阅读说明：本技术 用于智能驾驶的惯性导航的误差修正系统及方法 (Error correction system and method for inertial navigation of intelligent driving ) 是由 杨辉 于 2019-09-30 设计创作，主要内容包括：本发明涉及惯性导航技术,具体涉及用于智能驾驶的惯性导航的误差修正系统及方法,系统包括对目的地进行导航的惯性导航子系统和修正子系统,修正子系统包括发信模块、采集模块、定位模块、控制模块、计算模块和修正模块；方法包括通过惯性导航子系统进行导航,并通过修正子系统采集实际道路位置,由修正子系统计算实际道路位置与实际目标位置的实际间距,当实际间距大于距离阈值时,由修正子系统对惯性导航子系统的导航信息进行修正。本发明以商家位置来修正惯性导航子系统的导航信息,惯性导航子系统的导航信息更正更及时,以目标实际移动过程中的实际道路位置进行修正,修正更准确。(The invention relates to the inertial navigation technology, in particular to an error correction system and method for inertial navigation of intelligent driving, wherein the system comprises an inertial navigation subsystem and a correction subsystem for navigating a destination, and the correction subsystem comprises a transmitting module, an acquisition module, a positioning module, a control module, a calculation module and a correction module; the method comprises the steps of navigating through an inertial navigation subsystem, collecting an actual road position through a correction subsystem, calculating an actual distance between the actual road position and an actual target position through the correction subsystem, and correcting navigation information of the inertial navigation subsystem through the correction subsystem when the actual distance is larger than a distance threshold. The navigation information of the inertial navigation subsystem is corrected according to the position of the merchant, the navigation information of the inertial navigation subsystem is corrected more timely, and the actual road position in the actual moving process of the target is corrected more accurately.)

1. The error correction method for the inertial navigation of intelligent driving is characterized by comprising the following steps:

the inertial navigation subsystem is used for navigation, the correction subsystem is used for collecting road marks, the correction subsystem is used for collecting and calculating the actual road positions of the road marks, the correction subsystem is used for calculating the actual distance between the actual target position obtained by the inertial navigation and the actual road position, and when the actual distance is larger than a pre-stored distance threshold value, the correction subsystem is used for replacing the actual target position in the inertial navigation with the actual road position for error correction.

2. The error correction method for intelligent-driven inertial navigation according to claim 1, characterized in that: and taking the positions of merchants along the road as actual road positions, and taking the marked positions of the merchants as the actual road positions by the correction subsystem.

3. The error correction method for intelligent-driven inertial navigation according to claim 2, characterized in that: and displaying the advertisement information of the merchant for a certain time after the position of the merchant is collected.

4. The error correction method for intelligent-driven inertial navigation according to claim 3, characterized in that: the merchant advertisement information is commodity information of a merchant promoted commodity.

5. The error correction method for intelligent-driven inertial navigation according to claim 2, characterized in that: and calculating the pre-stored distance by acquiring the updated merchant position through the correction subsystem.

6. The error correction method for intelligent-driven inertial navigation according to claim 5, characterized in that: the merchant open circuit information is obtained through the correction subsystem, and the inertial navigation subsystem marks according to the merchant open circuit information.

7. An error correction system for inertial navigation for intelligent driving, comprising an inertial navigation subsystem for navigating a destination, the inertial navigation subsystem comprising a positioning module for inertial navigation positioning of an actual target position of a vehicle, characterized in that: the correction system comprises a collection module, a control module, a calculation module and a correction module, wherein the collection module is used for collecting road marks and sending the road marks to the control module, the control module obtains the road marks and takes the positions of the road marks as actual road positions, the control module sends the actual road positions and actual target positions to the calculation module, the calculation module calculates the actual distance between the actual road positions and the actual target positions, the control module compares the actual distance with a prestored distance threshold value, and when the actual distance is larger than the distance threshold value, the control module controls the correction module to replace the actual target positions with the actual road positions for error correction.

8. The error correction system for intelligently driven inertial navigation of claim 7, characterized in that: the correction subsystem further comprises a transmitting module, the transmitting module is used for transmitting the actual road position, the transmitting module is located at a merchant position along the road, and the transmitting module transmits the merchant position as the actual road position.

9. The error correction system for intelligently driven inertial navigation of claim 8, characterized in that: the correction subsystem further comprises an advertisement module located at a merchant, and the advertisement module is used for sending the commodity information promoted by the merchant to the control module as merchant advertisement information.

10. the error correction system for intelligently driven inertial navigation of claim 7, characterized in that: the correction subsystem further comprises an updating module, the updating module is used for sending the updated merchant position to the control module, and the control module obtains the updated merchant position and sends the updated merchant position to the calculation module to calculate the pre-storage distance.

Technical Field

The invention relates to an inertial navigation technology, in particular to an error correction system and method for inertial navigation of intelligent driving.

Background

Inertial navigation is a technique for obtaining instantaneous velocity and instantaneous position data of a target by measuring acceleration of the target and performing integral operation. The inertial navigation depends on an inertial navigation system in the vehicle for navigation, does not depend on external information, and does not radiate energy to the outside. Existing inertial navigation systems include inertial measurement devices (gyroscopes and accelerometers), computers, displays, and the like.

However, inertial navigation generates positioning data due to integration, which easily increases the accumulated error after the use time is prolonged, and when the accumulated error increases and a user cannot timely distinguish small deviation of navigation, the actual target position of navigation is far away from the target position, especially in high buildings, tunnels and other positions, the GPS signal of navigation is weak, and the positioning device is loosened due to jitter in the vehicle driving process, so that the measurement of the accelerometer is inaccurate.

Disclosure of Invention

The invention aims to provide an error correction method for inertial navigation of intelligent driving, so as to solve the problem of overlarge navigation error caused by accumulated inertial navigation error.

The error correction method for the inertial navigation of intelligent driving in the scheme comprises the following steps:

The inertial navigation subsystem is used for navigation, the correction subsystem is used for collecting road marks, the correction subsystem is used for collecting and calculating the actual road positions of the road marks, the correction subsystem is used for calculating the actual distance between the actual target position obtained by the inertial navigation and the actual road position, and when the actual distance is larger than a pre-stored distance threshold value, the correction subsystem is used for replacing the actual target position in the inertial navigation with the actual road position for error correction.

The beneficial effect of this scheme is: the actual target position obtained by inertial navigation is combined with the actual road position, when the actual distance between the actual target position and the actual road position is greater than a distance threshold value, the inertial navigation is indicated to have an error, at the moment, the position of the target in the navigation process is replaced by the actual road position, the navigation information of the inertial navigation subsystem is corrected more timely, and the actual road position in the actual moving process of the target is corrected more accurately.

Further, the positions of merchants along the road are used as actual road positions, and the positions of the merchants marked by the correction subsystem are used as actual road positions.

The beneficial effects are that: the target position is measured by taking the position of the merchant along the road as a reference, the stability of the position of the merchant is high, the accuracy of navigation information is improved, the transmitting distance of the position of the merchant is short, the interference is small, and the information loss rate in the transmitting process of transmitting the position of the merchant is reduced.

Further, after the positions of the merchants are collected, the advertising information of the merchants is displayed for a fixed time.

The beneficial effects are that: the advertising information of the merchants is displayed in the navigation process, and can be seen in time, so that the selection is convenient, and the target positioning target is more prominent.

Further, the merchant advertisement information is commodity information of a merchant promoted commodity.

The beneficial effects are that: the commodity information of the promoted commodity is displayed, the advertisement information of merchants is simplified, and the commodity target is more prominent.

Further, the pre-stored distance is calculated by acquiring the updated merchant position through the correction subsystem.

The beneficial effects are that: when the merchant changes, the merchant position can be updated through the updating module, so that the accuracy of the merchant position is improved

Further, merchant circuit-breaking information is obtained through the correction subsystem, and the inertial navigation subsystem marks according to the merchant circuit-breaking information.

The beneficial effects are that: marking the road traffic condition through the open circuit information of the merchant and the accuracy of the navigation information.

On the basis of the error correction method for the inertial navigation of intelligent driving, the error correction system for the inertial navigation of intelligent driving is further provided, and comprises an inertial navigation subsystem for navigating a destination, wherein the inertial navigation subsystem comprises a positioning module for performing inertial navigation positioning on an actual target position of a vehicle, and a correction subsystem, wherein the correction subsystem comprises a collection module, a control module, a calculation module and a correction module, the collection module is used for collecting road marks and sending the road marks to the control module, the control module is used for obtaining the road marks and taking the positions of the road marks as the actual road positions, the control module is used for sending the actual road positions and the actual target positions to the calculation module, the calculation module is used for calculating the actual distance between the actual road positions and the actual target positions, and the control module compares the actual distance with a pre-stored distance threshold, and when the actual distance is greater than the distance threshold, the control module controls the correction module to replace the actual target position with the actual road position for error correction.

The beneficial effect of this scheme is: in the moving process of the target, the acquisition module acquires a road mark, the road mark is acquired by the control module and is used as an actual road position to be compared with an actual target position obtained by inertial navigation, the calculation module calculates an actual distance, the position of the target in the navigation process is measured by taking the actual road position as a reference, when the actual distance is larger than a distance threshold value, the inertial navigation is marked to have an error, the navigation information of the inertial navigation subsystem is corrected at the moment, the navigation information of the inertial navigation subsystem is corrected more timely, and the actual road position in the actual moving process of the target is corrected, so that the correction is more accurate.

Further, the transmitting module is located at a merchant position along the road, and the transmitting module transmits the merchant position as the actual road position.

The beneficial effects are that: the actual road position is sent by the merchants along the road to be used as the reference position, so that the road information is more accurate.

Further, the correction subsystem further comprises an advertisement module located at a merchant, and the advertisement module is used for sending the commodity information promoted by the merchant to the control module as merchant advertisement information.

The beneficial effects are that: the advertising module sends the advertising information of the merchants along the road to the control module, so that the navigation information can be displayed, and the merchants on corresponding positions can be selected conveniently.

Further, the correction subsystem further comprises an updating module, the updating module is used for sending the updated merchant position to the control module, and the control module acquires the updated merchant position and sends the updated merchant position to the calculation module to calculate the pre-storage distance.

The beneficial effects are that: when the road edge line merchant changes, the merchant position can be updated through the updating module, and the accuracy of the merchant position is improved.

Drawings

Fig. 1 is a schematic block diagram of an error correction system for inertial navigation of intelligent driving according to a first embodiment of the present invention.

Detailed Description

The following is a more detailed description of the present invention by way of specific embodiments.