CN114609659A - Method and system for real-time correction of vehicle positioning data in integrated navigation system - Google Patents

Abstract

Embodiments of the present application provide a real-time correction method and system for vehicle positioning data in an integrated navigation system. The method includes reading the positioning data including the previous positioning data and the current positioning data, and determining whether the current positioning data has a fixed solution or a floating-point solution; if not, determining that the GNSS signal in the integrated navigation system is blocked and obtaining the geographic position information data; then, first determine whether the previous positioning state is a normal state; if so, then determine whether the current positioning state is an abnormal state; data is corrected. The present application can improve the problem that in the integrated navigation system, when the vehicle is in an area where the GNSS signal is blocked, the positioning data cannot be corrected for the abnormal vehicle positioning, and the effect of correcting the positioning data for the abnormal vehicle positioning can be achieved.

Description

Method and system for real-time correction of vehicle positioning data in integrated navigation system

technical field

The embodiments of the present application relate to the technical field of intelligent transportation, and in particular, to a method and system for real-time correction of vehicle positioning data in an integrated navigation system.

Background technique

In the case of satellite occlusion, the Global Navigation Satellite System (GNSS) / Strapdown Inertial Navigation System (SINS) combined navigation is a current vehicle positioning method. Among them, GNSS can provide high-precision absolute position information, but it is easily affected by the environment, and the dynamic performance lags behind, and the update rate is low; SINS has the advantages of high short-term accuracy, good dynamic performance, high update rate, and is not affected by the environment. However, with the growth of time, the errors continue to accumulate, and it is difficult to work independently for a long time. According to their advantages and disadvantages, GNSS and SINS have good complementarity, and GNSS/SINS integrated navigation system is suitable for vehicle positioning.

In the process of implementing the present invention, the inventor found that in the GNSS/SINS integrated navigation system, when the vehicle is in the area blocked by the GNSS signal, the positioning data cannot be corrected for the abnormal vehicle positioning.

SUMMARY OF THE INVENTION

The embodiments of the present application provide a method and system for real-time correction of vehicle positioning data in an integrated navigation system, which can improve in the GNSS/SINS integrated navigation system, when the vehicle is in an area blocked by GNSS signals, it is impossible to correct abnormal vehicle positioning. Correction and prediction of positioning data.

In a first aspect of the present application, a real-time correction method for vehicle positioning data in an integrated navigation system is provided, including:

Reading the positioning data of the positioning device, the positioning data includes the previous positioning data and the current positioning data;

Determine whether the current positioning data has a fixed solution or a floating-point solution;

If not, determine that the GNSS signal in the integrated navigation system is blocked, and obtain the geographic location information data of the positioning device;

According to the preset number of times, the previous positioning data and the geographic location information data, determine whether the previous positioning state of the positioning device is a normal state;

If yes, then according to the current positioning data, the previous positioning status and the geographic position information data, determine whether the current positioning status of the positioning device is an abnormal status;

If so, correct the current positioning data according to the previous positioning data, the previous positioning status, the geographic location information data and the current positioning status.

By adopting the above technical solutions, the positioning data of the positioning device is read, and the positioning data includes the previous positioning data and the current positioning data, and then it is judged whether the current positioning data has a fixed solution or a floating-point solution; if the current positioning data has neither a fixed solution nor a floating-point solution Click the solution to determine that the GNSS signal in the integrated navigation system is blocked, and obtain the geographic location information data of the positioning device; and then judge the pre-positioning status of the positioning device according to the preset times, previous positioning data and geographic location information data Whether it is a normal state, if the previous positioning state is a normal state, judge whether the current positioning state of the positioning device is an abnormal state according to the current positioning data, the previous positioning state and the geographic location information data. If the current positioning state is an abnormal state, according to The current positioning data is corrected by the previous positioning data, the previous positioning status, the geographic position information data and the current positioning status; it can be seen from the above that when the positioning equipment is in the area where the GNSS signal is blocked, the positioning status in front of the positioning equipment is normal and the current positioning is In the case of abnormal state, the abnormal vehicle positioning can be corrected, which can improve the problem that in the GNSS/SINS integrated navigation system, when the vehicle is in the area blocked by the GNSS signal, the positioning data cannot be corrected for the abnormal vehicle positioning. In the GNSS/SINS integrated navigation system, when the vehicle is in the area blocked by the GNSS signal, the effect of correcting the positioning data of the abnormal vehicle positioning is realized.

In a possible implementation manner, the preset number of times includes a first preset number of times and a second preset number of times;

According to the preset number of times, the previous positioning data and the geographic location information data, judging whether the previous positioning state of the positioning device is a normal state, including:

Determine whether the collection times of the pre-positioning data are less than the first preset times; if so, the pre-positioning state of the positioning device is an abnormal state;

If not, then determine whether the pre-positioning data has a fixed solution or a floating-point solution; if so, the pre-positioning state of the positioning device is a normal state;

If not, judge whether the pre-positioning data is continuously corrected within the second preset number of times; if so, the pre-positioning state of the positioning device is an abnormal state; if not, the pre-positioning The status is normal.

In a possible implementation manner, determining whether the current positioning state of the positioning device is an abnormal state according to the current positioning data, the previous positioning state and the geographic location information data includes:

According to the current positioning data and the geographic location information data, determine whether the current positioning is outside the preset working area or within the preset inaccessible area; if so, the current positioning state of the positioning device is an abnormal state;

If not, then determine whether the difference between the current positioning data and the previous positioning data exceeds the difference threshold, and if so, the current positioning state of the positioning device is an abnormal state;

If not, it is determined that the current positioning data, the previous positioning data and the geographic location information data are all related, and if so, the current positioning state of the positioning device is an abnormal state.

In a possible implementation manner, the abnormal state of the current positioning state includes a state of too far distance, a state of too large an angle, a state of high jumping, and a state of passing through an entity;

The correction of the current positioning data according to the previous positioning data, the previous positioning status, the geographic location information data and the current positioning status includes:

When the abnormal state of the current positioning state is the absolute positioning abnormal state or the distance is too far state, the adjustment distance is calculated according to the previous positioning data, the current positioning data and the geographic location information data, and the adjustment distance is adjusted according to the adjustment distance. The current positioning data is corrected;

When the abnormal state of the current positioning state is that the angle is too large, the adjustment angle is calculated according to the previous positioning data, the current positioning data and the geographic position information data, and the current positioning data is adjusted according to the adjustment angle. make corrections;

When the abnormal state of the current positioning state is a height jump state, the adjustment height is calculated according to the previous positioning data, the current positioning data and the geographic position information data, and the current positioning data is adjusted according to the adjustment height. correct;

When the abnormal state of the positioning state is a traversing entity state, a projection point is obtained according to the previous positioning data, the current positioning data and the geographic position information data, and the current positioning data is corrected according to the projection point .

In a possible implementation, it also includes:

The pre-position state is maintained based on a doubly circular linked list and a hash map.

In a possible implementation manner, after the obtaining the geographic location information data of the positioning device, the method includes:

Determine whether the data form of the geographic location information data and the positioning data are the same;

If not, the data form of the geographic location information data is converted according to the data form of the positioning data.

In a possible implementation, it also includes:

Build an index according to the transformed geographic location information data, and generate an index list;

The transformed geographic location information data is retrieved based on the index list.

In a second aspect of the present application, a real-time correction system for vehicle positioning data in an integrated navigation system is provided, including:

a reading module for reading the positioning data of the positioning device, the positioning data including the previous positioning data and the current positioning data;

a first judgment module, used for judging whether the current positioning data has a fixed solution or a floating-point solution;

an acquisition module, configured to determine that the GNSS signal in the integrated navigation system is blocked if the current positioning data has neither a fixed solution nor a floating-point solution, and obtain the geographic location information data of the positioning device;

a second judging module, configured to judge whether the previous positioning state of the positioning device is a normal state according to a preset number of times, the previous positioning data and the geographic location information data;

A third judging module, configured to judge whether the current positioning status of the positioning device is abnormal according to the current positioning data, the previous positioning status and the geographic position information data if the previous positioning status is a normal status state;

A correction module, configured to correct the current positioning data according to the previous positioning data, the previous positioning status, the geographic location information data and the current positioning status if the current positioning status is an abnormal status.

In a third aspect of the present application, an electronic device is provided. The electronic device includes: a memory and a processor, where a computer program is stored on the memory, and the processor implements the above method when executing the computer program.

In a fourth aspect of the present application, there is provided a computer-readable storage medium having a computer program stored thereon, the computer program implementing the steps of the method when executed by a processor.

It should be understood that the content described in this Summary is not intended to limit key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become readily understood from the following description.

Description of drawings

The above and other features, advantages and aspects of various embodiments of the present application will become more apparent when taken in conjunction with the accompanying drawings and with reference to the following detailed description. In the drawings, the same or similar reference numbers refer to the same or similar elements, wherein:

FIG. 1 shows a flowchart of a method for real-time correction of vehicle positioning data in an integrated navigation system in an embodiment of the present application.

FIG. 2 shows a flowchart of judging the front positioning state of the positioning device in the embodiment of the present application.

FIG. 3 shows a flowchart of judging the current positioning state of the positioning device in the embodiment of the present application.

FIG. 4 shows a schematic diagram of the geographic location information data after format conversion in the embodiment of the present application.

FIG. 5 shows a structural diagram of a real-time correction system for vehicle positioning data in an integrated navigation system in an embodiment of the present application.

FIG. 6 shows a schematic structural diagram of an electronic device suitable for implementing the embodiments of the present application.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application.

The real-time correction method for vehicle positioning data in the integrated navigation system provided by the embodiment of the present application can be applied to the technical field of intelligent transportation.

An integrated navigation system (INS) is a navigation system that combines two or more navigation devices on carriers such as aircraft and ships. In the embodiment of the present application, the integrated navigation system is a Global Navigation Satellite System (GNSS for short)/Inertial Navigation System (INS for short) integrated navigation, that is, a GNSS/INS integrated navigation system.

Among them, the global navigation satellite system is a space-based radio navigation system that relies on the satellite pseudorange, carrier, ephemeris, time and clock offset information provided by the navigation satellite for real-time positioning. Provides users with 24/7 3D coordinates and velocity and time information from any location. The global navigation satellite system has high precision and stable and non-diverging errors, and can provide high-precision absolute position information. However, GNSS is easily affected by the surrounding environment, such as occlusion by trees and buildings, and multi-path effects caused by highly reflective objects such as mirrors. In addition, the dynamic performance of GNSS is lagging and the update rate is low.

Inertial navigation system, also known as inertial reference system, is an autonomous navigation system that does not rely on external information and does not radiate energy to the outside (such as radio navigation). Its working environment includes not only air and ground, but also underwater. The basic working principle of the inertial navigation system is based on Newton's laws of mechanics. By measuring the acceleration of the carrier in the inertial reference system, integrating it with time, and transforming it into the navigation coordinate system, it can be obtained in the navigation coordinate system. information such as speed, yaw angle and position.

The inertial navigation system belongs to the reckoning navigation method, that is, the position of the next point is calculated from the position of a known point according to the heading angle and speed of the moving body measured continuously, so the current position of the moving body can be continuously measured. The gyroscope in the inertial navigation system is used to form a navigation coordinate system, so that the measurement axis of the accelerometer is stabilized in the coordinate system, and the heading and attitude angle are given; The velocity can be obtained by one integration, and the displacement can be obtained by integrating the velocity once over time.

The inertial navigation system has good concealment and is not affected by external electromagnetic interference. It can work in the air, on the surface of the earth and underwater in all weather and at all times, and can also provide position, speed, heading and attitude angle data. At the same time, the navigation information generated by the inertial navigation system has good continuity, low noise, high data update rate, and good short-term accuracy and stability. However, due to the integration of the navigation information of the inertial navigation system, the positioning error increases with time, the long-term accuracy is poor, and a long initial alignment time is required before each use, so the time information cannot be given.

In the actual application of the GNSS/INS integrated navigation system, when the GNSS signal is blocked, the vehicle will drift due to the influence of the GNSS signal blocking in the area where the GNSS signal is blocked.

At present, common drift phenomena can be divided into short-time drift and long-term drift according to the length of time. Among them, short-time drift refers to the situation that can return to normal in a short time (such as 5 seconds).

Short-term drift includes short-term long-distance drift, short-term inaccessible area drift and short-term line crossing. Short-term long-distance drift refers to the vehicle drifting to a point that cannot be reached at the current speed, and then returns to the normal position within a few seconds; short-term inaccessible area drift refers to the vehicle drifting to a point that can be reached at the current speed, but Specify inaccessible areas for pools, etc., and then return to the normal position within a few seconds; a short-term connection cross means that the front and rear positions of the vehicle are in the normal area and the distance basically meets the requirements, but after the connection, it will cross the area or With the problem of crossing the road, the corners are more serious.

Long-term drift includes long-term long-distance drift, long-term inaccessible area drift, long-term drift along the line around buildings and drift in stop state. Long-term long-distance drift means that the vehicle drifts to a point that cannot be reached at the current speed, and remains in a drifting state for tens of seconds or even several minutes; long-term inaccessible area drift refers to the vehicle drifting to a point that can be reached at the current speed, However, for areas such as pools that are inaccessible, they are in a drifting state for tens of seconds or even minutes; drifting along the line around buildings for a long time means that the vehicle is not on the road and is basically always around, resulting in chaotic trajectory display; drifting in a stopped state Indicates that the vehicle is actually at a standstill, but has been drifting around a certain point.

To sum up, in the GNSS/SINS integrated navigation system, when the vehicle is in the area blocked by the GNSS signal, it is impossible to correct the positioning data of the abnormal vehicle positioning, so as to realize the real-time positioning of the vehicle.

To solve this technical problem, embodiments of the present application provide a real-time correction method for vehicle positioning data in an integrated navigation system. In some embodiments, the method for real-time correction of vehicle positioning data in the integrated navigation system may be performed by an electronic device.

FIG. 1 shows a flowchart of a method for real-time correction of vehicle positioning data in an integrated navigation system in an embodiment of the present application. Referring to FIG. 1, the method for real-time correction of vehicle positioning data in the integrated navigation system in this embodiment includes:

Step S101: Read positioning data of a positioning device, where the positioning data includes previous positioning data and current positioning data.

Step S102: Determine whether the current positioning data has a fixed solution or a floating-point solution.

Step S103: If the current positioning data has neither a fixed solution nor a floating-point solution, determine that the GNSS signal in the integrated navigation system is blocked, and obtain the geographic location information data of the positioning device.

Step S104: Determine whether the previous positioning state of the positioning device is a normal state according to a preset number of times, the previous positioning data and the geographic location information data.

Step S105: If the previous positioning state is a normal state, determine whether the current positioning state of the positioning device is an abnormal state according to the current positioning data, the previous positioning state and the geographic location information data.

Step S106: If the previous positioning state is an abnormal state, correct the current positioning data according to the current positioning data, the previous positioning state, the geographic location information data and the current positioning state.

By adopting the above technical solutions, the positioning data of the positioning device is read, and the positioning data includes the previous positioning data and the current positioning data, and then it is judged whether the current positioning data has a fixed solution or a floating-point solution; if the current positioning data has neither a fixed solution nor a floating-point solution Click the solution to determine that the GNSS signal in the integrated navigation system is blocked, and obtain the geographic location information data of the positioning device; and then judge the pre-positioning status of the positioning device according to the preset times, previous positioning data and geographic location information data Whether it is a normal state, if the previous positioning state is a normal state, judge whether the current positioning state of the positioning device is an abnormal state according to the current positioning data, the previous positioning state and the geographic location information data. If the current positioning state is an abnormal state, according to The current positioning data is corrected by the previous positioning data, the previous positioning status, the geographic position information data and the current positioning status; it can be seen from the above that when the positioning equipment is in the area where the GNSS signal is blocked, the positioning status in front of the positioning equipment is normal and the current positioning is In the case of abnormal state, the abnormal vehicle positioning can be corrected, which can improve the problem that in the GNSS/SINS integrated navigation system, when the vehicle is in the area blocked by the GNSS signal, the positioning data cannot be corrected for the abnormal vehicle positioning. In the GNSS/SINS integrated navigation system, when the vehicle is in the area blocked by the GNSS signal, the effect of correcting the positioning data of the abnormal vehicle positioning is realized.

In step S101, due to the phenomenon of disorder that may be caused by network and other reasons, in the GNSS/SINS integrated navigation system, real-time correction cannot handle the disorder. Therefore, the read positioning data of the positioning device are all real-time data. A positioning device is a device installed on a vehicle (mobile device) that monitors vehicle movement data, such as a GPS locator.

In the embodiment of the present application, the positioning data is read cyclically in the message queue or cache in the module for storing the data in the real-time correction system of the vehicle positioning data in the integrated navigation system. The positioning data is the real-time positioning data during the driving process of the vehicle. If the positioning data is not real-time data, that is, historical data, real-time correction cannot be achieved.

In the embodiment of the present application, when the positioning data is not real-time data, the non-real-time positioning data can be preprocessed based on the data synchronization processing method, so that the non-real-time positioning data is effective, and the vehicle in the integrated navigation system can be realized. Positioning data history correction. For example, in scenarios such as dealing with traffic accidents, the correction of historical positioning data is performed to assist in the comparison of the original state and the corrected state.

In the embodiment of the present application, when judging whether the read positioning data is real-time positioning data during the driving of the vehicle, the current timestamp of the positioning device and the vehicle positioning data in the integrated navigation system are corrected in real time for the algorithm service in the system. The current time stamps are compared. If the two time stamps match, the read positioning data is the real-time positioning data during the driving process of the vehicle.

In this embodiment of the present application, the positioning data includes device ID, positioning time, message type, longitude, latitude, elevation, direction, speed, and number of satellites.

In the embodiment of the present application, an example of the data format of the positioning data is as follows:

{

"altitude": 81,

"direction": 0,

"gpstime": 1644984824566,

"lat": 39.9195022,

"lon": 118.1253256,

"ID": "18877777777",

"msgType": "realtime",

"satellites": 8,

"speed": 12

}

The meanings corresponding to the fields in the data format of the positioning data are shown in Table 1.

Table 1: Positioning data data format relationship comparison table

field meaning ID Device ID gpstime positioning time msgType Message type (historical or real-time) lon longitude lat latitude altitude Elevation direction direction speed speed satellites number of satellites

In this embodiment of the present application, the current positioning data is real-time current positioning data, and the previous positioning data is a collection of real-time positioning data obtained within a preset time (eg, within 10 seconds) before the current positioning data, such as current positioning data The positioning data of the first 10 seconds is the previous positioning data of the current positioning data.

In step S102, the fixed solution refers to the unknown parameter solution (such as baseline vector, position coordinates, tropospheric parameters, etc.) obtained by the equation solution after the integer ambiguity is fixed to an integer during the baseline solution process. The floating-point solution refers to the unknown parameter solution obtained by directly using the floating-point result obtained by the least quadratic solution without fixing the ambiguity to an integer during the baseline solution process. In the GNSS/SINS integrated navigation system, the fixed solution is the most accurate data, the accuracy is generally 3-5 cm, which can basically be used as the root point of the graph, while the floating-point solution has a relatively low accuracy, sometimes barely within 10 cm The accuracy can also be used if measuring fish ponds or mountains.

In the embodiment of the present application, it is determined whether the current positioning data has a fixed solution or a floating-point solution, that is, it is determined that the current positioning data includes coordinate data with a positioning accuracy of 3-5 cm or coordinate data with a positioning accuracy of within 10 cm.

In step S103, if there is neither a fixed solution nor a floating-point solution in the current positioning data, it means that the current positioning accuracy is above 10 cm, and it can be determined that the GNSS signal in the integrated navigation system is blocked. At this time, the current positioning state is marked as a suspected abnormal positioning state, and the current positioning data will be processed in the next step.

In this embodiment of the present application, when the current positioning state is a suspected abnormal positioning state, it is determined whether the current positioning state is abnormal or not. Before the judgment, the acquisition of the geographic location information data of the positioning device is used as one of the references for judging whether the current positioning state is abnormal.

In the embodiment of the present application, the geographic location information data of the positioning device can be directly obtained when the positioning data is read, or the geographic location information of the positioning device can be obtained after judging whether the current positioning data has a fixed solution or a floating-point solution data.

In this embodiment of the present application, the above-mentioned node that obtains the geographic location information data of the positioning device does not affect the result of subsequent correction of the current positioning data. However, choosing to obtain the geographic location information data of the positioning device after judging whether the current positioning data has a fixed solution or a floating-point solution can save computing resources and improve computing speed.

In the embodiment of the present application, the data form includes a coordinate system and a data format, and the geographic location information data can be obtained in many ways, and may come from different coordinate systems and data formats. Therefore, when the data format of the geographic location information data is consistent with the data format of the positioning data, that is, the coordinate system of the geographic location information data is consistent with the coordinate system of the positioning data, and the data format of the geographic location information data is consistent with the data format of the positioning data, only Real-time correction of positioning data can be performed,

In step S104 , the preset number of times includes the total number of times the positioning data is obtained within a preset time (eg, within 10 seconds) of obtaining the previous positioning data and the number of times the previous positioning data is continuously corrected. For example, if it is set to obtain positioning data once per second and the correction limit is 3 consecutive times, it can be known that within the preset time of 10 seconds, the total number of positioning data in the preset times is 10, and the previous positioning data is continuously corrected. The number of times is 3.

In the embodiment of the present application, based on the consistent data form of the pre-positioning data and the geographical position information data, the nature of the root point of the pre-positioning data graph, and the geometrical geographical position information data, the relationship between the pre-positioning data and the geographical position information data is The relationship can be understood as the relationship between points, line segments and geometric figures, and finally judge whether the positioning is normal according to the relationship between points, line segments and geometric figures.

Whether the current positioning state is normal is the basis for judging whether the current positioning state is abnormal and correcting, that is, only the previous positioning state is normal, the abnormal judgment and correction of the current positioning state can be performed.

In the embodiment of the present application, the pre-positioning state will continuously record the positioning data within a preset time (within 10 seconds), including longitude and latitude, altitude, speed, direction, and positioning state.

In this embodiment of the present application, the pre-positioning state includes an initialization state, a normal pre-positioning state, an abnormal pre-positioning state, and a pre-positioning correction state. Among them, the initialization state refers to the initial operation stage, and the number of acquisitions of the previous positioning data has not reached the preset number of times. At this time, because the number of samples collected is too low, the judgment of the current positioning state will generate a large error, and the current operation will be ended. . The normal state of the front positioning means that the positioning data of the front positioning data have fixed solutions or floating point solutions, that is, the front positioning data all have high-precision coordinate data. At this time, the collected sample data can be used as the basis for judging the current positioning state. Subsequent data processing will take place. The abnormal status of the previous positioning refers to the positioning correction phenomenon in the positioning data in the previous positioning data. The accuracy rate of the sample data collected at this time is reduced, and it is no longer suitable as a basis for judging the current positioning status, and the current operation will be ended. . The pre-positioning correction state refers to a state other than the initialization state, the pre-positioning normal state and the pre-positioning abnormal state. At this time, the positioning state may still be corrected and subsequent data processing will be performed.

To sum up, it can be seen that if the current positioning state is the normal state of the front positioning or the correction state of the front positioning, it is determined that the front positioning state is the normal state. On the contrary, that is, the current positioning state is the initialization state or the previous positioning abnormal state, then it is determined that the previous positioning state is an abnormal state.

In step S105, the current positioning status includes undetermined status, historical data status, absolute positioning abnormal status, relative positioning abnormal status, unknown status, positioning abnormality corrected status, positioning abnormality uncorrectable status and current positioning normal status. Wherein, the abnormal state of the current positioning state includes the abnormal state of absolute positioning, the abnormal state of relative positioning, the state of abnormal positioning that has been corrected, and the state of abnormal positioning that cannot be corrected.

In this embodiment of the present application, the absolute positioning abnormal state specifies that the position is in an impossible position. The abnormal state of absolute positioning includes the state of the positioning device outside the working area or the state in the inaccessible area. For example, if the positioning device has a definite work area, such as an airport, a wharf, etc., the impossible location is outside the work area and some inaccessible areas in the work area, such as some buildings, pools, etc.

In the embodiment of the present application, the method for judging the absolute abnormal state needs to perform geometric judgment in combination with geographic location information data, that is, it is necessary to draw the working area and the inaccessible area on the map, and then judge whether the point at the current moment is within these areas. .

In the embodiment of the present application, the abnormal relative positioning state is a situation in which some abnormal movements occur compared with the previous normal operation state. The abnormal state of relative positioning includes the state of too far distance, the state of too large angle, the state of high jump and the state of traversing the entity. For example, when the relative distance is too far, the included angle with the previous running track is too large, and the lane line is crossed. To judge the relative positioning abnormality, it is necessary to first determine what kind of positioning state can be regarded as a normal state.

In the embodiment of the present application, the judgment of the abnormal state of the relative positioning is mainly to judge whether there is a problem in the current positioning with respect to the previous operation information. The judgment logic corresponding to the specific judgment type is as follows:

Distance too far state: Calculate the Euclidean distance based on the Mercator coordinates of the nearest anchor point between the current anchor point and the previous anchor point. If the distance is greater than 1.2 times the distance predicted by the speed of the previous positioning state, it is marked as "relative positioning abnormal state", and the abnormal type is "distance too far".

Excessive angle status: Calculate the difference between the angle carried in the GPS positioning information of the nearest point between the current positioning point and the previous positioning point. If the angle difference is greater than 90°, it is marked as "relative positioning abnormal state", and the abnormal type is "angle too large".

Altitude jumping state: Calculate the difference between the altitude carried in the GPS positioning information of the current positioning point and the nearest point in the previous positioning point. If the height difference is greater than 10 meters, it is marked as "relative positioning abnormal state", and the abnormal type is "altitude jump".

Cross-entity status: When the distance, angle, and height are all normal, if the connection between the current positioning point and the nearest point in the previous positioning point intersects with the green belt and some geometric figures of the building, it will be marked as "relative positioning abnormal state" ", the exception type is "entity crossing".

In the embodiment of the present application, the determination of the abnormal state of the previous positioning state is to use the current positioning point (current data) and the type of geometric figure mark (geolocation information data) that need to participate in the calculation as parameters, and calculate the positioning point and the geometric figure. A containment relationship between graphics to determine whether a point is outside the work area or within an inaccessible area. If the positioning point is outside the work area or in the inaccessible area, the point is marked as "absolute positioning exception state". At this time, the positioning point can participate in the next positioning correction; otherwise, and the previous positioning state is normal, continue to participate in the next relative positioning abnormality judgment. However, if the previous positioning status is "abnormal", the current positioning status is marked as "unknown" and does not participate in the subsequent relative positioning abnormality judgment.

It should be noted that the judgment process of the current positioning status as abnormal status is sequential, that is, "judgment outside the working area" -> "judgment in the inaccessible area" -> "judgment if the distance is too far" -> "judgment if the angle is too large" "->"Altitude Jump Judgment"->"Through Entity Judgment". In the above judgment process, once it is judged to be abnormal, subsequent judgment will not be made.

In step S106, only when it is determined that the current positioning state is an abnormal state and the previous positioning state is a normal state, the current positioning data is adjusted, and the current positioning state has been corrected.

In this embodiment of the present application, after the state of the current anchor point is corrected, the predicted anchor point may itself be an abnormal point. For the case where it is still an abnormal point after correction, the "prediction strength" is gradually reduced and fine-tuning (correction) is performed. For example, when predicting the positioning point after the speed and direction, the prediction length between them is reduced to half of the previous prediction length, and other (such as angle, height) are processed in the same way.

In the embodiment of the present application, in order to avoid infinite loop processing, the fine-tuning is only performed 5 times. If more than 5 times are still abnormal, it means that the correction fails, and the positioning point will be marked as abnormal positioning and cannot be corrected.

It should be noted that, in some embodiments, when the GNSS signal is blocked or the positioning data is unreliable due to other reasons (such as long- and short-term short-distance drift, inaccessible area drift, and connection crossing, etc.), the above solution The positioning data can be corrected; in other embodiments, although the GNSS/SINS integrated navigation system can improve the overall navigation performance and navigation accuracy of the navigation system, there are uncertain factors and abnormal information such as the accuracy limitation of the device itself or the instability of the signal. , which leads to a large estimation error in the combined solution performed by the conventional filtering algorithm, and even the filtering results are divergent. The above solution can also correct the positioning data.

In some embodiments, in step S104, the preset number of times includes a first preset number of times and a second preset number of times, and step S104 includes: step A1-step A3.

Step A1: Determine whether the collection times of the pre-positioning data are less than the first preset times; if so, the pre-positioning state of the positioning device is an abnormal state.

Step A2: If the pre-positioning state is not an abnormal state, determine whether the pre-positioning data has a fixed solution or a floating-point solution; if so, the pre-positioning state of the positioning device is a normal state.

Step A3: If the pre-positioning data does not have a fixed solution or a floating-point solution, then determine whether the pre-positioning data is continuously corrected within the second preset number of times; The positioning state is an abnormal state; if not, the previous positioning state of the positioning device is a normal state.

FIG. 2 shows a flowchart of judging the front positioning state of the positioning device in the embodiment of the present application. Referring to Figure 2, if the positioning data in the previous positioning data is less than the set collection times (the first preset number of times), it means that the previous positioning state is an initialization state, that is, the previous positioning state is an abnormal state. state to judge. If the positioning data in the previous positioning data reaches or exceeds the set number of acquisitions (the first preset number of times), it means that the positioning data in the current previous positioning data has met the preset number of samples to be collected, and there is a status of the current positioning data. After making a judgment, the positioning data in the previous positioning data will be further judged next.

In the embodiment of the present application, if the positioning data in the previous positioning data has a fixed solution or a floating-point solution, it means that the positioning data in the previous positioning data has high-precision coordinate data, and the previous positioning state is the normal state of the previous positioning. , that is, the pre-positioning state is the normal state. If the positioning data in the previous positioning data has the positioning correction phenomenon for several consecutive times (the second preset number of times), it means that the previous positioning state is the abnormal front positioning state, that is, the previous positioning state is the abnormal state.

It should be noted that for states other than the initialization state, the normal pre-positioning state, and the abnormal pre-positioning state, for example, during the correction process, the pre-positioning state will be set to "positioning abnormality corrected". In the positioning data, if there is no "positioning abnormality corrected" several times in a row, it means that the former positioning state is the former positioning correction state, that is, the former positioning state is the normal state.

In some embodiments, step S105 includes: step B1-step B3.

Step B1: According to the current positioning data and the geographic location information data, determine whether the current positioning is outside the preset working area or within the preset inaccessible area; if so, the current positioning state of the positioning device is an abnormal state.

Step B2: If the current positioning is not outside the preset working area or the preset inaccessible area, then determine whether the difference between the current positioning data and the previous positioning data exceeds the difference threshold, and if so, then the positioning device The current positioning status is abnormal.

Step B3: If the difference between the current positioning data and the previous positioning data does not exceed the difference threshold, then determine that the current positioning data, the previous positioning data and the geographic location information data are all related, if , the current positioning state of the positioning device is an abnormal state.

FIG. 3 shows a flowchart of judging the current positioning state of the positioning device in the embodiment of the present application. Referring to Fig. 3, when judging whether the current positioning state is abnormal after reading the current positioning data, it is preferred to judge whether the current positioning data is judged, if so, stop the judgment of the current positioning data, otherwise, mark the current positioning data as "Not judged status", will proceed to the next step. Secondly, judge whether the current positioning data is historical data, if so, mark the current positioning data as "historical data status", then stop judging the current positioning data, on the contrary, if the previous positioning status of the positioning device is normal , then according to the relationship between the current positioning data and the geographic location information data, determine whether the current positioning point is outside the work area, if so, mark the current positioning data as "abnormal state of absolute positioning", if not, according to the current positioning data and geographic location The relationship between the information and data, determine whether the current positioning point is in the inaccessible area, if so, mark the current positioning data as "absolute positioning abnormal state", if not, if the previous positioning state of the positioning device is normal, correct The specific abnormal positioning type of "relative positioning abnormal state" shall be further judged.

In this embodiment of the present application, the difference threshold includes a distance difference threshold, an angle difference threshold, and a height difference threshold. When the previous positioning state of the positioning device is normal, determine whether the difference between the distance in the current positioning data and the distance between the nearest positioning point in the previous positioning data exceeds the distance difference threshold; if so, mark the current positioning data It is "relative positioning abnormal state", and the abnormal type is "too far away", that is, the current positioning state is too far away; if not, the angle in the current positioning data and the angle of the nearest positioning point in the previous positioning data are judged. Whether the difference exceeds the angle difference threshold; if so, mark the current positioning data as "relative positioning abnormal state", and the abnormal type is "excessive angle", that is, the current positioning state is the state of excessive angle; if not, judge the current position Whether the difference between the height in the positioning data and the height of the latest positioning point in the previous positioning data exceeds the height difference threshold; if so, mark the current positioning data as "relative positioning abnormal state", and the abnormal type is "altitude jump", That is, the current positioning state is a high jump state; if not, it is determined whether the current positioning data, the previous positioning data and the geographic location information data are related, that is, when the distance, angle, and height are all normal, the current positioning point and the previous positioning point. If the connection line of the nearest point in the point intersects with the green belt and some geometric figures of the building, it is marked as "relative positioning abnormal state", and the abnormal type is "entity crossing", that is, the current positioning state is the entity crossing state;

In this embodiment of the present application, in the case where the front positioning state of the positioning device is not the normal state, if the previous positioning state is the abnormal front positioning state, and the current positioning is not outside the preset working area or the preset inaccessible area, Then, the current positioning data is marked as "unknown state", that is, the current positioning state is an unknown state. If the previous positioning status of the positioning device is not normal, and the current positioning status is abnormal, for example, during the correction process, the previous positioning status will be set to "Positioning Abnormal Corrected Status", that is, the current positioning status Indicates that the positioning abnormality has been corrected; for example, after the correction process, the previous positioning status will be set to "Positioning abnormality cannot be corrected status", that is, the current positioning status is that the positioning abnormality cannot be corrected.

It should be noted that after the judgment process of "unjudged state, historical data state, absolute positioning abnormal state, relative positioning abnormal state, unknown state, positioning abnormality corrected state, and positioning abnormality uncorrectable state", it has not been judged as the above. In any state, the current positioning status will be set to "current positioning normal status", that is, the current positioning status is the current positioning normal status.

In some embodiments, in step S106, the abnormal state of the current positioning state includes a distance too far state, an angle too large state, a high jump state and a crossing entity state, and step S106 includes: step C1-step C4.

Step C1: when the abnormal state of the current positioning state is the absolute positioning abnormal state or the distance is too far state, calculate and adjust the distance according to the previous positioning data, the current positioning data and the geographic location information data, and according to the Adjusting the distance corrects the current positioning data.

Step C2: When the abnormal state of the current positioning state is the state of excessive angle, calculate the adjustment angle according to the previous positioning data, the current positioning data and the geographic position information data, and adjust the adjustment angle according to the adjustment angle. The current positioning data is corrected.

Step C3: When the abnormal state of the current positioning state is a high jump state, calculate the adjustment height according to the previous positioning data, the current positioning data and the geographical position information data, and adjust the current positioning data according to the adjustment height. The positioning data is corrected.

Step C4: when the abnormal state of the positioning state is the traversing entity state, a projection point is obtained according to the previous positioning data, the current positioning data and the geographic position information data, and the current positioning is performed according to the projection point. data is corrected.

In the embodiment of the present application, if the abnormal state of the current positioning state is the absolute positioning abnormal state or the distance is too far state, the prediction is made by the positioning information of the nearest positioning point in the previous positioning state, that is to say, using its latitude and longitude, speed and direction to calculate where the next anchor point should be.

In the embodiment of the present application, if the abnormal state of the current positioning state is the state of excessive angle, the average value of the direction of the latest positioning point in the previous positioning state and the current positioning direction is obtained as the positioning angle, and then in the previous positioning state Rotate the abnormal positioning point to the corrected direction with the nearest positioning point as the center.

In the embodiment of the present application, if the abnormal state of the current positioning state is a high jump state, it can be known that the problem of high jump is generally caused by the positioning point drifting to other positions with terrain height difference, and the distance from the previous positioning point is not In the far distance, the line connecting the two points will often intersect with the edge of the road or the edge of the geometry of other map elements. The correction method is to take the midpoint of the previous positioning point and the intersection as the corrected point.

In the embodiment of the present application, if the abnormal state of the positioning state is the traversing entity state, it can be seen that the entity traversing problem is the projection of the positioning point of the abnormal positioning on the running direction of the previous positioning state, and the projection point is the corrected positioning point. .

In some embodiments, the method further includes: step S107.

Step S107: Maintain the pre-positioned state based on the doubly circular linked list and the hash map.

In this embodiment of the present application, the pre-positioning state may be maintained based on a doubly circular linked list and a hash map. For example, the ID of each positioning device is the key of the hash map, the value of the hash map is part of a doubly circular linked list of length 10, and the other part records the value of the previous positioning state corresponding to the device ID. In the process of judging whether the current positioning state is abnormal and correcting the current positioning state, the positioning data of the positioning points in the previous positioning data in the previous positioning state can be obtained from the linked list of the previous positioning state.

In some embodiments, the method further includes: step S108-step S109.

Step S108: Determine whether the geographic location information data and the positioning data have the same data format.

Step S109: If the data forms of the geographic location information data and the positioning data are different, transform the data forms of the geographic location information data according to the data forms of the positioning data.

In the embodiment of the present application, if the data forms of the geographic location information data and the positioning data are different, since the coordinate systems and data formats of the geographic location information data from different sources are different, the real-time correction system for the vehicle positioning data in the integrated navigation system needs to provide The data conversion interface uniformly converts the data into a well-known text (WTK) format formulated by the Open Geospatial Consortium (OGC) under a certain coordinate system, and then performs subsequent processing.

In the embodiment of the present application, the real-time correction system for vehicle positioning data in the integrated navigation system will provide different types of geographic location information conversion and import interfaces and point, line segment and geometric figure relationship interfaces. Among them, the relationship interface between points and line segments and geometric figures includes including relationship judgment, intersection relationship judgment, distance calculation, and Mercator coordinate conversion.

In this embodiment of the present application, the geographic location information data may be labeled data derived from editing an open source map (penStreetMap, OSM for short), or may be data generated by surveying and mapping in other ways. These data are imported by the real-time correction system of vehicle positioning data in the integrated navigation system and converted into geometric figures with markers. Among them, the mark of the geometric figure is the type of map element represented by the figure, including roads, inaccessible areas, working areas, green belts, and buildings.

For example, based on the geographic location information conversion and import interface, the polygon data in the geographic location information data is converted into WTK format, and the converted polygon data is as follows:

POLYGON(120.37985801696779 30.24060541714855,120.45521736145021

30.264034240014983, 120.47864913940431

30.23496980353519, 120.41170120239259

30.21368503337007, 120.38792610168458

30.24586997476859,120.37985801696779

30.24060541714855)

For another example, FIG. 4 shows a schematic diagram after format conversion of geographic location information data in an embodiment of the present application. Referring to FIG. 4 , the converted geographic location information data is obtained, and the converted geographic location information data is converted into a geometric shape based on the relationship interface between points, line segments and geometric figures.

In some embodiments, the method further includes: step S110-step S111.

Step S110: Build an index according to the transformed geographic location information data, and generate an index list.

Step S111: Retrieve the transformed geographic location information data based on the index list.

In the embodiment of the present application, in order to speed up the calculation, the real-time correction system of the vehicle positioning data in the integrated navigation system will establish a retrieval for the transformed geographic location information data (geometric figure). Specifically, each geometric figure is identified, and each geometric figure is numbered and marked according to the set number; an index list is established according to the geometric figure with the number mark; and the geometric figure is remembered based on the number mark in the index list.

In this embodiment of the present application, the method further includes: step S112.

Step S112: Store and output all the positioning data in the correction process.

In the embodiment of the present application, in the process of correcting the vehicle positioning data in the integrated navigation system in real time, the real-time correction system for the vehicle positioning data in the integrated navigation system will package the original positioning data, and add new corrected ones at the same time. Location data and location status. The format of positioning data and positioning status is as follows:

{

"altitude": 81,

"direction": 0,

"gpstime": 1644984824566,

"lat": 39.91950227,

"lon": 118.1253256,

"ID": "18877777777",

"msgType": "realtime",

"satellites": 8,

"speed": 12,

"positionStatus": 1,

"org":[{

"altitude": 81,

"direction": 0,

"gpstime": 1644984824566,

"lat": 39.91950237,

"lon": 118.1253236,

"ID": "18877777777",

"msgType": "realtime",

"satellites": 8,

"speed": 12

}]

}

In the embodiment of the present application, the real-time correction system for vehicle positioning data in the integrated navigation system supports outputting the positioning data to the subsequent processing service in different ways. Specifically, it supports setting the callback HTTP interface. That is, after configuring the callback, the positioning data output module will send the data to the HTTP interface; it supports output to the message queue, such as the message queue of the open source stream processing platform (kafka), the message queue of the open source message broker software (rabbitmq), etc. The service can obtain the corrected data by subscription; it supports output to the cache system, such as the cache system of the remote dictionary service (Redis), and subsequent services can obtain the corrected data from the cache service.

It can be seen from the above that when the GNSS signal blocks the area, the real-time correction method of vehicle positioning data in the integrated navigation system can accurately determine the abnormal situation for vehicle positioning and perform correction and prediction of positioning data; at the same time, the vehicle positioning is optimized and improved. The accuracy of the data realizes the real-time high-precision positioning requirements of the vehicle.

It should be noted that, for the sake of simple description, the foregoing method embodiments are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the described action sequence. Because in accordance with the present application, certain steps may be performed in other orders or concurrently. Secondly, those skilled in the art should also know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

The above is an introduction to the method embodiments, and the solutions described in the present application are further described below through the device embodiments.

FIG. 5 shows a structural diagram of a real-time correction system for vehicle positioning data in an integrated navigation system according to an embodiment of the present application. Referring to FIG. 5 , the system for real-time correction of vehicle positioning data in the integrated navigation system includes a reading module 501 , a first determination module 502 , an acquisition module 503 , a second determination module 504 , a third determination module 505 and a correction module 506 .

The reading module 501 is used to read the positioning data of the positioning device, and the positioning data includes the previous positioning data and the current positioning data;

The first judgment module 502 is used for judging whether the current positioning data has a fixed solution or a floating-point solution;

Obtaining module 503, configured to determine that the GNSS signal in the integrated navigation system is blocked if the current positioning data has neither a fixed solution nor a floating-point solution, and obtain the geographic location information data of the positioning device;

The second determination module 504 is configured to determine whether the previous positioning state of the positioning device is a normal state according to the preset number of times, the previous positioning data and the geographic location information data;

The third judgment module 505 is configured to judge whether the current positioning status of the positioning device is a normal status according to the current positioning data, the previous positioning status and the geographic position information data if the previous positioning status is a normal status abnormal state;

Correction module 506 is used to correct the current positioning data according to the previous positioning data, the previous positioning status, the geographic location information data and the current positioning status if the current positioning status is an abnormal status .

Those skilled in the art can clearly understand that, for the convenience and brevity of the description, for the specific working process of the described modules, reference may be made to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

FIG. 6 shows a schematic structural diagram of an electronic device suitable for implementing the embodiments of the present application. As shown in FIG. 6 , the electronic device 600 shown in FIG. 6 includes: a processor 601 and a memory 603 . The processor 601 is connected to the memory 603 . Optionally, the electronic device 600 may also include a transceiver 604 . It should be noted that, in practical applications, the transceiver 604 is not limited to one, and the structure of the electronic device 600 does not constitute a limitation to the embodiments of the present application.

The processor 601 may be a CPU (Central Processing Unit, central processing unit), a general-purpose processor, a DSP (Digital Signal Processor, data signal processor), an ASIC (Application Specific Integrated Circuit, an application-specific integrated circuit), an FPGA (Field Programmable Gate Array, Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logical blocks, modules and circuits described in connection with this disclosure. The processor 601 may also be a combination for realizing computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

The bus 602 may include a path to transfer information between the aforementioned components. The bus 602 may be a PCI (Peripheral Component Interconnect, Peripheral Component Interconnect Standard) bus or an EISA (Extended Industry Standard Architecture, Extended Industry Standard Architecture) bus or the like. The bus 602 can be divided into an address bus, a data bus, a control bus, and the like. For ease of presentation, only one thick line is used in FIG. 6, but it does not mean that there is only one bus or one type of bus.

The memory 603 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory, random access memory) or other types of storage devices that can store information and instructions. A dynamic storage device can also be an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory, a CD-ROM), or other CD-ROM storage, CD-ROM storage (including compressed CDs, Laser Disc, Optical Disc, Digital Versatile Disc, Blu-ray Disc, etc.), magnetic disk storage medium or other magnetic storage device, or any other capable of carrying or storing desired program code in the form of instructions or data structures and capable of being accessed by a computer medium, but not limited to this.

The memory 603 is used to store the application code for executing the solution of the present application, and the execution is controlled by the processor 301 . The processor 601 is configured to execute the application program code stored in the memory 603, so as to realize the content shown in the foregoing method embodiments.

Among them, electronic devices include but are not limited to: mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (such as in-vehicle navigation terminals), etc. Mobile terminals such as digital TVs, desktop computers, etc., as well as stationary terminals. The electronic device shown in FIG. 6 is only an example, and should not impose any limitations on the functions and scope of use of the embodiments of the present application.

Embodiments of the present application provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program runs on the computer, the computer can execute the corresponding content in the foregoing method embodiments. Compared with the prior art, in the embodiment of the present application, the positioning data of the positioning device is read, and the positioning data includes the previous positioning data and the current positioning data, and then it is judged whether the current positioning data has a fixed solution or a floating point solution; if the current positioning data If there is neither a fixed solution nor a floating-point solution, it is determined that the GNSS signal in the integrated navigation system is blocked, and the geographic location information data of the positioning device is obtained; then, according to the preset times, the previous positioning data and the geographic location information data, Determine whether the previous positioning status of the positioning device is normal. If the previous positioning status is normal, then according to the current positioning data, the previous positioning status and the geographic location information data, determine whether the current positioning status of the positioning device is abnormal. If the current positioning status If the status is abnormal, the current positioning data is corrected according to the previous positioning data, the previous positioning status, the geographic position information data and the current positioning status; it can be seen from the above that when the positioning device is in the GNSS signal blocking area, the positioning device When the previous positioning status is normal and the current positioning status is abnormal, the vehicle positioning abnormality can be corrected, which can improve the GNSS/SINS integrated navigation system. When the vehicle is in the area blocked by the GNSS signal, the positioning data of the vehicle positioning abnormality cannot be obtained. In the GNSS/SINS integrated navigation system, when the vehicle is in the area blocked by the GNSS signal, it can achieve the effect of correcting the positioning data of the abnormal vehicle positioning.

It should be understood that although the various steps in the flowchart of the accompanying drawings are sequentially shown in the order indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless explicitly stated herein, the execution of these steps is not strictly limited to the order and may be performed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but may be executed at different times, and the execution sequence is also It does not have to be performed sequentially, but may be performed alternately or alternately with other steps or at least a portion of sub-steps or stages of other steps.

The above are only part of the embodiments of the present application. It should be pointed out that for those skilled in the art, without departing from the principles of the present application, several improvements and modifications can also be made. It should be regarded as the protection scope of this application.

Claims (10)

1. A method for correcting vehicle positioning data in a combined navigation system in real time is characterized by comprising the following steps:

reading positioning data of a positioning device, wherein the positioning data comprises previous positioning data and current positioning data;

judging whether the current positioning data has a fixed solution or a floating solution;

if not, judging that the global navigation satellite system signal in the integrated navigation system is blocked, and acquiring the geographic position information data of the positioning equipment;

judging whether the front positioning state of the positioning equipment is a normal state or not according to the preset times, the front positioning data and the geographical position information data;

if yes, judging whether the current positioning state of the positioning equipment is an abnormal state or not according to the current positioning data, the previous positioning state and the geographic position information data;

and if so, correcting the current positioning data according to the previous positioning data, the previous positioning state, the geographic position information data and the current positioning state.

2. The method of claim 1, wherein the preset number of times comprises a first preset number of times and a second preset number of times;

judging whether the front positioning state of the positioning equipment is a normal state or not according to the preset times, the front positioning data and the geographic position information data, and comprising the following steps:

judging whether the acquisition times of the front positioning data are less than the first preset times or not; if so, the front positioning state of the positioning equipment is an abnormal state;

if not, judging whether the front positioning data has a fixed solution or a floating solution; if so, the front positioning state of the positioning equipment is a normal state;

if not, judging whether the front positioning data is continuously corrected within the second preset times, and if so, judging that the front positioning state of the positioning equipment is an abnormal state; if not, the front positioning state of the positioning equipment is a normal state.

3. The method of claim 1, wherein the determining whether the current location state of the location device is an abnormal state according to the current location data, the previous location state and the geographic location information data comprises:

judging whether the current positioning is outside a preset working area or in a preset inaccessible area according to the current positioning data and the geographic position information data; if so, the current positioning state of the positioning equipment is an abnormal state;

if not, judging whether the difference value between the current positioning data and the previous positioning data exceeds a difference threshold, if so, judging that the current positioning state of the positioning equipment is an abnormal state;

if not, judging that the current positioning data, the previous positioning data and the geographic position information data are all related, and if so, judging that the current positioning state of the positioning equipment is an abnormal state.

4. The method of claim 3, wherein the abnormal states of the current location state include a too far away state, a too large angle state, a high jump state, and a through entity state;

the correcting the current positioning data according to the previous positioning data, the previous positioning state, the geographic location information data and the current positioning state includes:

when the abnormal state of the current positioning state is an absolute positioning abnormal state or a distance-too-far state, calculating an adjusting distance according to the previous positioning data, the current positioning data and the geographic position information data, and correcting the current positioning data according to the adjusting distance;

when the abnormal state of the current positioning state is an overlarge angle state, calculating an adjustment angle according to the previous positioning data, the current positioning data and the geographic position information data, and correcting the current positioning data according to the adjustment angle;

when the abnormal state of the current positioning state is an altitude jump state, calculating an adjustment altitude according to the previous positioning data, the current positioning data and the geographic position information data, and correcting the current positioning data according to the adjustment altitude;

and when the abnormal state of the positioning state is a state of passing through the entity, acquiring a projection point according to the previous positioning data, the current positioning data and the geographic position information data, and correcting the current positioning data according to the projection point.

5. The method of claim 1 or 2, further comprising:

and maintaining the front positioning state based on a bidirectional cyclic chain table and a Hash diagram.

6. The method of claim 1, after said obtaining geographic location information data of said positioning device, comprising:

judging whether the data form of the geographic position information data is the same as that of the positioning data;

if not, converting the data form of the geographic position information data according to the data form of the positioning data.

7. The method of claim 6, further comprising:

establishing an index according to the converted geographic position information data to generate an index list;

and retrieving the converted geographic position information data based on the index list.

8. A system for correcting vehicle positioning data in a combined navigation system in real time is characterized by comprising:

the positioning device comprises a reading module, a processing module and a processing module, wherein the reading module is used for reading positioning data of the positioning device, and the positioning data comprises former positioning data and current positioning data;

the first judgment module is used for judging whether the current positioning data has a fixed solution or a floating solution;

the acquisition module is used for judging that a global navigation satellite system signal in the integrated navigation system is shielded and acquiring the geographic position information data of the positioning equipment if the current positioning data has neither a fixed solution nor a floating solution;

the second judgment module is used for judging whether the front positioning state of the positioning equipment is a normal state or not according to preset times, the front positioning data and the geographic position information data;

a third determining module, configured to determine whether a current positioning state of the positioning device is an abnormal state according to the current positioning data, the previous positioning state, and the geographic location information data if the previous positioning state is a normal state;

and the correction module is used for correcting the current positioning data according to the previous positioning data, the previous positioning state, the geographic position information data and the current positioning state if the current positioning state is an abnormal state.

9. An electronic device comprising a memory and a processor, the memory having stored thereon a computer program, wherein the processor, when executing the computer program, implements the 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 the steps of the method according to any one of claims 1 to 7.

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