阅读说明：本技术 一种bds、gps相结合的多源信息融合多模态车辆定位装置及定位方法 (A kind of multi-modal vehicle locating device of the Multi-source Information Fusion that BDS, GPS are combined and localization method ) 是由 殷国栋 王法安 庄伟超 梁晋豪 董昊轩 汪 刘赢 卢彦博 于 2019-07-23 设计创作，主要内容包括：本发明涉及一种BDS、GPS相结合的多源信息融合多模态车辆定位装置及定位方法,包括空间卫星装置,实现卫星信息的收集；地面融合装置,其接收空间卫星装置发送的卫星信息,同时对接收到的卫星信息进行数据处理；车辆行驶装置,包括接收单元和感知装置,感知装置获取车辆附近环境信息,接收单元接收地面融合装置处理后的数据信息、感知装置获取的车辆附近环境信息以及空间卫星装置收集到的卫星信息,其中,地面融合装置处理后的数据信息与收集到的卫星信息之间形成双误差；交通道路数据库,其为车辆发送实时交通路况信息；本发明用于为车辆驾驶人提供准确定位,同时可以实现车辆在森林高楼、隧道、地下停车场丢失卫星信号情况下的高精准定位,为智能网联车提供技术支持。(The present invention relates to a kind of multi-modal vehicle locating device of Multi-source Information Fusion that BDS, GPS are combined and localization methods, including Aerospace Satellite device, realize the collection of satellite information；Ground fusing device, the satellite information that reception space satellite equipments is sent, while data processing is carried out to the satellite information received；Vehicle driving device, including receiving unit and sensing device, sensing device obtains vehicle environmental information nearby, the vehicle satellite information that nearby environmental information and Aerospace Satellite device are collected into that receiving unit receives ground fusing device treated data information, sensing device obtains, wherein, treated between data information and the satellite information being collected into that form double fault poor for ground fusing device；Traffic route database sends real-time traffic information for vehicle；The present invention is used to provide accurate positionin for vehicle drive people, while high precise positioning of the vehicle in forest high building, tunnel, underground parking loss satellite-signal may be implemented, and joins vehicle for intelligent network and provides technical support.)

1. a kind of multi-modal vehicle locating device of the Multi-source Information Fusion that BDS, GPS are combined, it is characterised in that:

Including Aerospace Satellite device comprising BDS satellite group and GPS satellite group, the two are implemented in combination with the collection of satellite information；

Including the satellite information that ground fusing device, reception space satellite equipments are sent, while to the satellite information received Carry out data processing；

Including vehicle driving device, including receiving unit and sensing device, sensing device obtains vehicle environmental information nearby, receives The vehicle that unit receives ground fusing device treated data information, sensing device obtains nearby defend by environmental information and space The satellite information that star device is collected into, wherein ground fusing device treated data information and the satellite information that is collected into it Between formed double fault it is poor；

Including traffic route database, real-time traffic information is sent for vehicle.

2. the multi-modal vehicle locating device of the Multi-source Information Fusion that BDS, GPS according to claim 1 are combined, feature It is:

In Aerospace Satellite device above-mentioned, BDS satellite group include the first BDS satellite, the 2nd BDS satellite, the 3rd BDS satellite and 4th BDS satellite, GPS satellite group include the first GPS satellite, the second GPS satellite, third GPS satellite and the 4th GPS satellite, Wherein the height between BDS satellite group and ground is greater than the height between GPS satellite group and ground, further includes satellite launch vehicle, The satellite information of Aerospace Satellite group is sent to vehicle driving device, ground fusing device by it；

Ground fusing device above-mentioned include GPS receiver, BDS receiver, base station receiver, base station controller, base station unit, Long-distance radio frequency unit, transmitting unit and difference integrated unit, wherein GPS receiver, BDS receiver receive GPS satellite respectively Base station receiver is sent to after the signal that group, BDS satellite group emit, base station controller is carried out at data by difference integrated unit Reason,

Long-distance radio frequency unit is placed in transmitting unit, is carried out after base station controller treated data are amplified by base station unit It sends；

Vehicle driving device above-mentioned includes receiving unit, GPS receiver and vehicle-mounted BDS receiver, wherein receiving single Member receives the information of difference integrated unit transmission, and GPS receiver and vehicle-mounted BDS receiver are used for reception space satellite equipments The information of transmission；Vehicle driving device further includes the sensing device being installed on vehicle comprising the first radar, the second radar, Third radar, the 4th radar, first laser scanner, second laser scanner and Inertial Measurement Unit, vehicle pass through each Radar and each laser scanner perceive vehicle-periphery information, and environmental information is sent to receiving unit and carries out data Processing.

3. the multi-modal vehicle locating device of the Multi-source Information Fusion that BDS, GPS according to claim 2 are combined, feature It is: further includes traffic route database, including region real-time map, road signs and road real-time data base, reality When obtain traffic information, while providing localization region real time information.

4. the multi-modal vehicle locating device of the Multi-source Information Fusion that BDS, GPS according to claim 2 are combined, feature Be: Inertial Measurement Unit above-mentioned includes accelerometer and gyroscope, realizes that vehicle is sent out in no Aerospace Satellite device signal Precise positioning in short-term in the case of sending.

5. a kind of multi-modal vehicle positioning method of the Multi-source Information Fusion that BDS, GPS are combined, it is characterised in that: including following step It is rapid:

Step 1: GPS satellite group in Aerospace Satellite device, BDS satellite group collect the initial of ground fusing device and vehicle Locator value is issued by satellite launch vehicle；

Step 2: the GPS receiver of ground fusing device, BDS receiver receive the satellite information that satellite launch vehicle issues, transmission To base station receiver, the satellite information received is carried out data processing by difference integrated unit by base station controller, after processing Data fusion Kalman filtering algorithm optimize, the data after optimization by the long-distance radio frequency unit inside transmitting unit into Row is sent；

Step 3: the receiving unit of vehicle driving device receives the data that long-distance radio frequency unit is sent, while vehicle GPS receives The satellite information that machine, vehicle-mounted BDS receiver reception space satellite equipments issue, the double fault difference formed between the two forms multi-modal Differential positioning；

Step 4: the first radar being installed on vehicle, the second radar, third radar and the 4th radar obtain road traffic Real time information, first laser scanner, second laser scanner obtain the safe distance of Adjacent vehicles traveling；

Step 5: Inertial Measurement Unit obtains vehicle by the satellite of short time when urban forests, tunnel and underground parking The missing of signal realizes real-time precise positioning；

Step 6:, in conjunction with the road real-time data base in traffic route database, it is real-time to obtain region by above-mentioned various positioning Map and road signs ultimately form the multi-modal vehicle location of Multi-source Information Fusion.

6. the multi-modal vehicle positioning method of the Multi-source Information Fusion that BDS, GPS according to claim 5 are combined, feature Be: difference integrated unit processing step above-mentioned specifically includes following:

Setting the first BDS satellite, the 2nd BDS satellite, the 3rd BDS satellite, the 4th BDS satellite, GPS satellite group includes the first GPS Satellite, the second GPS satellite, third GPS satellite and the 4th GPS satellite x to coordinate be respectively x¹~x⁸, the first BDS defends Star, the 2nd BDS satellite, the 3rd BDS satellite, the 4th BDS satellite, GPS satellite group include the first GPS satellite, the second GPS satellite, Third GPS satellite and the 4th GPS satellite y to coordinate be respectively y¹~y⁸, the first BDS satellite, the 2nd BDS satellite, third BDS satellite, the 4th BDS satellite, GPS satellite group include the first GPS satellite, the second GPS satellite, third GPS satellite and the 4th GPS satellite z to coordinate be respectively z¹~z⁸, the first BDS satellite, the 2nd BDS satellite, the 3rd BDS satellite, the 4th BDS are defended Star, GPS satellite group include the first GPS satellite, the second GPS satellite, third GPS satellite and the 4th GPS satellite by Aerospace Satellite The access time of device to the time difference between base station receiver information acquisition times isSky is acquired according to formula Between satellite equipments pseudorange,

Wherein c is the light velocity,It is defined as between each satellite Pseudorange, acquire the pseudorange error between each satellite, pass through following formula

Obtaining the first BDS satellite, the 2nd BDS satellite, the 3rd BDS satellite, the 4th BDS satellite, GPS satellite group includes the first GPS Satellite, the second GPS satellite, third GPS satellite and the 4th GPS satellite error mean Δ l, c also refer to the light velocity.

Technical field

The present invention relates to a kind of multi-modal vehicle locating device of Multi-source Information Fusion that BDS, GPS are combined and positioning sides Method belongs to vehicle cognition technology field.

Background technique

The high precise positioning of vehicle, is the safety traffic guarantee of the following pilotless automobile, at the same precise positioning increasingly by To the attention of driver, high precise positioning provides efficient traffic traffic information for driver and provides strong basis.

Existing vehicle GPS can not provide precise positioning information for driving, vehicle driving can not be made in optimal road conditions, BDS Locating System Accuracy can reach 10 meters of horizontal distance, in December in 2018 28 pairs of whole world open for free, but GPS system with BDS system all cannot achieve high precise positioning, and nowadays the positioning system without a BDS in conjunction with GPS is to automatic Pilot and nothing People drives and brings bottleneck problem, and country has put into effect the policy and text of many promotion intelligent driving automobile industry development energetically in recent years Part makes the technology development for the BDS system for accelerating vehicle location and production domesticization provide the foundation.

With the high speed development of intelligent network connection automobile, the high precise positioning of vehicle gives unmanned and intelligent network connection automobile effect Benefit more shows that, due to being influenced by satellite clock and clock deviation, vehicle driving connects in forest high building and tunnel, underground parking It receives not precise positioning to make troubles to driver, while influencing the convenient of intelligent transportation and passing through；Invent one kind be suitble to it is various The localization method of vehicle can solve the blind problem in road for driving man-powered vehicle, while inventing a kind of high precise positioning method and solving Road safety drives problem and urban road congestion problem, therefore develops a kind of BDS+GPS Multi-source Information Fusion multimode now State vehicle positioning method to existing vehicle drive and future it is unmanned significant.

Summary of the invention

The present invention provides a kind of multi-modal vehicle locating device of the Multi-source Information Fusion that BDS, GPS are combined and positioning side Method for providing accurate positionin for vehicle drive people, while may be implemented vehicle and lose in forest high building, tunnel, underground parking The high precise positioning in the case of satellite-signal is lost, joins vehicle for intelligent network and technical support is provided.

The technical solution adopted by the present invention to solve the technical problems is:

A kind of multi-modal vehicle locating device of the Multi-source Information Fusion that BDS, GPS are combined,

Including Aerospace Satellite device comprising BDS satellite group and GPS satellite group, the two are implemented in combination with the receipts of satellite information Collection；

Including the satellite information that ground fusing device, reception space satellite equipments are sent, while to the satellite received Information carries out data processing；

Including vehicle driving device, including receiving unit and sensing device, sensing device obtains vehicle environmental information nearby, The vehicle that receiving unit receives ground fusing device treated data information, sensing device obtains nearby environmental information and sky Between the satellite information that is collected into of satellite equipments, wherein treated that data information is believed with the satellite being collected into for ground fusing device It is poor that double fault is formed between breath；

Including traffic route database, real-time traffic information is sent for vehicle；

As present invention further optimization,

In Aerospace Satellite device above-mentioned, BDS satellite group includes the first BDS satellite, the 2nd BDS satellite, the 3rd BDS satellite And the 4th BDS satellite, GPS satellite group include that the first GPS satellite, the second GPS satellite, third GPS satellite and the 4th GPS are defended Star, it further includes satellite launch that wherein the height between BDS satellite group and ground, which is greater than the height between GPS satellite group and ground, The satellite information of Aerospace Satellite group is sent to vehicle driving device, ground fusing device by device；

Ground fusing device above-mentioned includes GPS receiver, BDS receiver, base station receiver, base station controller, base station Unit, long-distance radio frequency unit, transmitting unit and difference integrated unit, wherein GPS receiver, BDS receiver receive GPS respectively It is sent to base station receiver after the signal that satellite group, BDS satellite group emit, base station controller is counted by difference integrated unit According to processing,

Long-distance radio frequency unit is placed in transmitting unit, after base station controller treated data are amplified by base station unit It is sent；

Vehicle driving device above-mentioned includes receiving unit, GPS receiver and vehicle-mounted BDS receiver, wherein connecing The information that unit receives the transmission of difference integrated unit is received, GPS receiver and vehicle-mounted BDS receiver are used for reception space satellite The information of device transmission；Vehicle driving device further includes the sensing device being installed on vehicle comprising the first radar, the second thunder It reaches, third radar, the 4th radar, first laser scanner, second laser scanner and Inertial Measurement Unit, vehicle pass through each A radar and each laser scanner perceive vehicle-periphery information, and environmental information is sent to receiving unit and is counted According to processing；

As present invention further optimization,

It further include traffic route database, including region real-time map, road signs and road real-time data base, Traffic information is obtained in real time, while localization region real time information being provided；

As present invention further optimization,

Inertial Measurement Unit above-mentioned includes accelerometer and gyroscope, realizes vehicle in no Aerospace Satellite device signal Precise positioning in short-term in the case of transmission；

A kind of multi-modal vehicle positioning method of the Multi-source Information Fusion that BDS, GPS are combined, comprising the following steps:

Step 1: GPS satellite group in Aerospace Satellite device, BDS satellite group collect ground fusing device and vehicle Initial alignment value, is issued by satellite launch vehicle；

Step 2: the GPS receiver of ground fusing device, BDS receiver receive the satellite information that satellite launch vehicle issues, It is sent to base station receiver, the satellite information received is carried out data processing, place by difference integrated unit by base station controller Data fusion Kalman filtering algorithm after reason optimizes, and the data after optimization pass through the remote radio frequency list inside transmitting unit Member is sent；

Step 3: the receiving unit of vehicle driving device receives the data that long-distance radio frequency unit is sent, while vehicle GPS connects The satellite information that receipts machine, vehicle-mounted BDS receiver reception space satellite equipments issue, the double fault difference formed between the two form multimode State Differential positioning；

It is handed over step 4: the first radar being installed on vehicle, the second radar, third radar and the 4th radar obtain road Logical real time information, first laser scanner, second laser scanner obtain the safe distance of Adjacent vehicles traveling；

Step 5: Inertial Measurement Unit obtains vehicle by short time when urban forests, tunnel and underground parking The missing of satellite-signal realizes real-time precise positioning；Step 6: by above-mentioned various positioning, in conjunction in traffic route database Road real-time data base, obtain region real-time map and road signs, it is multi-modal to ultimately form Multi-source Information Fusion Vehicle location；

As present invention further optimization,

Difference integrated unit processing step above-mentioned specifically includes following:

Setting the first BDS satellite, the 2nd BDS satellite, the 3rd BDS satellite, the 4th BDS satellite, GPS satellite group includes first GPS satellite, the second GPS satellite, third GPS satellite and the 4th GPS satellite x to coordinate be respectively x¹~x⁸, the first BDS Satellite, the 2nd BDS satellite, the 3rd BDS satellite, the 4th BDS satellite, GPS satellite group are defended including the first GPS satellite, the 2nd GPS Star, third GPS satellite and the 4th GPS satellite y to coordinate be respectively y¹~y⁸, the first BDS satellite, the 2nd BDS satellite, 3rd BDS satellite, the 4th BDS satellite, GPS satellite group include the first GPS satellite, the second GPS satellite, third GPS satellite and 4th GPS satellite z to coordinate be respectively z¹~z⁸, the first BDS satellite, the 2nd BDS satellite, the 3rd BDS satellite, the 4th BDS Satellite, GPS satellite group include that the first GPS satellite, the second GPS satellite, third GPS satellite and the 4th GPS satellite are defended by space The access time of star device to the time difference between base station receiver information acquisition times isIt is acquired according to formula The pseudorange error of Aerospace Satellite device,

Wherein c is the light velocity,It is defined as each satellite Between pseudorange, acquire the pseudorange error between each satellite, pass through following formula

Obtaining the first BDS satellite, the 2nd BDS satellite, the 3rd BDS satellite, the 4th BDS satellite, GPS satellite group includes first GPS satellite, the second GPS satellite, third GPS satellite and the 4th GPS satellite error mean Δ l, c also refer to the light velocity.

By above technical scheme, compared with the existing technology, the invention has the following advantages:

1, the present invention uses the multi-modal vehicle positioning method of Multi-source Information Fusion, meets the positioning of single satellite group substantially Spend error；

2, the high accuracy positioning that map match is carried out after the first precise positioning of the present invention, can complete onboard sensor, multimode The fusion of state double satellite groups, ground fusing device, road-map positions in real time.

Detailed description of the invention

Present invention will be further explained below with reference to the attached drawings and examples.

Fig. 1 is the overall structure diagram of the preferred embodiment of the present invention；

Fig. 2 is the structure composition figure of the ground fusing device of the preferred embodiment of the present invention；

Fig. 3 is the structure composition figure of the vehicle driving device of the preferred embodiment of the present invention；

Fig. 4 is the structure composition figure of the traffic route database of the preferred embodiment of the present invention；

Fig. 5 is the information transmission figure of the vehicle driving device of the preferred embodiment of the present invention.

In figure: 1 is the first BDS satellite, and 2 be the 2nd BDS satellite, and 3 be the 3rd BDS satellite, and 4 be the 4th BDS satellite, and 5 are First GPS satellite, 6 be the second GPS satellite, and 7 be third GPS satellite, and 8 be the 4th GPS satellite, and 9 be vehicle.

Specific embodiment

In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.

As Figure 1-Figure 5, the application needs following display portion in implementation process: 1 is the first BDS satellite, and 2 be the Two BDS satellites, 3 be the 3rd BDS satellite, and 4 be the 4th BDS satellite, and 5 be the first GPS satellite, and 6 be the second GPS satellite, and 7 be third GPS satellite, 8 be the 4th GPS satellite, and 9 be vehicle.

Shown in Fig. 1, the multi-modal vehicle locating device of Multi-source Information Fusion that a kind of BDS, GPS of the invention are combined,

Including Aerospace Satellite device comprising BDS satellite group and GPS satellite group, the two are implemented in combination with the receipts of satellite information Collection；

Including the satellite information that ground fusing device, reception space satellite equipments are sent, while to the satellite received Information carries out data processing；

Including vehicle driving device, including receiving unit and sensing device, sensing device obtains vehicle environmental information nearby, The vehicle that receiving unit receives ground fusing device treated data information, sensing device obtains nearby environmental information and sky Between the satellite information that is collected into of satellite equipments, wherein treated that data information is believed with the satellite being collected into for ground fusing device It is poor that double fault is formed between breath；

Including traffic route database, real-time traffic information is sent for vehicle.