阅读说明：本技术 一种车辆定位方法、装置、电子设备及存储介质 (Vehicle positioning method and device, electronic equipment and storage medium ) 是由 刘阳 王硕 高洪伟 李璇 于 2021-09-22 设计创作，主要内容包括：本发明实施例公开了一种车辆定位方法、装置、电子设备及存储介质。该方法包括：确定目标车辆的当前所处场景是否为无卫星信号场景；如果为无卫星信号场景,则基于第五代移动通信定位方式和惯性导航定位方式对目标车辆的当前行驶位置进行位置解算；基于目标车辆的当前行驶位置的解算结果,生成目标车辆的当前位置信息。本发明实施例的技术方案,可以结合惯性导航定位方式和第五代移动通信定位方式对目标车辆的当前行驶位置进行位置解算,避免了仅采用惯性导航定位方式时,在长距离运行时定位累积误差大的问题,提高了解算精度,提高当前位置信息的准确性和有效性。(The embodiment of the invention discloses a vehicle positioning method and device, electronic equipment and a storage medium. The method comprises the following steps: determining whether the current scene of the target vehicle is a satellite-signal-free scene; if the scene is a scene without satellite signals, performing position calculation on the current running position of the target vehicle based on a fifth generation mobile communication positioning mode and an inertial navigation positioning mode; based on the result of the calculation of the current traveling position of the target vehicle, current position information of the target vehicle is generated. According to the technical scheme of the embodiment of the invention, the current running position of the target vehicle can be calculated by combining an inertial navigation positioning mode and a fifth-generation mobile communication positioning mode, so that the problem of large positioning accumulated error in long-distance running when only the inertial navigation positioning mode is adopted is solved, the calculation precision is improved, and the accuracy and the effectiveness of the current position information are improved.)

1. A vehicle positioning method, characterized by comprising:

determining whether the current scene of the target vehicle is a satellite-signal-free scene;

if the scene is a scene without satellite signals, performing position calculation on the current running position of the target vehicle based on a fifth generation mobile communication positioning mode and an inertial navigation positioning mode;

generating current position information of the target vehicle based on a result of the calculation of the current travel position of the target vehicle.

2. The method according to claim 1, wherein the performing position solution on the current driving position of the target vehicle based on the fifth generation mobile communication positioning mode and the inertial navigation positioning mode comprises:

starting the inertial navigation positioning mode to carry out position calculation on the current running position of the target vehicle;

calculating a total positioning error value generated in the running process of the target vehicle, and determining whether the total positioning error value of the target vehicle meets a preset error requirement;

and if the preset error requirement is met, starting the fifth generation mobile communication positioning mode to carry out position calculation on the current running position of the target vehicle.

3. The method of claim 2, wherein calculating a total error value for positioning generated during travel of the target vehicle comprises:

determining an initial error value generated by the target vehicle before entering the satellite-signal-free scene based on satellite states of global navigation satellites;

determining an accumulated error value generated by the running of the target vehicle in the satellite-signal-free scene based on a preset corresponding relation between the running mileage of the vehicle in the inertial navigation positioning mode and the error value;

determining the total error value of the positioning generated during the running process of the target vehicle based on the accumulated error value and the initial error value.

4. The method of claim 2, wherein the determining whether the total error value for positioning of the target vehicle meets a preset error requirement comprises:

determining whether the current driving scene of the target vehicle is an outdoor scene, and if the current driving scene of the target vehicle is the outdoor scene, determining whether the total positioning error value of the target vehicle is greater than a preset outdoor error value;

if not, determining whether the total error value of the positioning of the target vehicle is greater than a preset indoor error value.

5. The method according to claim 1, wherein the performing position solution on the current driving position of the target vehicle based on the fifth generation mobile communication positioning mode and the inertial navigation positioning mode comprises:

determining a current mileage of the target vehicle in the satellite-signal-free scene;

respectively determining the positioning mode weights corresponding to the fifth-generation mobile communication positioning mode and the inertial navigation positioning mode based on the corresponding relationship between the current driving mileage and the preset driving mileage and the positioning mode weights;

determining a first driving position obtained when the target vehicle is positioned according to the fifth generation mobile communication positioning mode and a second driving position obtained when the target vehicle is positioned according to the inertial navigation positioning mode;

and performing weighted summation calculation on the first driving position and the second driving position based on the positioning mode weights corresponding to the fifth generation mobile communication positioning mode and the inertial navigation positioning mode.

6. The method of claim 1, further comprising:

resolving the position relation between the fifth generation mobile communication antenna and the global navigation satellite system antenna;

the generating current position information of the target vehicle based on the calculation result of the current travel position of the target vehicle includes:

converting the calculation result of the target vehicle to a satellite system coordinate system corresponding to a global navigation satellite system based on the position relation;

and generating the current position information of the target vehicle based on a calculation result in the satellite system coordinate system.

7. The method of claim 1, wherein the determining whether the current scene of the target vehicle is a satellite-signal-free scene comprises:

receiving a satellite signal sent by a global navigation satellite system antenna, and determining whether the signal intensity of the satellite signal is smaller than a preset threshold value;

and if the current scene of the target vehicle is smaller than the preset threshold, determining that the current scene of the target vehicle is the satellite-free signal scene.

8. A vehicle positioning device, comprising:

the scene determining module is used for determining whether the current scene of the target vehicle is a satellite-signal-free scene; if the scene is a scene without satellite signals, entering a position resolving module;

the position calculating module is used for calculating the position of the current running position of the target vehicle based on a fifth-generation mobile communication positioning mode and an inertial navigation positioning mode;

a generation position information module for generating current position information of the target vehicle based on a result of the calculation of the current travel position of the target vehicle.

9. An electronic device, comprising:

one or more processors;

a memory for storing one or more programs;

when executed by the one or more processors, cause the one or more processors to implement the vehicle positioning method of any of claims 1-7.

10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a vehicle localization method according to any one of claims 1-7.

Technical Field

The embodiment of the invention relates to the technical field of automobile positioning, in particular to a vehicle positioning method and device, electronic equipment and a storage medium.

Background

With the continuous development of positioning and navigation technologies, the requirements of vehicles on positioning accuracy are also continuously increased. Meanwhile, due to the rapid development of urban construction, scenes such as ultra-long distance tunnels, expressways, underground parking lots and the like are increased day by day, and great challenge is brought to the accuracy of vehicle positioning.

Currently, a GNSS (Global Navigation Satellite System) is adopted to locate a vehicle in an area where Satellite signals are strong; in a specific scene with weak satellite signals, such as a tunnel, an underground parking lot and the like, an inertial navigation system is generally used for positioning a vehicle; namely, the GNSS positioning result of the vehicle before entering the specific scene is utilized, and the inertial navigation system is utilized to calculate the position in the specific scene.

Although the prior art can provide continuous position output for the vehicle, the inertial navigation system has low positioning precision, generates larger positioning accumulated errors for scenes such as an ultra-long tunnel or a large underground parking lot, and the like, reduces the accuracy of vehicle positioning, and even exceeds the error range allowed by vehicle navigation.

Disclosure of Invention

The embodiment of the invention provides a vehicle positioning method and device, electronic equipment and a storage medium, solves the problem of large positioning accumulated error in long-distance operation when only an inertial navigation positioning mode is adopted, improves the calculation precision, and is beneficial to improving the accuracy and effectiveness of the current position information.

In a first aspect, an embodiment of the present invention provides a vehicle positioning method, which may include:

determining whether the current scene of the target vehicle is a satellite-signal-free scene;

if the scene is a scene without satellite signals, performing position calculation on the current running position of the target vehicle based on a fifth generation mobile communication positioning mode and an inertial navigation positioning mode;

generating current position information of the target vehicle based on a result of the calculation of the current travel position of the target vehicle.

In a second aspect, an embodiment of the present invention further provides a vehicle positioning apparatus, which may include:

the scene determining module is used for determining whether the current scene of the target vehicle is a satellite-signal-free scene; if the scene is a scene without satellite signals, entering a position resolving module;

the position calculating module is used for calculating the position of the current running position of the target vehicle based on a fifth-generation mobile communication positioning mode and an inertial navigation positioning mode;

a generation position information module for generating current position information of the target vehicle based on a result of the calculation of the current travel position of the target vehicle.

In a third aspect, an embodiment of the present invention further provides an electronic device, which may include:

one or more processors;

a memory for storing one or more programs;

when executed by the one or more processors, cause the one or more processors to implement a vehicle localization method as provided by any of the embodiments of the present invention.

In a fourth aspect, the embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the vehicle positioning method provided in any embodiment of the present invention.

According to the vehicle positioning method provided by the embodiment of the invention, when the current scene of the target vehicle is determined to be a satellite-signal-free scene, the current running position of the target vehicle can be calculated based on a fifth-generation mobile communication positioning mode and an inertial navigation positioning mode, so that the problem of large positioning accumulated error when the inertial navigation positioning mode runs in a long distance is solved, and the current position information of the target vehicle is generated based on the calculation result of the current running position of the target vehicle. Therefore, the position of the current running position of the target vehicle is calculated by combining the inertial navigation positioning mode and the fifth generation mobile communication positioning mode, the problem that the accumulated positioning error is large when the target vehicle runs for a long distance only by adopting the inertial navigation positioning mode is solved, the calculation precision is improved, and the accuracy and the effectiveness of the current position information are improved.

In addition, the vehicle positioning device, the electronic equipment and the storage medium provided by the invention correspond to the method, and have the same beneficial effects.

Drawings

In order to illustrate the embodiments of the present invention more clearly, the drawings that are needed 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 that other drawings can be obtained by those skilled in the art without inventive effort.

FIG. 1 is a flow chart of a vehicle positioning method according to an embodiment of the present invention;

FIG. 2 is a flow chart of another vehicle locating method provided by an embodiment of the present invention;

FIG. 3 is a flow chart of another vehicle locating method provided by an embodiment of the present invention;

FIG. 4 is a block diagram of a vehicle positioning device according to an embodiment of the present invention;

fig. 5 is a structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

The core of the invention is to provide a vehicle positioning method, a vehicle positioning device, electronic equipment and a storage medium, which solve the problem of large positioning accumulated error in long-distance operation when only an inertial navigation positioning mode is adopted, improve the calculation precision and are beneficial to improving the accuracy and the effectiveness of the current position information.

In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Example one

Fig. 1 is a flowchart of a vehicle positioning method according to an embodiment of the present invention. The method can be executed by the vehicle positioning device provided by the embodiment of the invention, the device can be realized by software and/or hardware, and the device can be integrated on various user terminals or servers.

As shown in fig. 1, the method of the embodiment of the present invention specifically includes the following steps:

s101, determining whether the current scene of the target vehicle is a satellite-signal-free scene; if the scene is a satellite-free scene, the process proceeds to S102.

In specific implementation, in order to ensure the accuracy of a vehicle positioning result, when a satellite signal scene exists, a GNSS mode is adopted to position a target vehicle. Therefore, before determining the positioning mode of the target vehicle, it is necessary to determine whether the target vehicle is in a satellite-signal-free scene. Specifically, the scene without the satellite signal includes scenes under an overhead bridge, a tunnel, a parking building and the like.

Optionally, determining whether the current scene of the target vehicle is a satellite-signal-free scene includes: receiving satellite signals sent by a global navigation satellite system antenna, and determining whether the signal intensity of the satellite signals is smaller than a preset threshold value; and if the current scene of the target vehicle is smaller than the preset threshold, determining that the current scene of the target vehicle is a satellite-signal-free scene.

Specifically, when the signal intensity of the detected satellite signal is smaller than a preset threshold, it may be determined that the target vehicle is currently in a satellite signal-free scene. The preset threshold is a numerical value greater than 0, and a person skilled in the art can determine the numerical value of the preset threshold according to an actual application situation, which is not limited in the embodiment of the present invention. It should be noted that, when the satellite signal cannot be detected, it may be determined that the signal intensity of the satellite signal is 0, and the signal intensity is smaller than a preset threshold, which indicates that the current scene of the target vehicle is a satellite-signal-free scene, and the target vehicle cannot be located in a GNSS manner.

And S102, performing position calculation on the current running position of the target vehicle based on a fifth generation mobile communication positioning mode and an inertial navigation positioning mode.

Specifically, when the current scene of the target vehicle is a satellite-signal-free scene, a fifth-generation mobile communication positioning mode and an inertial navigation positioning mode can be combined to perform position calculation on the current driving position of the target vehicle.

For example, to compensate for a positioning error caused by an inertial navigation positioning mode when the vehicle runs for a long distance, the position of the target vehicle may be calculated by the inertial navigation positioning mode within a preset running distance when the target vehicle is in a scene without satellite signals, and the position of the target vehicle may be calculated by the fifth-generation mobile communication positioning mode when the running distance exceeds the preset running distance. Or simultaneously adopting a fifth generation mobile communication positioning mode and an inertial navigation positioning mode to carry out position calculation on the current running position of the target vehicle, carrying out data fusion processing based on the fifth generation mobile communication calculation result and the inertial navigation calculation result, and determining the current running position of the target vehicle to carry out position calculation.

And S103, generating current position information of the target vehicle based on the calculation result of the current running position of the target vehicle.

In specific implementation, the calculation result is obtained by performing position calculation on the current running position of the target vehicle based on a fifth-generation mobile communication positioning mode and an inertial navigation positioning mode, so that the current calculation result is a calculation result in a fifth-generation mobile communication coordinate system, and in order to ensure that the coordinate systems of the target vehicle are unified under a satellite signal-free scene and a satellite signal scene, the calculation result of the target vehicle can be converted into a satellite system coordinate system corresponding to a global navigation satellite system.

Optionally, the conversion from the fifth-generation mobile communication coordinate system to the global navigation satellite system coordinate system may be completed based on the position relationship between the fifth-generation mobile communication antenna and the global navigation satellite system antenna. The method of the embodiment of the invention also comprises the following steps: and solving the position relation between the fifth generation mobile communication antenna and the global navigation satellite system antenna.

Optionally, generating the current position information of the target vehicle based on the calculation result of the current driving position of the target vehicle includes: converting the resolving result of the target vehicle to a satellite system coordinate system corresponding to the global navigation satellite system based on the position relation; and generating the current position information of the target vehicle based on the resolving result in the satellite system coordinate system.

According to the vehicle positioning method provided by the embodiment of the invention, when the current scene of the target vehicle is determined to be a satellite-signal-free scene, the current running position of the target vehicle can be calculated based on a fifth-generation mobile communication positioning mode and an inertial navigation positioning mode, so that the problem of large positioning accumulated error when the inertial navigation positioning mode runs in a long distance is solved, and the current position information of the target vehicle is generated based on the calculation result of the current running position of the target vehicle. Therefore, the position of the current running position of the target vehicle is calculated by combining the inertial navigation positioning mode and the fifth generation mobile communication positioning mode, the problem that the accumulated positioning error is large when the target vehicle runs for a long distance only by adopting the inertial navigation positioning mode is solved, the calculation precision is improved, and the accuracy and the effectiveness of the current position information are improved.

Example two

Fig. 2 is a flowchart of another vehicle positioning method according to an embodiment of the present invention, which is optimized based on the above technical solutions. Optionally, the performing position calculation on the current driving position of the target vehicle based on the fifth-generation mobile communication positioning mode and the inertial navigation positioning mode includes: starting an inertial navigation positioning mode to carry out position calculation on the current running position of the target vehicle; calculating a total positioning error value generated in the running process of the target vehicle, and determining whether the total positioning error value of the target vehicle meets a preset error requirement or not; and if the preset error requirement is met, starting a fifth generation mobile communication positioning mode to carry out position calculation on the current running position of the target vehicle. The same or corresponding terms as those in the above embodiments are not explained in detail herein.

As shown in fig. 2, the method of the embodiment of the present invention specifically includes the following steps:

s201, determining whether the current scene of the target vehicle is a satellite-signal-free scene; if the scene is a satellite-free scene, the process proceeds to S202.

S202, starting an inertial navigation positioning mode to carry out position calculation on the current running position of the target vehicle; calculating a total positioning error value generated in the running process of the target vehicle, and determining whether the total positioning error value of the target vehicle meets a preset error requirement or not; if the preset error requirement is met, the process goes to S203.

Specifically, the inertial navigation positioning mode can be started to perform position calculation on the target vehicle, and whether a fifth generation mobile communication positioning mode needs to be started to perform position calculation on the current running position of the target vehicle is determined based on a total positioning error value calculated in the running process of the target vehicle.

Specifically, when the total positioning error value does not meet the preset error requirement, it indicates that the error generated by currently performing position calculation in the inertial navigation positioning mode is within an allowable error range, and at this time, the positioning effect in the inertial navigation positioning mode is better than that in the fifth generation mobile communication positioning mode, so that the position calculation can be performed in the inertial navigation positioning mode.

Optionally, calculating a total error value of positioning generated during the driving process of the target vehicle includes: determining an initial error value generated by the target vehicle before entering a satellite-signal-free scene based on the satellite states of the global navigation satellites; determining an accumulated error value generated by the running of the target vehicle in a scene without satellite signals based on the corresponding relation between the running mileage of the vehicle and the error value when a preset inertial navigation positioning mode is adopted; a total error value for positioning generated during travel of the target vehicle is determined based on the accumulated error value and the initial error value.

Specifically, the initial error value is an error generated when positioning is performed by using a global navigation satellite system before entering a scene without satellite signals. An initial error value generated by positioning the target vehicle may be determined based on satellite states such as a current satellite dilution of precision of global navigation satellites.

Specifically, since the initial error direction and the accumulated error direction of the positioning result may not be the same with respect to the real position, the arithmetic square root may be used as the total positioning error value. Exemplary, Total error valueWherein, Delta_InitialIs an initial error value, Δ_AccumulationIs the accumulated error value.

Further, a corresponding relationship between the traveled distance of the vehicle and the error value when the inertial navigation positioning mode is adopted can be determined based on a performance test of the inertial navigation system, and an accumulated error value is determined based on the corresponding relationship and the traveled distance of the target vehicle when the target vehicle is positioned based on the inertial navigation positioning mode. Illustratively, the accumulated inertial navigation error is 1.5% to 2% of the mileage. And determining the driving mileage after the inertial navigation is started by acquiring the speed information of the vehicle, and further determining the accumulated error value of the inertial navigation system.

Optionally, determining whether the total error value of the positioning of the target vehicle meets a preset error requirement includes: determining whether the current running scene of the target vehicle is an outdoor scene, and if the current running scene of the target vehicle is the outdoor scene, determining whether the total positioning error value of the target vehicle is greater than a preset outdoor error value; and if the target vehicle is not in the outdoor scene, determining whether the total error value of the positioning of the target vehicle is greater than a preset indoor error value.

Specifically, it may be determined whether the scene in which the target vehicle is currently located is an outdoor scene based on communication between the fifth-generation mobile communication terminal and the fifth-generation mobile communication base station. For example, the outdoor scene to be positioned by the fifth generation mobile communication includes an urban open road, an urban canyon, an overhead bridge and a tunnel, and the indoor scene may include a parking building. For outdoor scenes, the preset outdoor error value may be set to 10 meters, and for indoor scenes, the preset indoor error value may be set to 3 meters. When the target vehicle is determined to be switched from the indoor scene to the outdoor scene, if the calculated total positioning error value belongs to the preset intervals (3,10), the inertial navigation positioning mode can be continuously adopted.

And S203, starting a fifth generation mobile communication positioning mode to carry out position calculation on the current running position of the target vehicle.

Further, when the total positioning error value meets the preset error requirement, it indicates that the total positioning error value generated by currently performing position calculation in the inertial navigation positioning mode exceeds the allowable received error range, and a fifth-generation mobile communication positioning mode needs to be started to perform position calculation on the current running position of the target vehicle, so as to ensure the positioning accuracy of the target vehicle.

And S204, generating the current position information of the target vehicle based on the calculation result of the current running position of the target vehicle.

According to the vehicle positioning method provided by the embodiment of the invention, when the total positioning error generated by the inertial navigation positioning mode meets the preset error requirement, the position of the current running position of the target vehicle is calculated by adopting a fifth-generation mobile communication positioning mode, so that a larger accumulated error generated by the positioning of the inertial navigation positioning mode is avoided.

EXAMPLE III

Fig. 3 is a flowchart of another vehicle positioning method according to an embodiment of the present invention, which is optimized based on the above technical solutions. Optionally, the performing position calculation on the current driving position of the target vehicle based on the fifth-generation mobile communication positioning mode and the inertial navigation positioning mode includes: determining the current driving mileage of a target vehicle in a satellite-signal-free scene; respectively determining the positioning mode weights corresponding to a fifth-generation mobile communication positioning mode and an inertial navigation positioning mode based on the corresponding relationship between the current driving mileage and the preset driving mileage and the positioning mode weights; determining a first driving position obtained when the target vehicle is positioned according to a fifth generation mobile communication positioning mode and a second driving position obtained when the target vehicle is positioned according to an inertial navigation positioning mode; and performing weighted summation calculation on the first driving position and the second driving position based on the positioning mode weights corresponding to the fifth-generation mobile communication positioning mode and the inertial navigation positioning mode. The same or corresponding terms as those in the above embodiments are not explained in detail herein.

As shown in fig. 3, the method of the embodiment of the present invention specifically includes the following steps:

s301, determining whether the current scene of the target vehicle is a satellite-signal-free scene; if the scene is a satellite-free scene, the process proceeds to S302.

S302, determining the current driving mileage of the target vehicle in a scene without satellite signals; and respectively determining the positioning mode weights corresponding to the fifth-generation mobile communication positioning mode and the inertial navigation positioning mode based on the corresponding relationship between the current driving mileage and the preset driving mileage and the positioning mode weights.

For example, the correspondence between the mileage and the positioning method weight is shown in table 1.

TABLE 1

Specifically, when the target vehicle enters a scene without satellite signals, a fifth-generation mobile communication positioning mode and an inertial navigation positioning mode can be simultaneously adopted to perform position calculation on the target vehicle.

Specifically, the corresponding relationship between the driving mileage and the positioning method weight may be preset, and as the driving mileage increases, the positioning method weight of the corresponding fifth-generation mobile communication positioning method increases. Based on the current driving mileage and the corresponding relationship between the preset driving mileage and the positioning mode weight, the positioning mode weight corresponding to the fifth-generation mobile communication positioning mode and the inertial navigation positioning mode can be respectively determined.

S303, determining a first driving position obtained when the target vehicle is positioned according to a fifth-generation mobile communication positioning mode and a second driving position obtained when the target vehicle is positioned according to an inertial navigation positioning mode; and performing weighted summation calculation on the first driving position and the second driving position based on the positioning mode weights corresponding to the fifth-generation mobile communication positioning mode and the inertial navigation positioning mode.

For example, the first driving position and the second driving position may be embodied in the form of latitude and longitude. And performing weighted summation calculation on the first driving position and the second driving position based on the positioning mode weights corresponding to the fifth-generation mobile communication positioning mode and the inertial navigation positioning mode, taking the calculation result as a calculation result of the target vehicle, and generating the current position information of the target vehicle based on the calculation result.

And S304, generating the current position information of the target vehicle based on the calculation result.

The embodiment of the invention determines the current position information of the target vehicle based on the set fifth generation mobile communication positioning mode and the positioning mode weight corresponding to the inertial navigation positioning mode, and can solve the problem of jumping generated when the inertial navigation positioning mode is switched to the fifth generation mobile communication positioning mode, thereby ensuring that the running track of the target vehicle is continuous and smooth in the process of switching the weight of the fifth generation mobile communication positioning mode from 0% to 100%.

Example four

Fig. 4 is a structural diagram of a vehicle positioning apparatus according to an embodiment of the present invention, which is used for executing the vehicle positioning method according to any of the embodiments. The device and the vehicle positioning method of each embodiment belong to the same inventive concept, and details which are not described in detail in the embodiment of the vehicle positioning device can refer to the embodiment of the vehicle positioning method. As shown in fig. 4, the apparatus may specifically include:

a scene determining module 10, configured to determine whether a current scene of the target vehicle is a satellite-signal-free scene; if the scene is a scene without satellite signals, entering a position resolving module;

the position calculating module 11 is used for calculating the position of the current running position of the target vehicle based on a fifth-generation mobile communication positioning mode and an inertial navigation positioning mode;

a generation position information module 12 configured to generate current position information of the target vehicle based on a result of the calculation of the current travel position of the target vehicle.

Optionally, the position calculating module 11 includes:

the starting unit is used for starting an inertial navigation positioning mode to carry out position calculation on the current running position of the target vehicle; calculating a total positioning error value generated in the running process of the target vehicle, and determining whether the total positioning error value of the target vehicle meets a preset error requirement or not; and if the preset error requirement is met, starting a fifth generation mobile communication positioning mode to carry out position calculation on the current running position of the target vehicle.

Optionally, the starting unit includes:

a total positioning error value determining unit for determining an initial error value generated by the target vehicle before entering a satellite-signal-free scene based on the satellite states of the global navigation satellites; determining an accumulated error value generated by the running of the target vehicle in a scene without satellite signals based on the corresponding relation between the running mileage of the vehicle and the error value when a preset inertial navigation positioning mode is adopted; and determining a total error value of positioning generated in the running process of the target vehicle based on the accumulated error value and the initial error value.

Optionally, the starting unit includes:

the system comprises a driving scene determining unit, a driving scene determining unit and a driving scene determining unit, wherein the driving scene determining unit is used for determining whether the current driving scene of a target vehicle is an outdoor scene, and if the current driving scene of the target vehicle is the outdoor scene, determining whether the total positioning error value of the target vehicle is greater than a preset outdoor error value; and if the target vehicle is not in the outdoor scene, determining whether the total error value of the positioning of the target vehicle is greater than a preset indoor error value.

Optionally, the position calculating module 11 includes:

the system comprises a mileage determining unit, a mileage judging unit and a mileage judging unit, wherein the mileage determining unit is used for determining the current mileage of a target vehicle in a satellite-signal-free scene; respectively determining the positioning mode weights corresponding to a fifth-generation mobile communication positioning mode and an inertial navigation positioning mode based on the corresponding relationship between the current driving mileage and the preset driving mileage and the positioning mode weights; determining a first driving position obtained when the target vehicle is positioned according to a fifth generation mobile communication positioning mode and a second driving position obtained when the target vehicle is positioned according to an inertial navigation positioning mode; and performing weighted summation calculation on the first driving position and the second driving position based on the positioning mode weights corresponding to the fifth-generation mobile communication positioning mode and the inertial navigation positioning mode.

Optionally, the apparatus further includes:

the position resolving relation module is used for resolving the position relation between the fifth generation mobile communication antenna and the global navigation satellite system antenna;

a generate location information module 12, comprising:

the coordinate system conversion unit is used for converting the resolving result of the target vehicle to a satellite system coordinate system corresponding to the global navigation satellite system based on the position relation; and generating the current position information of the target vehicle based on the resolving result in the satellite system coordinate system.

Optionally, the determining a scene module 10 includes:

the satellite signal receiving unit is used for receiving satellite signals sent by the global navigation satellite system antenna and determining whether the signal intensity of the satellite signals is smaller than a preset threshold value or not; and if the current scene of the target vehicle is smaller than the preset threshold, determining that the current scene of the target vehicle is a satellite-signal-free scene.

The vehicle positioning device provided by the embodiment of the invention can execute the vehicle positioning method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

It should be noted that, in the embodiment of the vehicle positioning device, the included units and modules are merely divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.

EXAMPLE five

Fig. 5 is a structural diagram of an electronic device according to an embodiment of the present invention. FIG. 5 illustrates a block diagram of an exemplary electronic device 20 suitable for use in implementing embodiments of the present invention. The illustrated electronic device 20 is merely an example and should not be used to limit the functionality or scope of embodiments of the present invention.

As shown in fig. 5, the electronic device 20 is embodied in the form of a general purpose computing device. The components of the electronic device 20 may include, but are not limited to: one or more processors or processing units 201, a system memory 202, and a bus 203 that couples the various system components (including the system memory 202 and the processing unit 201).

Bus 203 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Electronic device 20 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by electronic device 20 and includes both volatile and nonvolatile media, removable and non-removable media.

The system memory 202 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)204 and/or cache memory 205. The electronic device 20 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, the storage system 206 may be used to read from and write to non-removable, nonvolatile magnetic media. A magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 203 by one or more data media interfaces. Memory 202 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.

A program/utility 208 having a set (at least one) of program modules 207 may be stored, for example, in memory 202, such program modules 207 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 207 generally perform the functions and/or methodologies of embodiments of the present invention as described herein.

The electronic device 20 may also communicate with one or more external devices 209 (e.g., keyboard, pointing device, display 210, etc.), with one or more devices that enable a user to interact with the electronic device 20, and/or with any devices (e.g., network card, modem, etc.) that enable the electronic device 20 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 211. Also, the electronic device 20 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via the network adapter 212. As shown, the network adapter 212 communicates with other modules of the electronic device 20 over the bus 203. It should be understood that other hardware and/or software modules may be used in conjunction with electronic device 20, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

The processing unit 201 executes various functional applications and data processing by running a program stored in the system memory 202.

The electronic equipment provided by the invention can realize the following method: determining whether the current scene of the target vehicle is a satellite-signal-free scene; if the scene is a scene without satellite signals, performing position calculation on the current running position of the target vehicle based on a fifth generation mobile communication positioning mode and an inertial navigation positioning mode; based on the result of the calculation of the current traveling position of the target vehicle, current position information of the target vehicle is generated. Therefore, the position of the current running position of the target vehicle is calculated by combining the inertial navigation positioning mode and the fifth generation mobile communication positioning mode, the problem that the accumulated positioning error is large when the target vehicle runs for a long distance only by adopting the inertial navigation positioning mode is solved, the calculation precision is improved, and the accuracy and the effectiveness of the current position information are improved.

EXAMPLE six

Embodiments of the present invention provide a storage medium containing computer-executable instructions which, when executed by a computer processor, are operable to perform a method of vehicle localization, the method comprising: determining whether the current scene of the target vehicle is a satellite-signal-free scene; if the scene is a scene without satellite signals, performing position calculation on the current running position of the target vehicle based on a fifth generation mobile communication positioning mode and an inertial navigation positioning mode; based on the result of the calculation of the current traveling position of the target vehicle, current position information of the target vehicle is generated. Therefore, the position of the current running position of the target vehicle is calculated by combining the inertial navigation positioning mode and the fifth generation mobile communication positioning mode, the problem that the accumulated positioning error is large when the target vehicle runs for a long distance only by adopting the inertial navigation positioning mode is solved, the calculation precision is improved, and the accuracy and the effectiveness of the current position information are improved.

Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the vehicle positioning method provided by any embodiments of the present invention.

Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.