阅读说明：本技术 定位方法及系统、导航方法及系统和一种车辆管理终端 (positioning method and system, navigation method and system and vehicle management terminal ) 是由 王震坡 张志强 张开纲 韩冰 于 2019-07-19 设计创作，主要内容包括：本发明公开一种定位方法及系统、一种导航方法及系统和一种车辆管理终端。本发明提供的一种定位方法及系统、一种导航方法及系统和一种车辆管理终端,在卫星定位信号较弱的情况下,采用本发明提供的定位方法能够精确计算出定位目标在当前时刻的实时位置,通过通讯模块将其发送至移动终端,通过移动终端将高精度定位信息共享给地图,从而能够在地下停车场、隧道等卫星定位信号弱的区域进行实时定位和导航。(The invention discloses a positioning method and system, a navigation method and system and a vehicle management terminal. According to the positioning method and system, the navigation method and system and the vehicle management terminal provided by the invention, under the condition that satellite positioning signals are weak, the real-time position of a positioning target at the current moment can be accurately calculated by adopting the positioning method provided by the invention, the positioning target is sent to the mobile terminal through the communication module, and high-precision positioning information is shared to a map through the mobile terminal, so that real-time positioning and navigation can be carried out in areas with weak satellite positioning signals, such as underground parking lots, tunnels and the like.)

1. a positioning method, characterized in that the positioning method comprises:

Acquiring a position coordinate of a positioning target at a last sampling moment, and an attitude angle and a triaxial acceleration of the positioning target at a current sampling moment, wherein the attitude angle comprises a roll angle, a course angle and a pitch angle;

determining an Euler attitude transformation matrix according to the attitude angle;

Determining the three-axis acceleration of a navigation coordinate system according to the Euler attitude transformation matrix and the three-axis acceleration;

Integrating the three-axis acceleration of the navigation coordinate system to obtain three-axis speed;

And determining the position coordinate of the positioning target at the current sampling moment according to the position coordinate of the positioning target at the last sampling moment, the three-axis speed and the sampling period.

2. The positioning method according to claim 1, wherein before determining the euler attitude transformation matrix according to the attitude angle, the method further comprises:

And determining a coordinate transformation matrix between the navigation coordinate system and the carrier coordinate system according to the attitude angle and the conversion relation between the attitude quaternion and the Euler angle.

3. the positioning method according to claim 1, wherein the euler attitude transformation matrix is:

where C denotes an euler attitude transformation matrix, γ denotes a roll angle, ψ denotes a heading angle, and θ denotes a pitch angle.

4. A positioning system, characterized in that the positioning system comprises:

the data acquisition module is used for acquiring the position coordinate of a positioning target at the last sampling moment, the attitude angle and the triaxial acceleration of the positioning target at the current sampling moment, wherein the attitude angle comprises a roll angle, a course angle and a pitch angle;

the Euler attitude conversion matrix determining module is used for determining an Euler attitude conversion matrix according to the attitude angle;

the navigation coordinate system acceleration determining module is used for determining the three-axis acceleration of the navigation coordinate system according to the Euler attitude conversion matrix and the three-axis acceleration;

the integral module is used for integrating the three-axis acceleration of the navigation coordinate system to obtain three-axis speed;

and the position coordinate determination module is used for determining the position coordinate of the positioning target at the current sampling moment according to the position coordinate of the positioning target at the last sampling moment, the three-axis speed and the sampling period.

5. a navigation method of a mobile terminal is characterized in that a target vehicle carries the mobile terminal, a map is arranged in the mobile terminal, and an on-vehicle terminal of the target vehicle comprises a gyroscope sensor, and the navigation method comprises the following steps:

Acquiring the position coordinate of the target vehicle at the last sampling moment, and the attitude angle and the triaxial acceleration of the target vehicle at the current sampling moment, which are output by the gyroscope sensor, wherein the attitude angle comprises a roll angle, a course angle and a pitch angle;

Determining the position coordinates of the target vehicle at the current sampling moment by adopting the positioning method of any one of claims 1-3;

And navigating the target vehicle according to the position coordinate of the target vehicle at the current sampling moment and a map built in the mobile terminal.

6. the navigation method according to claim 5, wherein the vehicle-mounted terminal further comprises a satellite positioning module, and the determining of the position coordinates of the target vehicle at the current sampling time by using the positioning method according to any one of claims 1 to 3 further comprises:

Acquiring the real-time signal intensity of a satellite positioning module received by the mobile terminal;

judging whether the real-time signal intensity is smaller than a preset signal intensity;

if so, determining the position coordinates of the target vehicle at the current sampling moment by using the positioning method of any one of claims 1-3.

7. A navigation system of a mobile terminal is characterized in that a target vehicle carries the mobile terminal, a map is arranged in the mobile terminal, an on-vehicle terminal of the target vehicle comprises a gyroscope sensor, and the navigation system comprises:

the vehicle information acquisition module is used for acquiring the position coordinate of the target vehicle at the last sampling moment, and the attitude angle and the triaxial acceleration of the target vehicle at the current sampling moment, which are output by the gyroscope sensor, wherein the attitude angle comprises a roll angle, a course angle and a pitch angle;

a position coordinate determination module for determining the position coordinates of the target vehicle at the current sampling time by using the positioning method according to any one of claims 1 to 3;

And the navigation module is used for navigating the target vehicle according to the position coordinate of the target vehicle at the current sampling moment and a map built in the mobile terminal.

8. A vehicle management terminal characterized by comprising: a satellite positioning module, a gyroscope sensor, a vehicle data acquisition module, a Bluetooth communication module, a terminal processor and a mobile terminal, wherein,

the gyroscope sensor is arranged on a target vehicle and used for acquiring the attitude angle and the three-axis acceleration of the target vehicle;

the vehicle data acquisition module is arranged on the target vehicle and used for acquiring the running speed of the target vehicle;

The satellite positioning module is arranged on the target vehicle, is respectively connected with the gyroscope sensor and the vehicle data acquisition module, and is used for acquiring the position coordinates of the target vehicle and determining the position coordinates of the target vehicle at the current sampling moment by adopting the positioning method of any one of claims 1 to 3;

The terminal processor is respectively connected with the satellite positioning module and the Bluetooth communication module, a map is arranged in the mobile terminal, the mobile terminal is connected with the satellite positioning module through the Bluetooth communication module, and the terminal processor is used for controlling the Bluetooth communication module to send the position coordinates of the target vehicle output by the satellite positioning module to the mobile terminal.

9. The vehicle management terminal of claim 8, wherein the satellite positioning module comprises at least one of a GPS module and/or a beidou module.

Technical Field

the invention relates to the field of vehicle management, in particular to a positioning method and system, a navigation method and system and a vehicle management terminal.

background

In the field of automobile time-sharing leasing, the following problems are generally existed: after the vehicle is used, the vehicle cannot return to a designated position for charging due to the fact that the vehicle positioning signal precision is limited and the vehicle is easily shielded by a building. Mobile navigation is widely used due to its portability and map update real-time. However, most mobile phones realize positioning based on GPS, beidou and the like, and have the problem that real-time positioning cannot be realized due to shielding of buildings, such as the situation that signals are weak or even navigation is 'out of order' when passing through viaducts, tunnels and underground parking lots, and particularly the situation of misleading can be caused in tunnels with branches.

Disclosure of Invention

the invention aims to provide a positioning method and a positioning system, a navigation method and a navigation system and a vehicle management terminal, which can perform real-time positioning and navigation in an area with weak satellite positioning signals.

In order to achieve the purpose, the invention provides the following scheme:

a positioning method, the positioning method comprising:

Acquiring a position coordinate of a positioning target at a last sampling moment, and an attitude angle and a triaxial acceleration of the positioning target at a current sampling moment, wherein the attitude angle comprises a roll angle, a course angle and a pitch angle;

determining an Euler attitude transformation matrix according to the attitude angle;

Determining the three-axis acceleration of a navigation coordinate system according to the Euler attitude transformation matrix and the three-axis acceleration;

integrating the three-axis acceleration of the navigation coordinate system to obtain three-axis speed;

and determining the position coordinate of the positioning target at the current sampling moment according to the position coordinate of the positioning target at the last sampling moment, the three-axis speed and the sampling period.

Optionally, before determining the euler attitude transformation matrix according to the attitude angle, the method further includes:

and determining a coordinate transformation matrix between the navigation coordinate system and the carrier coordinate system according to the attitude angle and the conversion relation between the attitude quaternion and the Euler angle.

Optionally, the euler posture conversion matrix is:

Where C denotes an euler attitude transformation matrix, γ denotes a roll angle, ψ denotes a heading angle, and θ denotes a pitch angle.

a positioning system, the positioning system comprising:

the data acquisition module is used for acquiring the position coordinate of a positioning target at the last sampling moment, the attitude angle and the triaxial acceleration of the positioning target at the current sampling moment, wherein the attitude angle comprises a roll angle, a course angle and a pitch angle;

the Euler attitude conversion matrix determining module is used for determining an Euler attitude conversion matrix according to the attitude angle;

The navigation coordinate system acceleration determining module is used for determining the three-axis acceleration of the navigation coordinate system according to the Euler attitude conversion matrix and the three-axis acceleration;

the integral module is used for integrating the three-axis acceleration of the navigation coordinate system to obtain three-axis speed;

and the position coordinate determination module is used for determining the position coordinate of the positioning target at the current sampling moment according to the position coordinate of the positioning target at the last sampling moment, the three-axis speed and the sampling period.

A navigation method of a mobile terminal is provided, a target vehicle carries the mobile terminal, a map is arranged in the mobile terminal, an on-vehicle terminal of the target vehicle comprises a gyroscope sensor, and the navigation method comprises the following steps:

Acquiring the position coordinate of the target vehicle at the last sampling moment, and the attitude angle and the triaxial acceleration of the target vehicle at the current sampling moment, which are output by the gyroscope sensor, wherein the attitude angle comprises a roll angle, a course angle and a pitch angle;

determining the position coordinates of the target vehicle at the current sampling moment by adopting the positioning method;

and navigating the target vehicle according to the position coordinate of the target vehicle at the current sampling moment and a map built in the mobile terminal.

optionally, the vehicle-mounted terminal further includes a satellite positioning module, and before determining the position coordinate of the target vehicle at the current sampling time by using the positioning method, the method further includes:

Acquiring the real-time signal intensity of a satellite positioning module received by the mobile terminal;

Judging whether the real-time signal intensity is smaller than a preset signal intensity;

and if so, determining the position coordinates of the target vehicle at the current sampling moment by adopting the positioning method.

A navigation system of a mobile terminal, a target vehicle carries the mobile terminal, a map is arranged in the mobile terminal, an on-vehicle terminal of the target vehicle comprises a gyroscope sensor, and the navigation system comprises:

The vehicle information acquisition module is used for acquiring the position coordinate of the target vehicle at the last sampling moment, and the attitude angle and the triaxial acceleration of the target vehicle at the current sampling moment, which are output by the gyroscope sensor, wherein the attitude angle comprises a roll angle, a course angle and a pitch angle;

The position coordinate determination module is used for determining the position coordinate of the target vehicle at the current sampling moment by adopting the positioning method;

and the navigation module is used for navigating the target vehicle according to the position coordinate of the target vehicle at the current sampling moment and a map built in the mobile terminal.

A vehicle management terminal, comprising: a satellite positioning module, a gyroscope sensor, a vehicle data acquisition module, a Bluetooth communication module, a terminal processor and a mobile terminal, wherein,

the gyroscope sensor is arranged on a target vehicle and used for acquiring the attitude angle and the three-axis acceleration of the target vehicle;

the vehicle data acquisition module is arranged on the target vehicle and used for acquiring the running speed of the target vehicle;

The satellite positioning module is arranged on the target vehicle, is respectively connected with the gyroscope sensor and the vehicle data acquisition module, and is used for acquiring the position coordinates of the target vehicle and determining the position coordinates of the target vehicle at the current sampling moment by adopting the positioning method;

The terminal processor is respectively connected with the satellite positioning module and the Bluetooth communication module, a map is arranged in the mobile terminal, the mobile terminal is connected with the satellite positioning module through the Bluetooth communication module, and the terminal processor is used for controlling the Bluetooth communication module to send the position coordinates of the target vehicle output by the satellite positioning module to the mobile terminal.

optionally, the satellite positioning module includes at least one of a GPS module and/or a beidou module.

According to the specific embodiment provided by the invention, the invention discloses the following technical effects:

According to the positioning method and system, the navigation method and system and the vehicle management terminal provided by the invention, under the condition that a satellite positioning signal is weak, the position coordinate of a positioning target at the current sampling moment can be determined according to the attitude angle and the three-axis acceleration output by the gyroscope sensor, and then accurate navigation can be carried out by combining a high-precision map built in the mobile terminal.

Drawings

in order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.

fig. 1 is a flowchart of a positioning method according to embodiment 1 of the present invention;

Fig. 2 is a block diagram of a positioning system according to embodiment 2 of the present invention;

fig. 3 is a flowchart of a navigation method of a mobile terminal according to embodiment 3 of the present invention;

fig. 4 is a block diagram of a navigation system of a mobile terminal according to embodiment 4 of the present invention;

Fig. 5 is a block diagram of a vehicle management terminal according to embodiment 5 of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, 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 invention.

The invention aims to provide a positioning method and a positioning system, a navigation method and a navigation system and a vehicle management terminal, which can perform real-time positioning and navigation in an area with weak satellite positioning signals.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

fig. 1 is a flowchart of a positioning method according to embodiment 1 of the present invention. As shown in fig. 1, the positioning method includes:

Step 101: the method comprises the steps of obtaining position coordinates of a positioning target at the last sampling moment, and attitude angles and triaxial acceleration of the positioning target at the current sampling moment, wherein the attitude angles comprise a roll angle, a course angle and a pitch angle.

step 102: and determining an Euler attitude transformation matrix according to the attitude angle. The Euler attitude transformation matrix is as follows:

where C denotes an euler attitude transformation matrix, γ denotes a roll angle, ψ denotes a heading angle, and θ denotes a pitch angle.

Step 103: and determining the three-axis acceleration of the navigation coordinate system according to the Euler attitude transformation matrix and the three-axis acceleration.

step 104: and integrating the three-axis acceleration of the navigation coordinate system to obtain the three-axis speed.

step 105: and determining the position coordinate of the positioning target at the current sampling moment according to the position coordinate of the positioning target at the last sampling moment, the three-axis speed and the sampling period. The sampling period is the time difference between adjacent sampling instants.

as a preferred mode, the step 102 is executed: before determining the Euler attitude transformation matrix according to the attitude angle, the method further comprises the following steps:

and determining a coordinate transformation matrix between the navigation coordinate system and the carrier coordinate system according to the attitude angle and the conversion relation between the attitude quaternion and the Euler angle.

Fig. 2 is a block diagram of a positioning system according to embodiment 2 of the present invention. As shown in fig. 2, the positioning system includes:

the data acquisition module 201 is configured to acquire a position coordinate of a positioning target at a last sampling time, an attitude angle of the positioning target at a current sampling time, and a triaxial acceleration, where the attitude angle includes a roll angle, a course angle, and a pitch angle.

and the euler attitude transformation matrix determining module 202 is configured to determine an euler attitude transformation matrix according to the attitude angle.

and the navigation coordinate system acceleration determining module 203 is configured to determine a three-axis acceleration of the navigation coordinate system according to the euler attitude transformation matrix and the three-axis acceleration.

And the integration module 204 is configured to integrate the three-axis acceleration of the navigation coordinate system to obtain three-axis speed.

and a position coordinate determining module 205, configured to determine, according to the position coordinate of the positioning target at the last sampling time, the three-axis speed, and the sampling period, the position coordinate of the positioning target at the current sampling time.

Fig. 3 is a flowchart of a navigation method of a mobile terminal according to embodiment 3 of the present invention. As shown in fig. 3, the target vehicle carries a mobile terminal, the mobile terminal may be disposed on the target vehicle, or may be carried by a vehicle driver or a passenger, the mobile terminal has a map built therein, the vehicle-mounted terminal of the target vehicle includes a gyroscope sensor, and the navigation method includes:

Step 301: and acquiring the position coordinate of the target vehicle at the last sampling moment, and the attitude angle and the triaxial acceleration of the target vehicle at the current sampling moment, which are output by the gyroscope sensor, wherein the attitude angle comprises a roll angle, a course angle and a pitch angle.

step 302: and determining the position coordinates of the target vehicle at the current sampling moment by adopting the positioning method in the embodiment 1.

step 303: and navigating the target vehicle according to the position coordinate of the target vehicle at the current sampling moment and a map built in the mobile terminal.

as a preferable mode, the vehicle-mounted terminal further includes a satellite positioning module, and executes the step 302: before determining the position coordinates of the target vehicle at the current sampling time by using the positioning method of embodiment 1, the method further includes:

Acquiring the real-time signal intensity of a satellite positioning module received by the mobile terminal;

judging whether the real-time signal intensity is smaller than a preset signal intensity;

If so, determining the position coordinates of the target vehicle at the current sampling moment by adopting the positioning method in the embodiment 1;

Otherwise, determining the current sampling moment of the target vehicle by adopting a satellite positioning module.

fig. 4 is a block diagram of a navigation system of a mobile terminal according to embodiment 4 of the present invention. As shown in fig. 4, the target vehicle carries a mobile terminal, the mobile terminal may be disposed on the target vehicle, or may be carried by a driver or a passenger of the vehicle, the mobile terminal has a map built therein, the vehicle-mounted terminal of the target vehicle includes a gyro sensor, and the navigation system includes:

the vehicle information obtaining module 401 is configured to obtain a position coordinate of the target vehicle at a last sampling time, and an attitude angle and a triaxial acceleration of the target vehicle at a current sampling time, which are output by the gyroscope sensor, where the attitude angle includes a roll angle, a course angle, and a pitch angle.

A position coordinate determination module 402, configured to determine the position coordinates of the target vehicle at the current sampling time by using the positioning method described in embodiment 1.

And a navigation module 403, configured to navigate the target vehicle according to the position coordinate of the target vehicle at the current sampling time and a map built in the mobile terminal.

Fig. 5 is a block diagram of a vehicle management terminal according to embodiment 5 of the present invention. As shown in fig. 5, the vehicle management terminal includes: the system comprises a satellite positioning module 41, a gyroscope sensor 42, a vehicle data acquisition module 2, a Bluetooth communication module 5, a terminal processor 6 and a mobile terminal.

in this embodiment, the inertial navigation module 4 includes an atmospheric pressure sensor 43 in addition to the satellite positioning module 41 and the gyro sensor 42. Wherein the satellite positioning module 41 comprises at least one of a GPS module and/or a beidou module. The terminal processor 6 is STM32F105VCT 6. The mobile terminal is a mobile phone. The vehicle management terminal further includes: the device comprises a data protocol conversion chip 7, a keyless starting control module 1 and a 4G networking module 3. The data protocol conversion chip 7 is an STM8S 103F. The 4G networking module 3 is a remote EC20 FAG. The gyro sensor 42 is provided on a target vehicle, and is configured to acquire an attitude angle and a three-axis acceleration of the target vehicle.

the vehicle data acquisition module 2 is arranged on the target vehicle and used for acquiring the running speed of the target vehicle so as to determine the running direction of the vehicle.

The satellite positioning module 41 is disposed on the target vehicle, the satellite positioning module 41 is connected to the gyroscope sensor 42 and the vehicle data acquisition module 2, and the satellite positioning module 41 is configured to acquire a position coordinate of the target vehicle and determine the position coordinate of the target vehicle at the current sampling time by using the positioning method according to embodiment 1.

The terminal processor 6 is respectively connected with the satellite positioning module 41 and the bluetooth communication module 5, a map is arranged in the mobile terminal, the mobile terminal is connected with the satellite positioning module 41 through the bluetooth communication module 5, and the terminal processor 6 is used for controlling the bluetooth communication module 5 to send the position coordinates of the target vehicle output by the satellite positioning module 41 to the mobile terminal.

keyless start control module 1 is connected with terminal processor 6 through GPIO, vehicle data acquisition module 2 passes through CANH, CANL and two IO mouths are connected with terminal processor 6, 4G networking module 3 is connected with terminal processor 6 through a serial ports, inertial navigation module 4's serial ports TXD is connected with terminal processor 6's RXD, bluetooth communication module 5 is connected with terminal processor 6 through a serial ports, terminal processor 6's serial ports TXD and data protocol conversion chip 7 all the way are connected, data protocol conversion chip 7's serial ports TXD and inertial navigation module 4's serial ports RXD all the way are connected. Inside inertial navigation module 4, gyroscope sensor 42 communicates with GPS orientation module or big dipper orientation module through the IIC interface, and atmospheric pressure sensor communicates with GPS orientation module or big dipper orientation module through the IIC.

The vehicle data acquisition part acquires data by using a bus in the vehicle. Therefore, the current state of the vehicle can be analyzed according to the protocol, the communication protocol and the like of the vehicle type, and lease logic judgment and control can be carried out in the vehicle-mounted terminal.

the high-precision positioning part is realized by the inertial navigation module 4. The vehicle-mounted terminal obtains the whole vehicle message, extracts the gear, the vehicle speed and the gyroscope data information of the current vehicle according to the vehicle communication protocol, forwards the information to the data protocol conversion chip 7 through the serial port, and then the data protocol conversion chip 7 sends the information to the inertial navigation module 4. The satellite positioning module 41 in the inertial navigation module 4 combines the information of vehicle speed, gear, vehicle attitude data, acceleration, atmospheric pressure and the like, calculates the track of the vehicle without satellite positioning signals through the algorithm provided by the invention, and converts the track into longitude and latitude. The longitude and latitude are transmitted to the background through the serial port, so that accurate map position information can be obtained.

The vehicle-mounted terminal and the mobile phone communication part are connected with the terminal processor 6 through a serial port. The terminal processor 6 can be connected with a mobile phone through a serial port and can also control modes such as broadcasting and dormancy. The data protocol conversion chip 7 sends the high-precision longitude and latitude information of the terminal and the vehicle state information which are converted by the user-defined protocol to the target mobile phone through the serial port. The mobile phone can also send the control information to the vehicle-mounted terminal through the APP, and the vehicle-mounted terminal executes the operation.

The specific process of managing the time-sharing rental vehicles by adopting the vehicle management terminal provided by the invention is as follows:

1. When the vehicle does not enter a tunnel, an underground parking lot and other places with poor signals, the mobile phone can perform high-precision positioning through the built-in GPS/Beidou module to obtain the longitude and latitude (longitude) of the vehicle, and accurate navigation of the mobile phone APP can be realized by combining time information and a map; meanwhile, the vehicle-mounted terminal can calculate the real-time motion track of the vehicle by means of the self inertial navigation module.

2. when a vehicle enters a tunnel, an underground parking lot and other places with poor signals, the strength of a GPS/Beidou positioning signal is acquired, and when a mobile phone detects that the GPS/Beidou positioning signal is smaller than a threshold value, a GPS-gyroscope high-precision positioning module in a management terminal is enabled to start receiving high-precision positioning information sent by a vehicle-mounted terminal;

3. when the vehicle completely enters a tunnel, an underground parking lot and other areas without satellite positioning signals, the vehicle-mounted terminal assists the mobile phone to position and navigate. The vehicle-mounted terminal utilizes the position information at the previous moment, the vehicle data acquisition module acquires real-time vehicle speed, the gyroscope sensor acquires parameters such as yaw, roll and pitch angle speed of the vehicle, all signals are transmitted to the satellite positioning module for calculation, and the real-time position information can be calculated. The method specifically comprises the following steps:

(1) A coordinate transformation section:

The first step is as follows: acquiring a vehicle roll angle, a course angle and a pitch angle from a gyroscope sensor;

The second step is that: transmitting the signals in the first step to a satellite positioning module through an IIC transmission mode, calculating a coordinate transformation matrix R through a conversion relation between an attitude quaternion and an Euler angle, transmitting data of a vehicle data acquisition module such as gear information for judging the forward or reverse direction of a vehicle to an inertial navigation module through a terminal processor and a data protocol conversion chip, and obtaining the coordinate transformation matrix by adopting formulas (1) - (4);

The third step: performing coordinate transformation by using a coordinate transformation matrix R according to formula (5);

sinθ＝2(q₂q₃+q₁q₀) (1)

[r₁]^T＝R[r]^T (5)

wherein r is a vector under a carrier coordinate system, r₁Is the corresponding vector of R in the navigation coordinate system, R is the coordinate transformation matrix, q₀、q₁、q₂、q₃And gamma, psi and theta are respectively the roll angle, the course angle and the pitch angle of the vehicle.

(2) Position calculating section

The first step is as follows: the gyroscope sensor can acquire the three-axis acceleration of the vehicle, and the acceleration a under the carrier coordinate can be converted by the Euler attitude conversion matrix C₁acceleration a converted into a navigation coordinate system₂. To a₂the integration is carried out to obtain the three-axis speedObtaining the position coordinate of the last sampling time t from the inertial navigation module

the second step is that: and (3) transmitting the signal in the first step to a satellite navigation module through IIC, and calculating the position of the time (t + delta t) according to the formulas (6) to (8):

[a₂]＝C[a₁] (6)

Wherein the content of the first and second substances,Is the three-axis velocity integrated by the acceleration, delta t is the sampling time,in order to be the initial position of the device,is the position at time (t + Δ t).

The third step: after a new position is calculated, the terminal processor shares the position in the vehicle-mounted terminal to the mobile phone by controlling the Bluetooth communication module, the mobile phone receives the positioning information, analyzes the positioning information according to a protocol standard, and realizes navigation of places such as tunnels and underground parking lots by combining a high-precision APP built in the mobile phone.

The vehicle management terminal provided by the invention comprises a conventional GPS and Beidou positioning mode in the aspect of positioning and acquisition, and also comprises the gear, speed and attitude acquisition of the vehicle, so that when a satellite positioning signal exists, the vehicle management terminal can calibrate the converted track of the speed, the acceleration, the direction angle and the altitude through an algorithm built in a module. When no positioning satellite signal exists or the positioning signal is weak, the accurate track can be accurately described through data acquisition and a positioning algorithm. The track is converted into a standard GPS NMEA-0183 protocol format through an algorithm and then sent to the mobile phone, and the mobile phone map can also realize accurate navigation by utilizing high-precision positioning information in a place without positioning satellite signals. The vehicle-mounted terminal sends positioning information to the mobile phone in real time, and when the mobile phone is good in self-positioning and communication signals and meets the positioning requirements of the mobile phone, the mobile phone adopts self-satellite positioning information to perform positioning. Under the navigation condition that a positioning signal is weak, when the mobile phone cannot obtain high-precision positioning data, the vehicle-mounted terminal calculates the high-precision positioning information of the mobile phone through vehicle dynamics and a corresponding multi-source heterogeneous data algorithm by collecting vehicle speed, real-time vehicle body posture data and acceleration and the like collected by a gyroscope, sends the high-precision positioning information to the mobile phone through a Bluetooth communication module, and shares the high-precision positioning information to a map through the mobile phone, so that the navigation function under the conditions of underground parking lots, tunnels and the like is realized. When the vehicle runs to an area with good signals, the vehicle-mounted terminal does not send high-precision positioning information to the mobile phone any more.

the embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

the principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.