TWI250303B - Integrated location system and method of vehicle - Google Patents

Abstract

An integrated location system and a location method of a vehicle are disclosed, wherein the INS location method only uses an accelerometer without an expensive gyroscope. In the method, the initial location, velocity and direction of the vehicle are provided by a GPS for the next time location output of an INS. After the GPS provides a location data again, the location output of the INS is corrected by using the GPS location data. Therefore, the accumulated error of the INS can be corrected, and the INS can be used to make up for the discontinuity of the GPS location output.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an integrated positioning system and method, and relates to an integrated positioning system and method that do not require an expensive gyroscope. [Prior Art] Navigation system can guide The navigation of the ship and the aircraft guides the direction of the car on the land. Navigation must first determine the vehicle °; speed and direction, and then follow the map instructions to maintain the travel, standing, ground. Therefore, the positioning of the vehicle is the most basic purpose of the navigation system. The positioning of the satellite positioning system and the inertial positioning system are frequently used by the vehicle. In the middle, the satellite positioning system provides a positioning reference for the vehicle by receiving a plurality of signals and counting the microwaves that have been created by the singer. The satellite positioning system, two shells, the control of the positioning accuracy (currently about ... meters)?:: = square level, so it is widely used in the outdoor sports body = the use of satellite positioning system because of various factors For this reason, there will be a loss of stars: the position... The calculated data will be subject to errors; the T-bit, and the knowledge are the problems of using the inertia and the end. The general positioning method: to remedy. The inertial positioning system is one of the oldest. The inertial positioning system has inertia such as accelerometer, gyroscopic 弋, 里/就兀, and the most commonly used sensor for inertial positioning. At present, it is more common, and it is mainly based on gyroscopes. However, the gyro is expensive and the damage rate is high. Therefore, the gyroscope is used as the inertial positioning of the two Duang benefits. Hungry as a "small sputum" does not conform to the l25 〇 3 〇 3 satellite positioning system and the positioning device of the inertial positioning system have their own advantages and disadvantages 'and complement each other. The positioning performance of the satellite positioning system is stable and accurate 'but The calculation of the positioning calculation is time-consuming, so that only a few owes per second can be updated, the price is expensive, the power consumption is about 10~50 microamperes, the time after the start of the power supply is about one minute, the positioning is invalid, and the satellite signal is easily shielded. Disadvantages such as positioning failure. As for the inertial positioning system, it can be positioned from the beginning, the position is accurate in a short time, and there is no signal shielding effect. If only the accelerometer is used, the system is simple and consumes less power, and the price is low (about satellite positioning system only) The fifth advantage is that the biggest disadvantage of the inertial clamping system is that the positioning has accumulated error, it is necessary to correct the positioning accuracy at a fixed point frequently, and it is susceptible to the inertia measurement of the vibration of the vehicle. There is no positioning system that is perfect =. Right can integrate the above two positioning systems, you can get a more perfect positioning, but it will increase the system. The cost and power consumption of the invention. [The invention] The purpose of the invention is to provide a GPS diagram without a gyroscope. Since the 1NS module uses only an accelerometer, it is not necessary to use the invention. 'The cost of integrated positioning can be greatly changed. (IV) The other purpose is to provide a helmet-and-horse integrated positioning system that can be used to make a GPs/ms per second. Calculate 'can increase the number of rounds of reports to more than ten times. Beans - reported the number of times Sun 4 /, 'mother seconds positioning output depends on the operating speed of the microprocessor, 兀 microprocessor can be about 10 In the case of cattle, the eight-position method can be compensated for by (10) useless 1NS and provide positioning and rotation. 1250303 Another object of the present invention is to provide a gps/ins integrated positioning method without gyroscope, which The initial position, speed and direction of the vehicle are provided by GPS for the positioning output of the INS at the next moment (for example, every 〇·丨 second). On the other hand, when the GPS is repositioned, the INS is corrected. Position the output so that the INS won't be too long Cumulative error. Therefore, the INS can make up for the discontinuity of the GPS positioning output. According to the above object of the present invention, a Gps/iNs integrated positioning system without a gyroscope is proposed, which is suitable for positioning a carrier, and the Gps without the gyroscope The /iNs integrated positioning system includes at least: a microcontroller including at least two analog/digital (A/D) pins and an RX pin; a satellite positioning system, the satellite positioning system and the above micro control The RX pin is connected to transmit the global positioning data of the carrier to the microcontroller through the RX pin; and an inertial positioning system having a two-axis accelerator for measuring the two axes of the carrier Acceleration data, wherein the dual-axis accelerator is coupled to the analog/digital pin described above to transmit the axle acceleration data of the carrier to the microcontroller through the analog/digital pins, respectively. According to a preferred embodiment of the present invention, the output period of the global positioning data is 1 second' and the output period of the inertial positioning data is seconds. According to the object of the present invention, a GPS/INS whole port positioning method without a gyroscope is proposed for positioning a carrier, and the gps/ins side of the gyroscope-free device includes at least: starting a GPS/INS integrated module. The PS/INS integrated module includes at least a microcontroller, a satellite positioning system, and an A/V, a digital system, and the acceleration data of the vehicle is recorded; when the module 'program starts to determine the satellite positioning Whether the system is effectively positioned; when the positioning system of the satellite 1250303 is effectively positioned, the initial condition (^, the first-start condition of the Wei inertial positioning system is reversed and the output inertia is determined), and the inertial positioning system is prepared. The INS macro of the k=l is the second day of the same day. The INS also uses the first-start condition to produce strictly. The = one sampling system of the clamp system; when the inertia is located, the data is located (2:2;): And determining whether the satellite positioning system is in the effective positioning of the inertial positioning system, and determining whether the satellite system has not been effectively positioned, and whether the sampling cycle has reached the sampling period of the inertial positioning system. According to a preferred embodiment of the present invention, the inertia GPS The sampling period is 〇.1 second, and the output period of the GPS device of the satellite system is seconds. [Embodiment] The present invention discloses an integrated positioning system and method, and the integrated positioning system does not need to use a gyroscope. In order to make the description of the present invention more detailed and complete, reference can be made to the following description and the diagrams of Fig. 1 to Fig. 1. Where the position is the most basic requirement of the navigation system, when the positioning device of the navigation system cannot be positioned The navigation system will lose its utility, and it will cause inconvenience or even damage to the vehicle. The typical GPS positioning failure will have the following three shapes: —, n (1) The general GPS module only has one positioning output per second. Therefore, between seconds and seconds, GPS can be regarded as lost positioning. The description is as follows: y 1250303 time (sec): ~51.0 51"51.2 51.3.. ί51.9 μ』52^~ GPS positioning 丄一^无定隹 positioning positioning (2 The GPS module has just corrected itself (4) and parameters before the power supply of the GPS module, and it cannot provide positioning output. Description such as ^ in time (coffee): 0 (M 0.2.. 丄 0. " 2.0. " 3. 〇 57 〇 58 〇 59 〇 6 〇〇 ~ · J - complex green jade GPS positioning (3) When the GPS satellite signal is an obstacle, the signal cannot reach the GPS receiving antenna. At this time, the GPS will not be able to provide positioning output, especially in indoor or urban buildings. The description is as follows: 疋 time: sec: ~100.0 (8) .〇102.0."107·0 1〇8〇1〇9〇11〇〇(1) 〇~Gps Positioning-L satellite signal is obscured by obstacles, GPS Fuhong n GPS positioning in GPS positioning system, when effective satellite receiving If the number is more than four, the GPS can generate three-dimensional output of the longitude, latitude, and height w world earth system-84 (WGS-84) coordinate system. When the GPS is not positioned, the output is invalid latitude and longitude. GPS is not positioned. The situation is limited by the inherent characteristics of Gps. Because INS has the following advantages: (1) INS positioning calculation is relatively simple, especially using only accelerometers and octet microprocessors, you can locate the output to ten times per second; (2) INS - can be positioned at the beginning, and the positioning is accurate for a short time, but = starting reference point The position of the INS; and (3) the positioning principle of the INS, and does not need to rely on the external reference signal, so there is no problem of signal shielding, even if it can be placed indoors. Therefore, the advantage of INS can just make up for the situation that GPS can not be located, and Overcoming the lack of GPS. However, the INS includes several expensive inertial sensors, such as a gyroscope that senses the angular velocity of the object, a compass that senses the north magnetic direction of the earth, and a force port that senses the linear motion of the body 1250303. _ 宜 速 算 ' 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有= month 匕 can achieve the effect of GPS / INS integration. When integrating GPS and INS, the bit output is the geographic coordinate representation of the WGS_84 coordinate system, and I: s is the relative positioning of the reference point, because & If the GPS = bit output is used as the reference point, it is based on the WCS_84 coordinate system. The card holder & table method is not shown in the figure. Therefore, coordinate conversion must be performed when integrating GPS and ms. 2 pictures, 2 is a diagram showing the plane motion < (10) the relationship between the carrier j system (X, y) and the GPS navigation coordinate system (N, E). If the inertial measurement: Inertial Measurement Unit (IMU) sensor The accelerometer and the north arrow are placed at the center of rotation of the moving object, and the measured plane motion acceleration [ax, ay], and the variation of the y-axis and the north angle θ (angular velocity), and the actual The linear acceleration (☆, () satisfies the following formula: AN(t) m)

(2) where ΔΝ is the displacement of the vehicle to the north, ΔΕ is the displacement of the vehicle to the east, and C b η is the coordinate transformation between the carrier coordinate and the navigation coordinate system. Among them, cbn -sin0 COS0 cos^ sin^ (3) Therefore, by measuring the direction of motion of the object with the compass and the angle between the north and the angular velocity of 1250303 degrees, the axis acceleration is used to measure ax and ay, and then ΔΑ^( ^) ^ (~u{k) ·sin0(k) + v(k)·cos6{k))·T; AE(k) « (u(k)·cos0{k) + v(yt) ·sin0 (k)) T (4) where 'free? == hit, T is a sampling period that is short enough, so the latitude change ΔΦ of the position ΔΦ (1〇, the longitude change Δ is again (k) is (5) △ 雄 继 following re Re where RE is the radius of the earth. Therefore, φ ^) = -1) + Αφ(ίί) ; m = _ 1} + AA(k) ^ and complete the INS positioning. Therefore, as long as the rate V = the y-axis and the north angle 反 of the anti-body coordinate system are known, the above formula can be used to obtain the vehicle position change amount A(Kk) and Δλ (1〇 value per unit time. Generally, in GPS The receiving module of the National Ocean Electronics Association (Nati〇nal Marine Electr〇nics Ass〇ciaU〇n; νμεα) positioning output format, GPLMC or GPVTG format output, with the speed and direction of the vehicle's motion data, After the failure of the GPS positioning, the initial position, the speed and the direction of the direction are set to calculate the lower-time limit = output. In the preferred embodiment of the present invention, the positioning data output period of (10) is 0 · 1 second.

In the first type of GPS positioning failure, the GP is affected by a positioning result. In the second, only m ^ is transmitted. There is no positioning data between the Xing Xingxin, so it can be regarded as GPS positioning failure. In too much, .^ In this & Ming, only use one station accelerometer and GPS to provide the evening a, the collar double axis g of the mother's initial position, speed and square 12 1250303 ^ ^ ϋ ^ ^ n ^ „ (sine)4# ^ (cosine)^# , ff Calculate the speed and direction of the next moment (every 0·1 second). First, define the GPS INS positioning output at a certain time, for example 70.0 ~71" seconds are as follows (such as the GpRMc output in the NMEA format is wide (m, w, m, m), (々, c, m.. ~ (7) where the GPS symbol represents a set of GPS, for example And the symbol INS represents the positioning output calculated by the acceleration, for example, π. In the present invention, the clamp output of the nine Gps/ms integrated modules is increased between C and 27 seconds, and the positioning data output is increased to each. Ten times in seconds. π refers to Figure 3, and Figure 3 is a schematic diagram of the obscurity vector triangle for the +_ ^ ^ ^ mouth for you, ,,,,,,,,,,,,,,,,,,,,,,,,,, ^ a,, on the dip of the oab, 6 represents the unknown of the time of the horse A. The angle, & represents the unknown direction of the land, and the known direction of the land. Degree; ~ sample spacing is D...", ° angle., north angle), 岣 represents taking. Tai J (4) is the trend of the ground speed change 〃 movement measured by the accelerometer, and 4 Figure y-axis acceleration heart (the direction of the illusion and the line of the imaginary, the direction of the second worm's slashing speed 匕丨 is in the same direction as the y-axis, and the Γ Γ 大 ' ' ' ' ' ' ' ' 的Ancient: The child is turning, as long as the sampling time is too short, the round Wenler also approximates a linear motion. Therefore, “r,-tan-1 岂 and 13 (8) (9) 1250303 6{k)«lim r-»o

Wk-x -¥k~2 T lim ^k~x

T—o T Further (1) can be obtained as, 1>), and the speed change is as follows: (10) |4| = ±2 (moxibustion) + β (heart (10) + 3⁄43⁄4 |AF,|«r| a,| where ^:>0(々-p〇), then apply the sine law from the triangle of the OAB

Vk-x Vk AVk (1)) sin is sinsin where only 13⁄4 ak+Pk+yk=^ and then A:-l △ and n are known, and (12) (13) sina, =sin[^-( ^ +^)] = sin(^ +^} Substituting (13) into (1 1), obtain A = taiT1 ^Yk e • COs (14) Obtain b in (14), u ^ ^, then ! / 4 mouth horse known number, so can be ..., set ^ and q. On the other hand, in the following: In the OBA dime, you can kiss the slap!! | Because hi and 〇 ^ A (15: It depends on the side of the ax two and (eight) there will be two sets of solutions, then the solution is positive. After that, consider the carrier temple to do it... the brother 2 picture, in the ^ and ^ move the na and east / ^ and navigation coordinates System transformation, calculation to the north] fruit displacement ΔΕα : 14 1250303 ^ (k) = fk I cos ^ · Γ ; AE (k) = 13⁄4 I sin ψ1ζ · T (i 6) when using a two-axis accelerometer device Measuring and ay in the car, and using the speed of the upper-time and the speed direction %", you can successfully get the speed of the vehicle and the speed direction (eight). The following calculation / transaction is written as a function / The representation of GPS and /INS, or the process of 匕^/hall (18) above INS will have cumulative error. Considering that GPS positioning can be used to correct the positioning output of INs when GPS is repositioned, there will be no accumulated error for too long, and ins can also be used to compensate for the discontinuity of Gps positioning output. The second type of GPS positioning failure is the correction required when the Gps starts to supply power. Because (4) there is no need to correct the time, the acceleration of the vehicle can be measured immediately.

Degree' then calculates the magnitude of the velocity and $ y , H and 疋. However, 由于 'Because INS can't get' and the direction of motion, it can only record the acceleration of GPS correction period as follows: (say, ', asthma f, ^), ··~, it is found by (5) (10), 13,^ Next: Wait until the time is 6G seconds, the positioning of (10) f material starts to output | = 599 ). Rewrite (1 1 ) as

Pk

h smrk \-rk, 15 (20) (21) 1250303 and thus get, and and ". Further, the heart is obtained by substituting (12) and then obtained from (15). The tracking data of the INS positioning output cycle before GPS positioning is traced one by one as follows: ¥lf9)? (C??... ? (^9Fr?ΨΓ). (22) And this calculation process is expressed as a function as follows: [vlNJ AN-fV (23) The third GPS positioning failure condition means that when the GPS satellite signal is obscured by obstacles, the number of effective satellites is insufficient to locate. In the present invention, GPS positioning can be used before failure. The speed and direction of the speed, continue to use the INS to generate the positioning output as follows: (Ri W temperature, asthma "潞", ~ (24) Among them, after the 91st second, GPS will lose positioning, until the 107th second before replying Positioning, during which the INS provides all the positioning output. During this period, the INS positioning output data will generate a large positioning error with the increase of time, and when the GPS is restored, the GPS positioning data is used to correct the GPS positioning. INS positioning data. Please refer to FIG. 5, which is a schematic diagram of a GPS/INS integrated positioning system according to a preferred embodiment of the present invention. The GPS/INS integrated positioning system is suitable for positioning vehicles. And do not need to use 16 1250303 The GPS/INS integrated positioning system includes a microcontroller 204, a satellite positioning system 200, and an inertial positioning system having a dual axis accelerometer 202. In the preferred embodiment, the microcontroller 204 includes at least two analogies/ A digital (A/D) pin and an RX pin, wherein the output 201 of the satellite positioning system 200 is coupled to the RX pin of the microcontroller 204 to locate satellite data of the carrier through the RX pin, for example The longitude λ, the latitude 0, the velocity magnitude F and the velocity direction V are transmitted to the microcontroller 204 for processing by the microcontroller 204. The two-axis accelerometer 202 of the inertial positioning system can be used to measure the two-axis acceleration data of the carrier. For example, the X-axis acceleration ax and the y-axis acceleration ay, wherein the two-axis accelerometer 202 has the output end 203 and the output end 205 of the axis data, and the output end 203 and the output end 205 are respectively connected to the A/D of the microcontroller 204. The foot is connected to transmit the two-axis acceleration data of the carrier to the microcontroller 204 through the A/D pins respectively. Please refer to FIG. 6 and FIG. 6 to show the GPS/INS integration of FIG. System positioning output data Schematic diagram of the format. This embodiment is characterized in that the acceleration microcontroller 204 obtains accurate positioning per second from the data output of the existing satellite positioning system 200, while sampling the dual-axis accelerometer 202 ten times per second, which will be described in accordance with the present invention. The GPS/INS integrated positioning method is used to calculate the integrated GPS/INS positioning data. In this GPS/INS integrated positioning system, the microcontroller 204 further includes at least an output interface 206 for outputting the NMEA positioning output format of the vehicle. /INS integrates location data. In the preferred embodiment, the global positioning data of the satellite positioning system 200 has an output period of one second. In another preferred embodiment of the present invention, please refer to FIG. 7 , the micro control 17 1250303 is 2 0 4 more short j winter. After the inertia ^ secondary solid TX output pin 'can be used to output the carrier integrated With the micro control piano 2 materials. In addition, the satellite positioning system, the output 2 of the system 200 (Π satellite positioning RX pin connection, through the RX pin will be in the carrier, used to: two, two, out of the interface coffee, people out of the king ^ The bit data is not output from the microcontroller 2〇4 and the satellite 2: output from the output terminal 201 of the TX output system 200 of the microcontroller 2〇4, respectively, wherein the output period of the inertia period car is preferably ^ Second, the output week of the full-discrimination data is preferably 1 shift, as shown in Fig. 8. A magnetic 1帛1 2 3 4 5 6 figure 'Fig. 6 is a diagram showing a preferred embodiment according to the present invention. :.,,, gyroscope GPS / INS integrated positioning method flow: it: gyroscope ... / INS integrated positioning method, can be applied to carry:: 疋 position. This gyroscope-free "GPS / INS integrated positioning method first 100, start GPS / INS integration module, such as the PS / INS integrated positioning system in Figure 5 or Figure 7. Therefore 'start GPS / INS integration mode is to start the GPS / INS integrated positioning system of the microcontroller 2 〇 4 , satellite set 18 1 first 200 and inertial positioning system dual-axis accelerometer 202. Because, when the 2 twin positioning system starts, the satellite positioning system It is still correcting the time of its own and 3 most of the daily defensive period and can not provide the positioning output. At this time, because of (10) benefit two 4 school: time: so you can immediately use the two-axis accelerometer of the inertial positioning system;: 5 'And as described in step 101' to determine whether the INS sampling has been completed for 6 cycles: when the judgment result is "yes", the acceleration of the vehicle is recorded, and the speed and positioning are calculated, such as the step! G 2 In the preferred embodiment 1250303 of the present invention, the sampling period of 1NS is micro (leap second. Next, step 104 is performed to determine the satellite positioning system body. The time and parameters of the cost of the 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么 么At that time, it represents the satellite positioning system for effective positioning. Since the INS can not obtain the positional value of 14π with money, and only the speed value can be obtained, there will be accumulated positioning error. Therefore, the satellite positioning system starts to output Gp. When the 疋 4 枓 枓 , , , , , , , , , , , , , , , , , 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性(15), (16), (5), Λ (12), and GPS positioning). 'Peak-to-reverse (仏 囊), all INS positioning of the 削 position, that is, from to 1 f 性 定位 定位 定位 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 ΓΓ,ψΓ,ΦΓΛΓ) 〇ffn Ft € τ ,χ Λ—A starting condition is used to estimate the inertial positioning season. The starting condition is (V ^ ^ ', , and the positioning data at the moment of death (heart, Λ+ 1). In step 108, the variable ... represents the current time. Next, the number is: represents the upper-time, and then 'step 1 1 0, the difference is determined to have reached the sampling of the mussel positioning system. w W Month In the preferred embodiment of the invention, The sampling period of the clamp system is compared with the positioning data output period of the system: ^, that is, the inertial positioning 1 shift. When the judgment result is "No" 19 1250303, then it is judged again whether the inertial positioning result is "Yes" & u ^ L sampling period until the judgment 112, and the conventional judgment result is "Yes, when, the steps are performed. The biaxial velocity data of the 贝 疋 , , , , , 加速 加速 加速 加速 加速 加速 女 女 女 女 女 女 女 女 女 女 女 女 女 女 女 女 女 女 女 女 女 女 女 女 女 女 ax 女 ax ax ax ax Data, and use (10), (10), (5), and (6) to calculate the inertia: 6) Position the data and present the time (γ 腐 燃 〜 & & & & CL CL CL CL CL CL CL CL CL +1, t Λ +1) as inertial positioning, then, step 114, the output is pushed; in the out, the GPS positioning data output of the satellite positioning system is between the bit data output (M seconds output measurement = GPS positioning) The data output between Beca 'is also said that the next two, who; r cattle lock ", there are nine _ person's 1Ns positioning data output. " 丄 determine whether the satellite positioning system is effectively positioned. : 定位 when positioning Go to step (10) and judge again whether the sampling period of the inertial positioning system has been reached. : Breaking the starting condition of the Confucianism, calculating and 疋; so when the satellite positioning system has been effectively positioned, it represents the satellite positioning data rim of the next second, ", the GPS when entering the 定 定Providing an inertial positioning system, the second Γ 枓 以 以 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性The positioning output is 20 1250303, and the ii diagram shows the GPS-corrected positioning output of the ins per second under the WGS_84 coordinate system. It can be seen from the 1() diagram that the GPS is corrected every five seconds. The cumulative error of the result (4) affects the result of the positioning output. In the U-shaped towel, the INS is changed to the positioning output of (10) corrected per second. When the cumulative error of the INS is not very large, (10) is corrected - Secondly, the positioning output of the Approximation of the Given Gps is obtained, and the positioning output per second is increased ten times that of the original Gps. The preferred embodiment of the present invention can be used to invent the INS of the UPS (10) integrated positioning system using only the acceleration. No need to use expensive gyroscopes. The cost of gps/INS integration positioning.

According to the preferred embodiment of the present invention, another advantage of the present invention is that the gyro-free//INS integrated positioning system of the present invention can be used.

::j: The positioning calculation of the INS, and can increase the positioning round-trip report per second to ten times. Therefore, GPS can be used to make up for the lack of GPS. Depending on the preferred embodiment of the present invention, the re-exposure of the present invention is that there is no gyro-like coffee (10) integrated positioning method, which can be borrowed from each other. , the positioning output. 2. Using GPS positioning data to correct m can correct the cumulative error of (10), and thus achieve the purpose of the discontinuity of the output. </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> </ RTI> </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; (χ, y, Z) is a schematic diagram of the Earth coordinate system. Figure 2 is a diagram showing the relationship between the INS carrier coordinate system of the plane motion and the navigation coordinate system (N, E). Figure 3 shows the car navigation. The velocity vector triangle under the coordinate system is not intended. Fig. 4 is a schematic diagram showing the assumption in the axial direction of Vki. Fig. 5 is a diagram showing a GPS/INS integrated system according to a preferred embodiment of the present invention. Figure 6 is a schematic diagram showing the data format of the positioning wheel of the Gps/INS integrated system of Figure 5. Figure 7 is a schematic diagram of a GPS/INS integrated system according to another preferred embodiment of the present invention. Figure 8 shows the Gps/INS of Figure 7. FIG. 9 is a flow chart showing a GPS/INS integrated positioning method without a gyroscope according to a preferred embodiment of the present invention. FIG. 10 is a diagram showing the WGS_84. The INS under the coordinate system is GPS-corrected for positioning results every five seconds. 22 1250303 Figure 11 shows the positioning results of the INS per second corrected by GPS under the WGS-84 coordinate system. Description] 100: Start 101: 0.1 second sampling time to? 102: Record acceleration (ax, ay) 104: Is GPS effective positioning? 106 ··Set INS start condition to (, reverse push (OO/KD and output INS positioning) Data from k-Ι to k=l 108: Record and output GPS positioning data, set INS start condition 110: 0.1 second sampling time to ? 112: sampling acceleration (ax, ay), calculation (〇〇 =, ;), And as the starting condition of the next moment 114: Output INS positioning data 116: Is the GPS effectively positioned? 200: Satellite positioning system 201: Output 202: Dual-axis accelerometer 203: Output 204: Microcontroller 2 0 5 · Output 206 : Output interface 23

Claims (1)

1250303 Picking up, patent application scope 1 · An integrated positioning system for a vehicle, suitable for positioning a carrier, and the integrated positioning system comprises at least: a controller, the microcontroller comprising at least two analog/digital digits (A/ D) an input and an RX pin; a satellite positioning system, the satellite positioning system is coupled to the RX pin of the microcontroller to transmit the satellite positioning data of the carrier to the micro control through the Rx pin And an inertial positioning system having a two-axis accelerometer for measuring the biaxial acceleration data of the m, wherein the biaxial accelerating juice is connected to the analog/digital inputs, the micro control The axes are respectively sampled through the analog/digital pins, and the axial acceleration data of the carrier is sampled.仃, where the satellite positioning data has an output period of 1 second. 3. As described in the patent application scope i, the device is integrated. The microcontroller further includes at least one output interface = one GPS/INS integration. Positioning data. a ^Hai system, where the microcontroller is at least packaged two::::::: 24 1250303 The carrier is integrated and one of the inertial positioning poor materials. 5. The integrated positioning system of the vehicle according to item 4 of the patent application scope, wherein the output period of the inertial positioning data is 〇·1 second. 6. An integrated positioning system for a vehicle as claimed in claim 4, wherein the satellite positioning system further includes an output to rotate a satellite positioning data of the carrier. The integrated positioning method of the vehicle is adapted to locate a vehicle, and the GPS/INS integrated positioning method of the gyroscope-free device at least comprises: starting a GPS/INS integrated module, wherein the GPS/INS integrated module Include at least a microcontroller, a satellite positioning system, and an inertial positioning system; sampling and recording acceleration data of the vehicle; determining whether the satellite positioning system is effectively positioned; and setting the inertia when the sanitary clamp system is effectively positioned a second starting condition (, ΛΓ) of the positioning system, and using the inertial positioning system, first (four) a starting condition (F strict, ^ reverse push the inertial positioning system of the day to mark 1Ns positioning data', ), from W to k^\ ; output the satellite fixed sheet metal μ a 疋 position 疋 position before the INS positioning data, from ... " =1; ° recorded and exported moxibustion time of the satellite positioning system GPS positioning resource 25 1250303; setting one of the inertial positioning systems w'mn' & initial condition to determine whether one of the inertial positioning system sampling period; when located in the sampling period of the inertial positioning system Acceleration data of sampling; /, 4...H f 贝 疋 _ 此 此 此 此 此 此 此 ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; When the satellite positioning system is not effectively positioned, it returns to the step of determining whether the JJ has reached the sampling period of the inertial positioning system, and waits until the expiration cycle of the mussel-type system is reached, sampling the The accelerating sound of the vehicle is Ψ (V1NS u/INS ώΙΝ8 21ns Λ Jta, and the position is 定位 α α α α v v v v Λ Λ Λ Λ 呌 呌 呌 呌 呌 呌 呌 呌 呌 呌 呌 呌 呌 呌 呌 呌 呌 呌 呌 呌 呌 呌 呌 呌 呌 呌 呌 呌Judging whether the positioning system of the satellite positioning system is effectively positioned, the satellite position is determined, wherein when the satellite determines the starting position of the bit at the moment, the data is output and is used as the next - 8. For example, the seventh item of the patent application scope The method, wherein the inertial positioning year is integrated with the positioning position of the vehicle, and the sampling period is 〇·&quot;less. 9·If the patent scope is the seventh item, the method, wherein the inertial positioning is right The integrated positioning side of the vehicle, H, has an accelerometer. 26 1250303 Method, Γ·中:: Please refer to the integrated positioning of the vehicle mentioned in item 9 of the patent range... Accelerometer measures the x-axis and y-axis acceleration of the vehicle The output period of the positioning data of the integrated positioning method/Hai satellite positioning system of the vehicle mentioned in the seventh paragraph of the patent scope is leap second. Method: 1:1: The integrated positioning of the plant mentioned in item 7 The satellite positioning of the satellite: when the 疋 疋 有效 有效 有效 有效 有效 有效 有效 有效 有效 有效 有效 有效 有效 有效 有效 有效 有效 有效 有效 有效 有效 有效 有效 GPS GPS GPS GPS GPS GPS GPS GPS GPS GPS GPS GPS GPS GPS GPS m ^only system 13·If you want to use the integration method of the vehicle described in item 7 of Weiwei, the reverse of the INs side of the inertial positioning system, at least the use of the squareware system, the heart咖\v U δίηΛ I - I ~ 叫 outside _, 禅), 卜μ~~乡), 渉.ι)+娜) and; 1(0 ΔΑ (8). 14. As described in claim 7 The integrated positioning method of the vehicle, the calculation of the inertial positioning system in h 27 1250303; (), at least including |4| = suppression) + zi2 (nine) «^a2x(k) + a2y(k); \AVk\ ^T\ak\ , = tan—1 ^k=\ Wk - i^k-il , ^7k AVk ^E(k,=9ksiny/kT, engraved positioning data using equation ak+Pk+Yk=兀, AN (k) = Vk cos^ · T , (/&gt;{k) = (/&gt;(kl) + A(/&gt;(k)- and ;l〇) = ;L(众一1) + A ;l (众). 28