CN-122017916-A - Vehicle accurate positioning data fusion processing system based on Beidou satellite navigation communication

CN122017916ACN 122017916 ACN122017916 ACN 122017916ACN-122017916-A

Abstract

The invention relates to the technical field of computer data processing, in particular to a vehicle accurate positioning data fusion processing system based on Beidou satellite navigation communication. The vehicle accurate positioning data fusion processing system based on Beidou satellite navigation communication comprises a data acquisition and state subset extraction module, an action positioning sequence generation module, a navigation coordinate system offset vector determination module and an execution action positioning sequence acquisition module, wherein the data acquisition and state subset extraction module acquires vehicle positioning data and execution action positioning data, the action positioning data is used for acquiring an action time period vehicle state subset according to the vehicle positioning data, the action positioning sequence generation module is used for determining a navigation coordinate system offset vector according to the action time period vehicle state subset, and the absolute position of a vehicle and the navigation coordinate system offset are synthesized to obtain the absolute coordinate of an operation end of an execution mechanism at the current moment, and the execution action positioning sequence is acquired according to the absolute coordinate of the operation end. According to the invention, beidou and inertial data are fused, a positioning fusion strategy is dynamically optimized, and the operation precision and robustness are improved.

Inventors

ZHANG CHUNHUA
FU QIANG
BI HUIJIE
LI BAOLONG
WU XIAO

Assignees

内蒙古中寰卫星导航通信有限公司

Dates

Publication Date: 20260512
Application Date: 20260206

Claims (10)

1. Accurate positioning data fusion processing system of vehicle based on big dipper satellite navigation communication, characterized by includes following part: the data acquisition and state subset extraction module acquires vehicle positioning data and execution action positioning data, and acquires a vehicle state subset in an action period according to the vehicle positioning data; The system comprises an action positioning sequence generation module, a navigation coordinate system offset vector generation module, a motion positioning sequence generation module and a motion positioning sequence generation module, wherein the navigation coordinate system offset vector is determined according to the action time period vehicle state subset; The association relation construction and directed graph generation module is used for determining a first association relation and a second association relation according to the execution action positioning time sequence; The action cluster analysis and feature extraction module is used for obtaining a continuous action cluster set according to the directed graph, and determining a first sequence traceability rate, a second sequence dependence and a Beidou positioning integrity index based on the continuous action cluster set; and the data fusion strategy decision module is used for determining a vehicle accurate positioning data fusion processing method based on the first sequence traceability, the second sequence dependence and the Beidou positioning integrity index.
2. The vehicle precise positioning data fusion processing system based on Beidou satellite navigation communication of claim 1, wherein the data acquisition and state subset extraction module acquires vehicle positioning data and performs action positioning data, and comprises: the vehicle positioning data refer to measurement information of the position and the posture of the vehicle platform in a global coordinate system; The execution action positioning data refer to calculation information of the position of an execution mechanism working end of the vehicle in an actual geographic space; recombining the vehicle positioning data into a first vehicle positioning time sequence according to a fixed updating frequency; and reorganizing the vehicle positioning data into a second vehicle positioning time sequence according to the actual updating frequency.
3. The vehicle precise positioning data fusion processing system based on Beidou satellite navigation communication of claim 1, wherein the obtaining the action period vehicle state subset according to the vehicle positioning data comprises: And extracting each data point of the actuator working end from the execution action to the execution action end from the vehicle positioning data based on the action start-stop time stamp of the actuator working end to form an action period vehicle state subset.
4. The vehicle precise positioning data fusion processing system based on Beidou satellite navigation communication of claim 1, wherein the action positioning sequence generation module determines a navigation coordinate system offset vector according to the action time period vehicle state subset, and comprises: For each data point in the subset of action period vehicle states, performing the following calculation: acquiring a platform roll angle, a platform pitch angle and a platform course angle of the data points; constructing a three-dimensional rotation matrix according to the platform roll angle, the platform pitch angle and the platform course angle; Multiplying the fixed operating end lever arm parameters of the actuating mechanism by the three-dimensional rotation matrix to calculate a navigation coordinate system offset vector in an ENU coordinate system; Obtaining a navigation coordinate system offset vector according to an actuating mechanism working end space coordinate transformation formula, wherein the actuating mechanism working end space coordinate transformation formula is as follows: ; Wherein, the 、 And To implement the work end lever arm parameters of the mechanism, Is the transverse rolling angle of the platform, Is the pitch angle of the platform, For the course angle of the platform, In the form of a three-dimensional rotation matrix, 、 And The vectors are offset for the navigational coordinate system.
5. The vehicle accurate positioning data fusion processing system based on Beidou satellite navigation communication of claim 1, wherein the synthesizing of the absolute position of the vehicle and the navigation coordinate system offset to obtain the absolute coordinate of the working end of the actuating mechanism at the current moment, and obtaining the actuating action positioning time sequence according to the absolute coordinate of the working end comprises the following steps: ; ; ; Wherein, the 、 And For the absolute coordinates of the vehicle platform, 、 As a parameter of the radius of curvature of the earth, 、 And The absolute coordinates of the working end; recombining the absolute coordinates of the operation end according to time sequence to form an execution action positioning time sequence; The execution action positioning time sequence refers to a data sequence of continuous motion tracks of an operating end of an executing mechanism in a global coordinate system during the execution of actions.
6. The vehicle accurate positioning data fusion processing system based on Beidou satellite navigation communication of claim 2, wherein the association relation construction and directed graph generation module determines a first association relation and a second association relation according to the execution action positioning time sequence, and comprises: setting a tolerance threshold, for each data point in the execution action positioning time sequence, calculating a first difference value between a time stamp of the data point and a time stamp corresponding to the first vehicle positioning time sequence, and if the first difference value is smaller than the tolerance threshold, associating the data point to the first vehicle positioning time sequence to obtain a first association relation; and if the first difference value is larger than or equal to the tolerance threshold value, calculating a second difference value between the time stamp of the data point and the time stamp corresponding to the second vehicle positioning time sequence, and if the second difference value is smaller than the tolerance threshold value, associating the data point to the second vehicle positioning time sequence to obtain a second association relation.
7. The vehicle accurate positioning data fusion processing system based on Beidou satellite navigation communication according to claim 1, wherein the building of the directed graph according to the first association relationship and the second association relationship comprises: Taking each data point in the first vehicle positioning time sequence as a first sequence node; Taking each data point in the second vehicle positioning time sequence as a second sequence node; Taking each data point in the execution action positioning time sequence as an action sequence node; The first sequence node and the second sequence node are collectively called as a source sequence node, and for each pair of action sequence nodes-source sequence nodes which are associated through a first association relation or a second association relation, a directed edge pointing to the source sequence node from the action sequence node is created, and a directed graph is obtained according to the directed edge.
8. The vehicle precise positioning data fusion processing system based on Beidou satellite navigation communication of claim 7, wherein the action cluster analysis and feature extraction module obtains a continuous action cluster set according to the directed graph, and the system comprises: setting a maximum time interval threshold, extracting all action sequence nodes from the directed graph, sequencing and traversing based on time stamps of the action sequence nodes, merging the action sequence nodes with continuous time stamps and adjacent intervals smaller than the maximum time interval threshold into the same cluster, and obtaining a continuous action cluster set.
9. The vehicle precise positioning data fusion processing system based on Beidou satellite navigation communication of claim 1, wherein the determining of the first sequence traceability, the second sequence dependency and the Beidou positioning integrity index based on the set of continuous action clusters comprises: Calculating the first sequence traceability and the second sequence dependency degree for each continuous action cluster in the continuous action cluster set; the first sequence traceability is used for measuring the degree of the positioning data of one continuous action cluster from an ideal positioning sequence; the second sequence dependence is used for measuring the degree that the positioning data of one continuous action cluster depend on the actual positioning sequence; The first sequence traceability calculation formula is: Wherein, the method comprises the steps of, For the number of action points associated to the first sequence node within the continuous action cluster, For the total number of action points within a continuous action cluster, Tracing the source rate for the first sequence; the second sequence dependency calculation formula is: Wherein, the method comprises the steps of, Is a second sequence dependence; for each action point in the continuous action cluster, locating a positioning source node through the first association relation and the second association relation; Extracting a carrier-to-noise ratio, the number of satellites and a precision factor from Beidou satellite navigation positioning data corresponding to the positioning source node; And calculating the average value of the carrier-to-noise ratio, the satellite number and the precision factor in all the action points in the continuous action cluster, and normalizing to obtain the Beidou positioning integrity index.
10. The vehicle accurate positioning data fusion processing system based on Beidou satellite navigation communication of claim 1, wherein the data fusion policy decision module determines a vehicle accurate positioning data fusion processing method based on the first sequence traceability, the second sequence dependency and the Beidou positioning integrity index, and comprises the following steps: assigning a weight coefficient for the Beidou satellite navigation positioning data and the gesture data based on the weighted least square estimation model; obtaining an optimal estimate of the system state by solving the system state that minimizes the weighted error sum squared; The distribution of the weight coefficients is dynamically determined based on the tracing consistency coefficients, the Beidou positioning integrity indexes and the first sequence tracing rate; The dynamic determination includes: for the current continuous action cluster, calculating a tracing consistency coefficient based on a first association relation and a second association relation of each action sequence node in the continuous action cluster; the tracing consistency coefficient is used for quantifying the stability of a positioning data source in the continuous action cluster, and the calculation formula of the tracing consistency coefficient is as follows: ; Wherein, the For tracing consistency coefficient, when Or (b) When 0, the corresponding logarithmic term is defined as 0; If the tracing consistency coefficient is larger than or equal to a preset tracing consistency threshold value, judging that the continuous action cluster is a high inconsistency cluster; if the cluster is a high-inconsistency cluster, the weight of the attitude data is increased, and the weight of the Beidou satellite navigation positioning data is reduced; if the tracing consistency coefficient is smaller than a preset tracing consistency threshold value, judging that the continuous action cluster is a low inconsistency cluster; The method comprises the steps of determining whether a big dipper positioning integrity index is smaller than a big dipper positioning integrity index threshold, if the big dipper positioning integrity index is a low inconsistency cluster, reducing big dipper satellite navigation positioning data weight and improving attitude data weight when the big dipper positioning integrity index is smaller than the big dipper positioning integrity index threshold, taking big dipper satellite navigation positioning data as a core observation source when the big dipper positioning integrity index is larger than or equal to the big dipper positioning integrity index threshold and the first sequence traceability is larger than or equal to the first sequence traceability threshold, executing a high-frequency attitude priority fusion strategy when the big dipper positioning integrity index is larger than or equal to the big dipper positioning integrity index threshold and the first sequence traceability is smaller than the first sequence traceability threshold, wherein the high-frequency attitude priority fusion strategy is a fusion mode taking high-frequency attitude data as a dominant, constructing a smooth track reference through an integration result, and performing global correction by using the big dipper satellite navigation positioning data.

Description

Vehicle accurate positioning data fusion processing system based on Beidou satellite navigation communication Technical Field The invention relates to the technical field of computer data processing, in particular to a vehicle accurate positioning data fusion processing system based on Beidou satellite navigation communication. Background The vehicle accurate positioning and operation cooperative system is a core support technology of modern agriculture and industrial automation, and the data processing precision directly determines the execution efficiency and the resource utilization rate of the operation machinery. In the prior art, the Beidou satellite navigation positioning module and the inertial measurement unit are integrated, so that centimeter-level position sensing of a vehicle platform is realized, and a Kalman filtering algorithm based on fixed weight is used for achieving remarkable effect in path tracking control under the condition of open field, so that a foundation is laid for popularization and application of automatic operation. However, existing methods face significant challenges in coping with complex dynamic job scenarios. The traditional data fusion strategy mostly adopts static parameter configuration, is difficult to adapt to positioning source switching and data quality fluctuation caused by multi-factor coupling such as signal shielding, mechanical vibration, carrier maneuver and the like, lacks a quantitative evaluation mechanism for positioning data flow time sequence stability and source consistency, causes positioning jump and action deviation to easily occur in continuous operation processes such as accurate spraying, automatic harvesting and the like, and cannot meet the actual requirement of high-precision operation tasks on data reliability. Therefore, research on an intelligent positioning data processing method capable of adapting to complex working conditions is needed, and positioning robustness and action execution precision of a vehicle in a dynamic working environment are improved through time sequence correlation analysis and dynamic strategy adjustment of multi-source positioning data. Disclosure of Invention In order to overcome the defect of unstable positioning data sources, the invention provides a vehicle accurate positioning data fusion processing system based on Beidou satellite navigation communication. The technical implementation scheme of the invention is that the vehicle accurate positioning data fusion processing system based on Beidou satellite navigation communication comprises the following parts: the data acquisition and state subset extraction module acquires vehicle positioning data and execution action positioning data, and acquires a vehicle state subset in an action period according to the vehicle positioning data; The system comprises an action positioning sequence generation module, a navigation coordinate system offset vector generation module, a motion positioning sequence generation module and a motion positioning sequence generation module, wherein the navigation coordinate system offset vector is determined according to the action time period vehicle state subset; The association relation construction and directed graph generation module is used for determining a first association relation and a second association relation according to the execution action positioning time sequence; The action cluster analysis and feature extraction module is used for obtaining a continuous action cluster set according to the directed graph, and determining a first sequence traceability rate, a second sequence dependence and a Beidou positioning integrity index based on the continuous action cluster set; and the data fusion strategy decision module is used for determining a vehicle accurate positioning data fusion processing method based on the first sequence traceability, the second sequence dependence and the Beidou positioning integrity index. Preferably, the data acquisition and state subset extraction module acquires vehicle positioning data and execution action positioning data, including: the vehicle positioning data refer to measurement information of the position and the posture of the vehicle platform in a global coordinate system; The execution action positioning data refer to calculation information of the position of an execution mechanism working end of the vehicle in an actual geographic space; recombining the vehicle positioning data into a first vehicle positioning time sequence according to a fixed updating frequency; and reorganizing the vehicle positioning data into a second vehicle positioning time sequence according to the actual updating frequency. Preferably, the obtaining the subset of action time period vehicle states according to the vehicle positioning data includes: And extracting each data point of the actuator working end from the execution action to the execution action end from the vehicle positioning data based on th