseudo-random code exhibition detuner (KCA-36) frequently is integrated: frequency mixer, VCC voltage controlled clock (VCO), phaselocked loop (PLL).Wherein phaselocked loop (PLL) is connected with standard frequency device (KCY-71).
Consider the level that the vehicle speed pulse after various vehicles are exported or changed does not have same amplitude; counter on the microprocessor CPU with can also be provided with photoisolator between the velocity pulse sensor of vehicle is connected; the influence that electromagnetic impact when having isolated from high-voltage ignition for automobile brings has been played protective effect to system.
The KCY-71 that the standard frequency device has used company of Kyocera to produce, the characteristics of this active oscillating device are: can not cause the drift of the oscillation frequency that produces because of the variation of environment temperature, like this, we have also suppressed zero point drift effectively in despreading.After decoding, judgement can receive signal number of satellite, signal intensity etc. and whether satisfy the location needs, in the time of can not satisfying the location needs, judge and whether preserve the ageing of pulse distance constant and bearing data in the internal memory, satisfy condition and just switch with the self-discipline assisting navigation; Can not satisfy above condition, continue search of satellite.After by the gps satellite location, carry out initial work automatically, preserve the used constant of self-discipline navigation, use after treating to enter the blind area once more.
Claims (5)
1, a kind of self-discipline assisting navigation localization method of GPS receiving trap is characterized in that:
The first step: after the gps antenna received signal, selectively the signal of 1575.42 ± 1MHz is amplified by prime amplifier CIL, after the signal process bandwidth filter BPF filtering, by pseudo-random code exhibition detuner (KCA-36) exhibition frequently back demodulation frequently, and by microprocessor CPU (KCD-63) computing of decoding, and the data after will handling are used Transistor-Transistor Logic level output
Second step: the pseudo-random code exhibition is connected with standard frequency device KCY-71 on the detuner (KCA-36) frequently, after decoding, CPU judges can receive the signal number of satellite, whether signal intensities etc. satisfy the location needs, when using first, require at first to carry out initialization behind the erecting equipment, so that obtain and preserve the pulse distance constant, initial method is: GPS location relief carrier travelling speed remains on more than 20 kilometers, straight-line travelling a period of time (30 to 50 seconds) at the uniform velocity, the pulse distance constant that will calculate automatically like this, and be saved among the RAM, the data among the RAM are kept by reserce cell
The 3rd step: after initial work finishes as run into GPS and can not locate and to automatically switch to the self-discipline navigational state, by the angular-rate sensor that is connected with the outside, obtain the traffic direction of current vehicle the last time on Ding Wei the basis by integral operation, again the pulse signal of vehicle speed sensor is carried out the unit interval and count to get forward travel distance, converse the deviate of longitude and latitude then, thereby obtain current actual longitude and latitude
The 4th step: after initial work finishes, as long as under positioning states, speed is more than 20 kilometers, and remain a constant speed when travelling, just automatic correction pulse distance constant, the error of the different tire radius that bring of tire balance wearing and tearing at any time so just with inner gas pressure, the correction environmental impact causes the error of pulsewidth, and this is the self-discipline place carried of this device just also.
2, the self-discipline assisting navigation localization method of a kind of GPS receiving trap according to claim 1, it is characterized in that: satellite-signal receiving element circuit comprises the GPS receiving antenna, prime amplifier CIL and bandwidth filter BPF, after gps antenna is received signal, by prime amplifier CIL the signal of 1575.42 ± 1MHz is amplified, after bandwidth filter BPF filtering, be connected with frequency mixer by bandwidth filter BPF signal is sent into satellite-signal processing unit circuit, satellite-signal processing unit circuit comprises pseudo-random code exhibition detuner (KCA-36) and the microprocessor CPU (KCD-63) that is connected with pseudo-random code exhibition frequency detuner (KCA-36) frequently, CPU (KCD-63) finishes the navigation message demodulation, finish the A/D translation function, finish the accumulation calculating after A/D changes, import the program storage program, import RAM district running parameter, be responsible for providing the frequency marking 1Hz service of pulse after the decoding, be responsible for output scale-of-two navigation data.
3, the self-discipline assisting navigation localization method of a kind of GPS receiving trap according to claim 1, it is characterized in that: the angular-rate sensor of vehicle adopts piezoelectric ceramics angular-rate sensor (EWT-82), this sensor has three connection terminals, power supply ground respectively uses a terminal, another terminal is a lead-out terminal, directly link microprocessor CPU (KCD-63) input end on the GPS receiver, its signal excursion is in 1～1.5V, center voltage is 1.25V, p.s., sensing range was less than 60 degree, every degree change in voltage unit is 25mV, and the voltage that turns clockwise raises, and is rotated counterclockwise voltage and reduces, after angular deflection takes place, microprocessor CPU (KCD-63) by the GPS receiver carries out digital-to-analog conversion to this voltage, and carries out integral operation, tries to achieve deflection angle.
4, the self-discipline assisting navigation localization method of a kind of GPS receiving trap according to claim 1, it is characterized in that: selecting for use according to the kind of speedometer of the velocity pulse sensor of vehicle selected for use, for the mechanical type speedometer, can use the sensor of forming by photoelectric code disk and mechanical drive three-way device, can directly this electric impulse signal be carried out luffing for electric impulse counter, promptly requiring its level is Transistor-Transistor Logic level.
5, the self-discipline assisting navigation localization method of a kind of GPS receiving trap according to claim 1, it is characterized in that: pseudo-random code exhibition detuner (KCA-36) is integrated frequently frequency mixer, VCC voltage controlled clock (VCO), phaselocked loop (PLL), wherein phaselocked loop (PLL) is connected with standard frequency device (KCY-71), finishes the A/D conversion back and the navigation calculating of restraining oneself by CPU.
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| CNB200410010363XA CN100356188C (en) | 2004-06-22 | 2004-06-22 | Self-contained assistant navigation and position method of a GPS receiving device |
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| CNB200410010363XA CN100356188C (en) | 2004-06-22 | 2004-06-22 | Self-contained assistant navigation and position method of a GPS receiving device |
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| CN101949701A (en) * | 2009-07-09 | 2011-01-19 | 卡西欧计算机株式会社 | Locating device and localization method |
| CN102019928A (en) * | 2009-09-15 | 2011-04-20 | 罗伯特·博世有限公司 | Parking assist which compensates for distance covered in an undetected direction |
| CN103229073A (en) * | 2010-11-10 | 2013-07-31 | 三星电子株式会社 | Method and apparatus for calculating position information of image |
| CN105068098A (en) * | 2015-08-21 | 2015-11-18 | 上海海积信息科技股份有限公司 | Method for determining positional information and speed of moving carrier, and receiver |
| CN106205174A (en) * | 2016-07-22 | 2016-12-07 | 柳州易旺科技有限公司 | A kind of multifunctional vehicle mounted navigation system |
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| US6295023B1 (en) * | 2000-01-21 | 2001-09-25 | Ericsson Inc. | Methods, mobile stations and systems for acquiring global positioning system timing information |
| CN2442883Y (en) * | 2000-09-30 | 2001-08-15 | 北京中科恒业中自技术有限公司 | Locomotive positioner with GPS Positioning system |
| CN1361431A (en) * | 2000-12-23 | 2002-07-31 | 林清芳 | Complete integral navigation positioning method and system |
| CN1417061A (en) * | 2001-10-30 | 2003-05-14 | 宋建平 | Automobile navigation device |
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| CN101949701A (en) * | 2009-07-09 | 2011-01-19 | 卡西欧计算机株式会社 | Locating device and localization method |
| CN102019928A (en) * | 2009-09-15 | 2011-04-20 | 罗伯特·博世有限公司 | Parking assist which compensates for distance covered in an undetected direction |
| CN102019928B (en) * | 2009-09-15 | 2015-08-19 | 罗伯特·博世有限公司 | For compensating the method for Unidentified distance |
| CN103229073A (en) * | 2010-11-10 | 2013-07-31 | 三星电子株式会社 | Method and apparatus for calculating position information of image |
| CN108027443A (en) * | 2015-06-29 | 2018-05-11 | 迪尔公司 | For in real time kinematics pattern and being accurately positioned the satellite navigation receiver switched between pattern and method |
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| CN107415955B (en) * | 2017-03-21 | 2019-07-23 | 广州小鹏汽车科技有限公司 | A kind of method and system accurately calculating vehicle tyre radius |
| CN107767661B (en) * | 2017-11-23 | 2020-04-17 | 李党 | Real-time tracking system for vehicle |
| CN107767661A (en) * | 2017-11-23 | 2018-03-06 | 李党 | Real time vehicle tracking system |
| CN109270490A (en) * | 2018-09-30 | 2019-01-25 | 成都精位科技有限公司 | Positioning signal processing method and processing device |
| CN109541661A (en) * | 2018-11-13 | 2019-03-29 | 中国联合网络通信集团有限公司 | A kind of localization method and device |
| CN113167910A (en) * | 2018-12-12 | 2021-07-23 | 沃尔沃卡车集团 | A method for estimating the pose of a vehicle |
| CN112666587A (en) * | 2019-10-16 | 2021-04-16 | 奥迪股份公司 | Method for locating non-motorized road users and traffic device |
| US11967235B2 (en) | 2019-10-16 | 2024-04-23 | Audi Ag | Method for determining the position of a non-motorized road user and traffic device |
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| TWI729829B (en) * | 2020-05-28 | 2021-06-01 | 台灣智慧駕駛股份有限公司 | Method for making decision of automated driving |
| CN115200553A (en) * | 2021-11-29 | 2022-10-18 | 中国人民解放军军事科学院国防工程研究院 | System for measuring posture and yaw condition of projectile body after barrier collision |
| CN115200553B (en) * | 2021-11-29 | 2023-09-08 | 中国人民解放军军事科学院国防工程研究院 | System for measuring posture and yaw condition of projectile body after impacting obstacle |
| CN117406258A (en) * | 2023-12-15 | 2024-01-16 | 深圳市智慧城市通信有限公司 | Electric bicycle lane level management device based on high-precision Beidou positioning |
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