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CN-122015886-A - External multisource fusion positioning method and system based on vehicle speed injection enhancement

CN122015886ACN 122015886 ACN122015886 ACN 122015886ACN-122015886-A

Abstract

The invention discloses an external multi-source fusion positioning method and system based on vehicle speed injection enhancement, wherein the method is operated on an external computing unit decoupled from a vehicle-mounted sensor and a plurality of heterogeneous operating systems and comprises the steps of performing global time synchronization on multi-source sensing data, executing a fusion algorithm to perform priority scheduling and protocol conversion on fusion positioning results, distributing data streams to corresponding target systems through a cross-system compatible architecture, and continuously enhancing algorithm parameters or acquisition quality of the multi-source sensing data in the external computing unit through a remote maintenance link. The invention significantly improves the long-term performance and adaptation flexibility of the system by stripping the core fusion algorithm from the special chip and externally using the core fusion algorithm as an independent calculation service, unifies bottom communication, protocol conversion and ecological adaptation across the system compatible architecture, greatly reduces the cost of multi-system adaptation and deployment, and improves the positioning precision of weak/no GNSS scenes by a dynamic vehicle speed weight injection mechanism based on GNSS signal quality.

Inventors

  • MA JIAN
  • SUN ZHONGLIANG
  • ZHAN ZHAOXIN

Assignees

  • 深圳华大北斗科技股份有限公司

Dates

Publication Date
20260512
Application Date
20260108

Claims (10)

  1. 1. An external multisource fusion positioning method based on vehicle speed injection enhancement is characterized in that the method is operated on an external computing unit decoupled from a vehicle-mounted sensor and a plurality of heterogeneous operating systems, and comprises the following steps: Global time synchronization is carried out on multi-source sensing data from a vehicle, wherein the multi-source sensing data at least comprise inertial measurement data, satellite positioning data and vehicle speed data; In the external computing unit, a fusion algorithm is executed to process the multi-source sensing data after global time synchronization and generate a fusion positioning result; The fusion positioning result is subjected to priority scheduling and protocol conversion according to the real-time requirement and the protocol requirement of the target system to form a plurality of formatted data streams; distributing the plurality of formatted data streams to corresponding target systems through a cross-system compatible architecture; And continuously enhancing the algorithm parameters in the external computing unit or the acquisition quality of the multi-source sensing data through a remote maintenance link.
  2. 2. The external multisource fusion positioning method based on vehicle speed injection enhancement according to claim 1 is characterized in that global time synchronization comprises the steps of establishing and taming a global reference clock source, marking primary time stamps of unified time references for inertial measurement data, satellite positioning data and vehicle speed data at acquired physical time based on the global reference clock source, and carrying out time axis alignment and data reformation on multisource data streams carrying the primary time stamps to generate a data sequence after time synchronization.
  3. 3. The external multi-source fusion positioning method based on vehicle speed injection enhancement according to claim 1 is characterized in that the fusion algorithm judges a scene as a strong satellite positioning signal scene, a weak satellite positioning signal scene or a satellite positioning signal-free scene based on the intensity parameter of satellite positioning signals, and dynamically configures an observation noise covariance matrix or an observation vector of the fusion algorithm according to a scene judgment result so as to adjust the fusion weight of the vehicle speed data relative to other data sources.
  4. 4. The external multisource fusion positioning method based on vehicle speed injection enhancement according to claim 3, wherein when the weak satellite positioning signal scene or the satellite positioning signal-free scene is judged, the fusion weight of the vehicle speed data is increased, and the vehicle speed data becomes a core observation source for inhibiting integral drift of inertial measurement data.
  5. 5. The external multisource fusion positioning method based on vehicle speed injection enhancement according to claim 1 is characterized in that the priority scheduling and protocol conversion comprises the steps of configuring distribution priorities for different target systems, determining the priorities based on the real-time level of the target systems and the functional safety critical degree of the target systems, and calling a corresponding protocol conversion engine according to the order of the priorities from high to low to convert the fusion positioning result into a specified data format meeting the requirements of each target system.
  6. 6. The vehicle speed injection enhanced based external multisource fusion positioning method according to claim 5, wherein the protocol conversion engine supports at least one or more of NMEA-0183 format, SOME/IP protocol format, protocol Buffers encoding format, and vehicle CAN bus message format.
  7. 7. The method for external multisource fusion positioning based on vehicle speed injection enhancement according to claim 1, wherein the method is characterized in that the cross-system compatible architecture is used for distribution, the native communication mechanisms of different operating systems are packaged into a unified application programming interface through a bottom communication abstract layer, and final packaging and authority adaptation meeting ecological specifications of a target system are performed before formatted data streams are injected into a communication link through a protocol and data compatible layer.
  8. 8. The method for external multisource fusion positioning based on vehicle speed injection enhancement according to claim 7, wherein the cross-system compatible architecture further comprises transmission quality monitoring and primary-backup link switching, and the method is used for automatically switching to a backup communication link to ensure continuity of data distribution when quality degradation of a primary distribution link is monitored.
  9. 9. The method for external multisource fusion positioning based on vehicle speed injection enhancement according to claim 1, wherein the remote maintenance link comprises the steps of injecting auxiliary ephemeris data into a satellite positioning module through an auxiliary global satellite navigation system technology to shorten positioning starting time of the satellite positioning module, and remotely issuing and safely updating fusion algorithm parameters or sensor calibration parameters to the external computing unit through an over-the-air technology.
  10. 10. An external multisource fusion positioning system based on vehicle speed injection enhancement, which is used for realizing the method as set forth in any one of claims 1-9 and is characterized by comprising a data acquisition module, an external computing unit, a communication interface module and a remote maintenance interface; the data acquisition module is used for acquiring multi-source sensing data from a vehicle and comprises a satellite positioning data interface, an inertial data interface and a vehicle speed data interface; The external computing unit is in communication connection with the data acquisition module and is used for executing global time synchronization, fusion computation and distribution scheduling; The communication interface module is used for establishing communication with a plurality of heterogeneous target systems through a cross-system compatible architecture; the remote maintenance interface is used for connecting a remote maintenance link and continuously enhancing the algorithm parameters in the external computing unit or the acquisition quality of the multi-source sensing data.

Description

External multisource fusion positioning method and system based on vehicle speed injection enhancement Technical Field The invention relates to the technical field of high-precision navigation positioning, in particular to an external multisource fusion positioning method and system based on vehicle speed injection enhancement. Background With the development of intelligent driving technology, the demand of vehicles for positioning capability available in a high-precision, high-reliability and full-scene environment is increasingly urgent. Currently, the mainstream vehicle positioning schemes mainly depend on the integration of the global navigation satellite system and the inertial measurement unit. However, in complex urban environments (such as blocks of tall buildings, underground garages and tunnels), GNSS signals are extremely vulnerable to shielding, reflection and attenuation and even interruption, so that positioning services which are solely dependent on GNSS are not available, and significant accumulated errors (drift) can be generated in a short time by inertial estimation only by using an IMU. Existing embodiments suffer from the following significant drawbacks: The method is characterized in that a core fusion algorithm is usually burnt in a GNSS/IMU integrated navigation chip in advance, so that the algorithm cannot be subjected to iterative ascending independently of hardware, new models, new scenes or optimization algorithm parameters are difficult to adapt, a plurality of heterogeneous operating systems such as Linux, android, hong Meng and the like are commonly adopted in an intelligent cabin, a data interface and a communication module are required to be independently developed for each operating system in a traditional scheme, a research and development period is long, maintenance cost is high, consistency of positioning data among systems is difficult to guarantee, the speed is used as an auxiliary observation quantity of fixed weight in the traditional scheme, fusion weight of speed data cannot be dynamically promoted under the critical scenes such as weak in GNSS signals so as to fully compensate for reduction of GNSS observation precision, positioning output fluctuation is large, and precision cannot meet advanced auxiliary driving. Disclosure of Invention The invention aims to provide an external multi-source fusion positioning method and system based on vehicle speed injection enhancement, which are used for solving the problems of high cross-system ecological adaptation cost, poor weak signal scene performance and the like in the existing algorithm solidification and cross-system ecological adaptation in the background technology. In order to achieve the above purpose, the present invention adopts the following technical scheme: according to one aspect of the present invention, there is provided an external multisource fusion positioning method based on vehicle speed injection enhancement, the method operating on an external computing unit decoupled from an on-vehicle sensor and a plurality of heterogeneous operating systems, comprising: Global time synchronization is carried out on multi-source sensing data from a vehicle, wherein the multi-source sensing data at least comprise inertial measurement data, satellite positioning data and vehicle speed data; In the external computing unit, a fusion algorithm is executed to process the multi-source sensing data after global time synchronization and generate a fusion positioning result; The fusion positioning result is subjected to priority scheduling and protocol conversion according to the real-time requirement and the protocol requirement of the target system to form a plurality of formatted data streams; distributing the plurality of formatted data streams to corresponding target systems through a cross-system compatible architecture; And continuously enhancing the algorithm parameters in the external computing unit or the acquisition quality of the multi-source sensing data through a remote maintenance link. Based on the scheme, the global time synchronization comprises the steps of establishing and taming a global reference clock source, marking a primary time stamp with a unified time reference for the inertial measurement data, the satellite positioning data and the vehicle speed data at the acquired physical time based on the global reference clock source, and carrying out time axis alignment and data reformation on a multi-source data stream carrying the primary time stamp to generate a data sequence after time synchronization. Based on the scheme, the fusion algorithm judges the scene as a strong satellite positioning signal scene, a weak satellite positioning signal scene or a satellite positioning signal-free scene based on the intensity parameter of the satellite positioning signal, and dynamically configures an observation noise covariance matrix or an observation vector of the fusion algorithm according to the scene ju