CN101408612A - GPS-GPSOne double-mode switching and double-mode switching terminal - Google Patents

Abstract

The invention relates to a GPS-GPSOne dual mode switching method applied at the time of mobile terminal positioning and a terminal thereof. The GPS-GPSOne dual mode switching method comprises the following steps: the first step: performing switching judgment on the state between the GPS-GPSOne dual mode by an inertia rule and an efficiency rule; the second step: selecting the GPS or GPSOne positioning mode by a speed threshold and a signal threshold; the third step: comparing the ordering mode of a GPS satellite constellation with that of a GPSOne base station, and selecting the positioning mode; and the fourth step: switching between the GPS mode and the GPSOne mode. A GPS-GPSOne dual mode switching terminal comprises a main control unit, a GPS receiving unit and a GPSOne receiving unit. The method and the terminal can effectively ensure the flexibility of and the rapid switching between the GPS positioning mode and the GPSOne positioning mode, and ensure the whole course continuity and the stability of vehicle positioning.

Description

GPS-GPSOne bimodulus changing method and bimodulus switching terminal

Technical field

The present invention relates to the portable terminal location technology, be specifically related to a kind of GPS-GPSOne bimodulus changing method of utilization when portable terminal is located and based on the bimodulus switching terminal of CDMA 1X.

Background technology

Global Positioning System (GPS) (Global Positioning System-GPS) is the U.S. since the development seventies in last century, lasts 20 years, expends 20,000,000,000 dollars and builds up in 1994 comprehensively.GPS wins whole world users' approval with distinguishing features such as round-the-clock, high precision, robotization, high benefits, is to use the most ripe, that the positioning service coverage is the widest a kind of location technology at present in the world.

GPSOne is that QualCom company is the location technology of position-based business development on the basis of GPS, adopts the Client/Server mode.It organically combines wireless auxiliary AGPS and two kinds of location technologies of advanced forward link AFLT triangulation location, realizes high precision, high availability and fair speed location.

GPS be current in navigational system one of most widely used location technology, but GPS also has the deficiency of himself.For example, when the GPS terminal the local of building dense or under overpass etc. during abominable geographic position, the positioning signal ratio is easier to lose, and often is difficult to obtain effective locating information.By the GPSOne locating module of QualCom company exploitation, the positioning signal that provides is based on the location technology of network and honeycomb.Even under the bad situation of satellite-signal, as long as there is the network signal of UNICOM, utilize the cellular localization technology, just can more easily obtain positioning signal.

1985, first orientator with navigation feature in the world installed by Japanese Toyota on the imperial crown automobile, became the founder of auto navigation establishing, in two times more than ten years subsequently, the bus location navigation is constantly weeded out the old and bring forth the new, from simple navigation, to complete board information terminal; From GPS navigation, to GPS+ auxiliary positioning+mobile integrated service.Vehicle positioning system also develops along with the develop rapidly of global automobile industryization.

Navsys is one of offshore company that is engaged in the earliest this respect development, it connected GPS and cellular communication in 1994, designed the TIDGET system, thereby can be sent to the central station plea for aid to their position when the vehicle in this system travels on the block.Trimble and motorola inc also add developer's ranks, GPS and communication unit are combined be applied to multiple field, become one of pioneer.Trimble couples together the six passage GPS receivers and the public Cellular Networks of company in the Messenger system of nineteen ninety-five exploitation, and occupies leadership in the ship regulating the market.Motorola inc then connects a kind of transceiver of its eight passages OnCore receiver and Motorola, has developed the Motorola cellular positioning system.This external type systematic also has the RESCU system of Ford, the ADT of Roekwell, ATX (SanAntonio, OnGard system Texas) etc.They generally connect with cellular communication by the GPS vehicle monitoring system of design, and the communication aspect has the advantages of high practicability of ratio.Now, more and more Duo this type systematic enter into market, and function is moved towards diversification by test.As be called the GPS alarm processing system of Mayday recently at a cover of Washington state installation testing, just obtained the high evaluation of Washington traffic department with its powerful and practical function.

The development of domestic this respect began also very early, since 1994.Some company, R﹠D institutions that are engaged in GPS research and development have carried out the design and the development of this class mobile information system in conjunction with national conditions, have all dropped into exploitation and the applied research that great amount of manpower and material resources is devoted to this system as department of electronic engineering, tsinghua university, 202 teaching and research rooms of BJ University of Aeronautics ﹠ Astronautics, whole city, Beijing company, Beijing company of Daheng, Beijing Wei Sisite company, Xi'an Datang company, Yunnan Radio Factory etc.

Existing location technology in actual use, any single its precision of navigational system and usable range all have certain restriction, how the metrical information with various sensors is fully utilized, can overcome between the radio navigation system location or the shortcoming that lost efficacy, can overcome the shortcoming that inertial navigation, dead reckoning system positioning error are accumulated in time again, extract useful information to greatest extent, the omnidistance continuity of support vehicles location is the indeterminable problem of prior art.

Summary of the invention

In order to solve any single its precision of navigational system and the usable range that exist in the prior art certain restriction is arranged all, the metrical information of various sensors can not be fully utilized, overcome between radio navigation system location or the shortcoming that lost efficacy, overcome the shortcoming that inertial navigation, dead reckoning system positioning error are accumulated in time, extract useful information to greatest extent, the technical matterss such as omnidistance continuity of support vehicles location the invention provides a kind of GPS-GPSOne bimodulus changing method.

In order to solve any single its precision of navigational system and the usable range that exist in the prior art certain restriction is arranged all, the metrical information of various sensors can not be fully utilized, overcome between radio navigation system location or the shortcoming that lost efficacy, overcome the shortcoming that inertial navigation, dead reckoning system positioning error are accumulated in time, extract useful information to greatest extent, the technical matterss such as omnidistance continuity of support vehicles location, the present invention also provides a kind of GPS-GPSOne bimodulus switching terminal.

The technical scheme that the present invention solves the prior art problem to be provided is: a kind of GPS-GPSOne bimodulus changing method is provided, and described GPS-GPSOne bimodulus changing method comprises step: the first step, the switching judging of state between the GPS-GPSOne bimodulus of being undertaken by inertia criterion and efficiency criterion; Second the step, carry out the selection of GPS or GPSOne locator meams by speed threshold values and signal threshold values; The 3rd step, the sortord of described gps satellite constellation and described GPSOne base station is compared the selection station-keeping mode; The 4th goes on foot, carries out the switching between described GPS pattern and the described GPSOne pattern.

According to an optimal technical scheme of the present invention: (s) U B=r judges the inertia criterion for d, p, and described function Z representation program p finishes the union of sufficient degree and variable B with respect to the function of functional specification s on information data set d by function Z in the described first step.

According to an optimal technical scheme of the present invention: described functional specification s refers to extraneous interfere information and condition, comprising: the situation that weather condition, portable terminal stop signal through the height of groups of building and the complexity of road net; Described information data set d represents the satellite that the current generation receives or the data cases of location, GPSOne base station; Described program p is an agenda of setting up described functional specification s and described information data set d mutual relationship, and described variable B is a variable in [0,1] interval.

According to an optimal technical scheme of the present invention: efficiency criterion is to judge the necessity that bimodulus switches at information data collection situation and the correlation function performance under the response time in the described first step, and its expression formula is C (B _0,1): T * D * S → V; B parameter in the formula _0,1It is interval value at economic benefit and the setting of objective interest key element; D is the information data set; S is a functional specification; T is a time range.

According to an optimal technical scheme of the present invention: the speed threshold values is the selection of carrying out described GPS or described GPSOne locator meams by the travel speed of portable terminal described in described second step.

According to an optimal technical scheme of the present invention: described speed threshold values is represented with Vc, on behalf of the travelling speed of portable terminal, described Vc judge in the mapping in a certain field of definition interval, and the mapping form of Vc is the nonlinear function Vc=[V+F (d) by road conditions L, standard speed V and the common decision of road network complexity F (d)]/L.

According to an optimal technical scheme of the present invention: the signal valve value record is the limit of the signal intensity of described GPS and described GPSOne described in described second step, carries out the selection of described GPS or described GPSOne locator meams by the strong and weak degree of calculating two kinds of mode signals to be selected.

According to an optimal technical scheme of the present invention: on behalf of portable terminal, described signal threshold values receive positioning signal to judge in the mapping in a certain field of definition interval, its mapping form is by plane square rid elevation H (m, d, h), and signal window W (W1, the Nonlinear Mapping that W2) decides interval S=H * W, wherein W1 among the signal window W, W2 represents two patterns (GPS, signal window GPSOne) respectively.

According to an optimal technical scheme of the present invention: comprise also that in described GPS-GPSOne bimodulus changing method bimodulus switches the setting of buffer zone, it is to set up buffer zone at the time domain of switching about moment that described bimodulus switches buffer zone, guarantees smooth connection that two kinds of locator meamss of described GPS and described GPSOne are switched.

The present invention also provides a kind of GPS-GPSOne bimodulus switching terminal, described GPS-GPSOne bimodulus switching terminal comprises main control unit, GPS receiving element, GPSOne receiving element and CDMA 1X communication unit, and described GPS receiving element, described GPSOne receiving element and described CDMA 1X communication unit are connected with described main control unit respectively.

Disclosed technical scheme among the present invention, can effectively ensure flexible, the quick switching of GPS station-keeping mode and described GPSOne station-keeping mode, can overcome between the radio navigation system location or the shortcoming that lost efficacy, can overcome the shortcoming that inertial navigation, dead reckoning system positioning error are accumulated in time again, extract useful information to greatest extent, the omnidistance continuity of support vehicles location, stability.

Description of drawings

Fig. 1. GPS-GPSOne bimodulus changing method process flow diagram in GPS-GPSOne bimodulus changing method of the present invention and the bimodulus switching terminal;

Fig. 2 .GPS-GPSOne bimodulus switches synoptic diagram;

Fig. 3. speed threshold values value synoptic diagram;

Fig. 4. signal intercepts and the refraction synoptic diagram;

Fig. 5 .GPS planisphere and account form synoptic diagram;

Fig. 6. synoptic diagram is arranged in desirable base station;

Fig. 7 .GPSOne positioning principle synoptic diagram;

Fig. 8. GPS-GPSOne bimodulus switching terminal modular structure synoptic diagram in GPS-GPSOne bimodulus changing method of the present invention and the terminal.

Embodiment

The present invention will be described below in conjunction with accompanying drawing:

At portable terminal described in the specific embodiment of the present invention is vehicle.

See also GPS-GPSOne bimodulus changing method process flow diagram in Fig. 1 GPS-GPSOne bimodulus of the present invention changing method and the terminal; As shown in Figure 1, described GPS-GPSOne bimodulus changing method comprises step: the first step, the switching judging of state between the GPS-GPSOne bimodulus of being undertaken by inertia criterion and efficiency criterion; Second the step, carry out the selection of GPS or GPSOne locator meams by speed threshold values and signal threshold values; The 3rd step, the sortord of described gps satellite constellation and described GPSOne base station is compared the selection station-keeping mode; The 4th goes on foot, carries out the switching between described GPS pattern and the described GPSOne pattern.

In technical scheme of the present invention, (s) U B=r judges the inertia criterion for d, p, and described function Z representation program p finishes the union of sufficient degree and variable B with respect to the function of functional specification s on information data set d by function Z in the described first step.Wherein, described functional specification s refers to extraneous interfere information and condition, comprising: the situation that weather condition, portable terminal stop signal through the height of groups of building and the complexity of road net; Described information data set d represents the satellite that the current generation receives or the data cases of location, GPSOne base station; Described program p is an agenda of setting up described functional specification s and described information data set d mutual relationship, and described variable B is a variable in [0,1] interval.Efficiency criterion is to judge the necessity that bimodulus switches at information data collection situation and the correlation function performance under the response time in the described first step, and its expression formula is C (B _0,1): T * D * S → V; B parameter in the formula _0,1It is interval value at economic benefit and the setting of objective interest key element; D is the information data set; S is a functional specification; T is a time range.

In technical scheme of the present invention, the speed threshold values is the selection of carrying out described GPS or described GPSOne locator meams by the travel speed of portable terminal described in described second step.Described speed threshold values is represented with Vc, on behalf of the travelling speed of portable terminal, described Vc judge in the mapping in a certain field of definition interval, and the mapping form of Vc is the nonlinear function Vc=[V+F (d) by road conditions L, standard speed V and the common decision of road network complexity F (d)]/L.The signal valve value record is the limit of the signal intensity of described GPS and described GPSOne described in described second step, carries out the selection of described GPS or described GPSOne locator meams by the strong and weak degree of calculating two kinds of mode signals to be selected.On behalf of portable terminal, described signal threshold values receive the mapping judgement of positioning signal in a certain field of definition interval, its mapping form is by plane square rid elevation H (m, d, h), and signal window W (W1, the Nonlinear Mapping that W2) decides interval S=H * W, wherein W1 among the signal window W, W2 represents two patterns (GPS, signal window GPSOne) respectively.

Below to technical solution of the present invention launch the explanation:

See also Fig. 2 GPS-GPSOne bimodulus and switch synoptic diagram, GPS be current in navigational system one of most widely used location technology, but GPS also has the deficiency of himself.For example, when the GPS terminal the local of building dense or under overpass etc. during abominable geographic position, the positioning signal ratio is easier to lose, and often is difficult to obtain effective locating information.By the GPSOne locating module of QualCom company exploitation, the positioning signal that provides is based on the location technology of network and honeycomb.Even under the bad situation of satellite-signal, as long as there is the network signal of UNICOM, utilize the cellular localization technology, just can more easily obtain positioning signal.This signal can be used as a kind of compensating signal under the gps signal loss situation.

The criterion of inertia described in the technical solution of the present invention is meant under inessential situation, keeps original pattern inertia operation, does not carry out any switching, to guarantee original mode operation efficient, the influence of avoiding handoff procedure to bring.

The inertia criterion of metric function form: the adequacy Z of mode switch is a function from acquisition of information data acquisition, tested program and functional specification thereof and variable B to real number interval [O, 1].(s) the U B=r representation program p union of finishing sufficient degree and variable B with respect to the function of functional specification s on information data set d is r to Z for d, p.R is big more, and sufficient degree is high more.Wherein B is a binary variable, has only 1,0 two value, can directly determine the result of r.

Proposed in the described inertia criterion to reduce to switch as far as possible, under non-essential situation, follow original pattern as far as possible, and provided and limited the necessary condition that bimodulus switches, promptly pass through message data set, functional specification, and program three aspects decide switching condition, utilize the generation of its sufficient degree decision bimodulus switching behavior.Wherein variable B is the impose conditions of extraneous appointment, can directly have influence on the sufficient degree that bimodulus switches.As under situations such as car alarming, urgent location, by variable B, force to carry out mode switch, the location is provided.Under normal circumstances, in vehicle positioning hardware design and software running process, the switching of bimodulus can bring many-sided problems such as time, algorithm, so in order to guarantee accuracy and running efficiency of system, reducing switching is basic norm as far as possible.The critical value of sufficient degree r also can suitably be adjusted by the related specifications of the industry, is not high more good more.

On described inertia criterion basis, we are defined as a predicate to switching criterion, in order to determine that what character dual mode data must possess and just can finish a conversion completely, the necessary principle that the conversion that promptly means success is observed.Provided the judgment criterion that bimodulus switches in the technical solution of the present invention for this reason.

Described judgment criterion is to judge the necessity that bimodulus switches at information data collection situation and the correlation function performance under the response time.

The efficiency criterion of predicate form: criterion C is a predicate that is defined on T * D * S, i.e. C:T * D * S → { true, false}.C (t, d, s)=and true represents to obtain locating information data set d, and at functional specification s, in time allowed band t, the program of finishing is sufficient.C (t, d, s)=and false then represents insufficiently, need carry out bimodulus and switch.

By the description of described judgment criterion, can satisfy under the situation of this criterion in theory, finish bimodulus and switch, but in service in practical project, also to consider economic factors and urgent situation about switching, for this reason, we add two variablees, and described judgment criterion is replenished.

Criterion C is predicate V[0 between the economic zone that is defined on T * D * S, 1] projection on, i.e. C (B _0,1): T * D * S → V, and if only if, and braking threshold values B is a true time, C → { true, false}.Added outside decision variable B, the forcibly changing of external interface is supported, the projection that the span of C is made on V between the economic zone simultaneously decides it true and false, has further improved the engineering practicability of described judgment criterion.

Certainly, in concrete bimodulus handoff procedure, also relate to the concrete analysis of multiple situation, on the basis of described inertia criterion and described judgment criterion, carry out the definition of several variablees in the technical scheme of the present invention again, determined under several common situations the standard that bimodulus switches in detail.

One, the speed threshold values is set and distinguishes two kinds of patterns.

The refreshing frequency of GPS receiving trap on vehicle positioning and other commercial device is 1Hz, 4Hz, and even 10Hz. is when accepting gps signal and position, if vehicle operating is very slow, what show on electronic chart so then is stationary vehicle.GPSOne obtains locating information by wireless communication networks to the feedback of terminal, so the position of locating terminal is a real-time update, can avoids producing on map and jump or static point.Therefore first variable-speed (V) need be recorded in the database, and different vehicles, different roads have corresponding speed threshold values.When speed during near threshold values, two kinds of patterns promptly can begin to switch.The specific definition of variable V is: on behalf of the travelling speed of portable terminal, speed threshold values (Vc), Vc judge in the mapping in a certain field of definition interval.The mapping form of Vc is by road conditions (L), standard speed (V), the nonlinear function Vc=[V+F (d) of the common decision of road network complexity F (d)]/L.

See also Fig. 3 speed threshold values value synoptic diagram, as shown in Figure 3, the travel speed that described speed threshold values is not a portable terminal is so simple.It is between a map section.On the coordinate axis of speed, V is in the middle band of bimodulus rate request, and the theoretical span of road conditions L is between [0,1], and when still moving in the urban district, span generally is infinitely close to 1.Influence to the speed threshold values is little, in general, no matter the vehicle that moves in the urban district is single file, two-way, main stem, auxilliary road, little to the integral body change of speed threshold values, in order to prevent the jump of map element, when the speed of a motor vehicle was slow excessively, the requirement on the speed threshold values just will certainly switch to GPSOne by the station-keeping mode of GPS.

Standard speed V is the road section length s that travels under internal fixation time t in urban district under the noiseless situation, obtained at the uniform velocity speed.Obtaining of speed threshold values is to be subjected to the road network complexity to influence the codomain of suitable swing under this ideal rate.

F (d) is one and concerns the function of d about road topology, detailed record the complexity of road network, when road network is too intensive, need the bigger locator meams of precision, with the accuracy of guaranteeing to locate.Make not lane change of vehicle, do not depart from, in contrast to this, stagnation and the jump of element on map can be accepted to a certain extent.

Two, the signalization threshold values is distinguished two kinds of patterns

GPS ripple commonly used in the prior art is 1575.42MHz frequently, and the spectral signal of this wave band is very low at face of land energy, well below the noise signal on the face of land.Be subjected to face of land Influence on Architecture can produce signal simultaneously and intercept and reflect, intercept with shown in the refraction synoptic diagram as Fig. 4 signal.Therefore, gps signal must be without the obstruct (as buildings, tree) of any face of land barrier, and linear pattern arrives receiving device.

The GPSOne signal then can pass barrier in the urban district, arrives receiving end smoothly.The signal valve value record be exactly the limit of the signal intensity of GPS and GPSOne, and the strong and weak degree of calculating two kinds of mode signals to be selected is selected.Owing to do not have forefathers to propose correlation theory in this respect, several notions of for this reason using for reference the remote sensing aspect in the technical solution of the present invention define.

In the remote sensing field, the notion of an atmospheric window is arranged, promptly sunshine arrives earth surface and must pass Earth'S atmosphere from the cosmic space.Sunshine can be subjected to absorption and the diffuse transmission influence of atmospheric envelope to sunshine when passing atmospheric envelope, thereby makes and see through atmospheric solar energy and decayed.But atmospheric envelope changes with sun light wavelength the absorption and the diffuse transmission influence of sunshine.The higher spectrum segment of transmitance calls atmospheric window when usually sunshine being seen through atmospheric envelope.On the basis of atmospheric window notion, drawn the definition of signal window in the technical solution of the present invention.

Described signal window, signal arrives the earth surface portable terminal from transmitting terminal must pass Earth'S atmosphere.Signal can be subjected to atmospheric envelope and building, increased surface covering absorption and the diffuse transmission influence to signal when passing atmospheric envelope, thereby makes through signal energy and decayed.Transmitance higher signal frequency range called signal window when we saw through various transmission path to signal.

Can see that signal window will be subjected to face of land atmospheric envelope and increased surface covering influence, for this reason, we have introduced the notion of a plane square rid elevation.Before this, what we understood digital elevation model earlier is what, digital elevation model (Digital Elevation Model), vehicle economy M.It is a kind of entity ground model of representing ground elevation with one group of orderly array of values form, is a digital terrain model branch of (Digital TerrainModel is called for short DTM).It is generally acknowledged, DTM describes the various geomorphologic factors that comprise elevation, as factors such as the gradient, aspect, slope change rates in the interior linearity and the space distribution of nonlinear combination, wherein DEM is the simple individual event numeral landform model of zeroth order, and other can derive from the basis of DEM as landforms characteristics such as the gradient, aspect and slope change rates.On the DEM basis, we have proposed plane, city square rid elevation, consider that the fluctuating of city physical features is little, the characteristics that building is many, and with the gradient, key elements such as tendency have made the building absolute altitude into, spacing, types such as material.

Plane square rid elevation, with every square kilometre is unit, a kind of entity ground model mirror image of representing face of land atural object elevation with one group of orderly array of values form, material (m) with each atural object in the component pixel, the horizontal elevation (h) of unit pixel, and spacing (d) three elements between different pixels determine jointly.

Have on the conceptual foundation of signal window at plane square rid elevation, we have defined the notion of signal threshold values.On behalf of portable terminal, described signal threshold values (S), signal threshold values receive the mapping judgement of positioning signal in a certain field of definition interval.Its mapping form by plane square rid elevation H (m, d, h), and signal window W (W ₁, W ₂) Nonlinear Mapping that decides interval S=H * W, wherein W among the signal window W ₁, W ₂Represent two patterns (GPS, signal window GPSOne) respectively.

Three, GPSOne base station and GPS constellation are arranged

Because the difference of each city longitude and latitude of living in, in the difference of different time gps satellite through situation and various places arrangement of base stations situation, so the switching of station-keeping mode also will be considered the arrangement of GPS constellation and GPSOne base station.Shown in Fig. 5 GPS planisphere and account form synoptic diagram, Fig. 5 is the gps satellite planisphere, for stationary object, three stars promptly can well position, but the vehicles flow, and will add a time variable, like this, have only when visible satellite quantity reaches four in the zone, just can carry out accurate localization vehicle.

${\mathrm{<figure-callout\; id="1"\; label="P"\; filenames="A20081021745600201.png"\; state="\{\{state\}\}">P</figure-callout>}}_1=\sqrt{{(X-X_1)}^2+{(Y-Y_1)}^2+{(Z-Z_1)}^2}+c({\mathrm{dt}}_1-\mathrm{dt}),$

$P_2=\sqrt{{(X-X_2)}^2+{(Y-Y_2)}^2+{(Z-Z_2)}^2}+c({\mathrm{dt}}_2-\mathrm{dt}),$

$P_3=\sqrt{{(X-X_3)}^2+{(Y-Y_3)}^2+{(Z-Z_3)}^2}+c({\mathrm{dt}}_3-\mathrm{dt}),$

$P_4=\sqrt{{(X-X_4)}^2+{(Y-Y_4)}^2+{(Z-Z_4)}^2}+c({\mathrm{dt}}_4-\mathrm{dt}).$

Therefore, utilize the GPS location, visible number of satellite is the assurance of precision, also is the precondition of its location.Because situation about satisfying condition in the city is few, in order to overcome the restriction of number of satellite.2003, Qu Shengbo carried out auxiliary positioning, (Qu Shengbo et al., 2003) by wheel rotary distance update information under the situation that is less than four stars; M.A.Quddus has carried out automanual piloting (M.A.Quddus et al by map-matching algorithm, 2003), and similar map auxiliary positioning (U.Forssell etal, 2002) also have the fusion GPS of proposition on this basis and the location (A.Lahrech of dead reckoning data, et al., 2005), GPS buffer algorithm (Jae-Hoon Rhee et al., 2006); And some data fusion methods (J.Vermaak, et al, 2005; T.

Et al, 2005; Francois Caron et al, 2007),, finished a small amount of satnav of satellite vacuum band in the city by adding some constraint conditions.Borrow and recommend above certain methods, we have designed function F _Gps(N _s), with number of satellite N _sBe primary variables, on the basis of judging GPS constellation visible satellite quantity, utilize subsidiary conditions to determine whether to utilize the GPS location.

In like manner, utilize the GPSOne base station to position, also have error, this depends primarily on the position of base station and the material between its transmission path.See also the desirable base station of Fig. 6 and arrange synoptic diagram.Fig. 6 is that Utopian base station location is arranged, and in urban construction, the base station arrangement mode is rule so, and we as reference point, are weighted signal isogam in the drawing area with the base station location of reality by the power that has various interference sources to each other.

Described signal isogam refers to the curve that each point was linked to be that signal intensity equates on the signal propagation figure.Change the words of the popular point of sentence and say to be exactly the curve of the approximate closure that the identical point of signal intensity is linked to be in the zone.On vertical projection to an index plane, and scaled being drawn on the drawing, the signal isogam just obtained.In general, in spacious zone, the signal isogam is that group is a concentric circles contour at center around the base station, still is subjected to obstructions such as urban architecture, has the vacuum band of some signals simultaneously, has so just caused the not closed of signal isogam.

By Fig. 7 GPSOne positioning principle synoptic diagram as can be known, the mode by base station location is to determine its position by the distance that portable terminal arrives each base station.When if we plan a certain specific region according to the signal isogam, when the derivative of strong curve such as critical grade is non-vanishing, F ' _GPSOne(N ₁), (N ₁Be base station number) can reach the accuracy that locate the base station.

F _Gps(N _s) * F ' _GPSOne(N ₁)/C (l ₁, l ₂), in the signal threshold values, we are by longitude and latitude C (l ₁, l ₂) as a major parameter, be for zones of different of living in is planned, the arrangement mode of gps satellite constellation situation and GPSOne base station relatively on this basis, thus position the selection of pattern.

Four, critical switching and buffer area

The switching of two kinds of patterns, certainly will cause a kind of interruption of signal, the process of bimodulus switching causes the vacuum band of location in other words conj.or perhaps, cold start-up with GPS and two kinds of locator meamss of GPSOne is an example, generally within 6 seconds, the common GPS receiving trap needs a few minutes even longer time in the cold start-up of GPSOne.Like this, connect first from GPS and to change to GPSOne, need the time in 6 seconds to carry out mode switch, conversely, connect first from GPSOne and to change to the time that GPS needs a few minutes.This may cause several kilometers for the vehicle in travelling, even tens kilometers vacuum positioning states, and its error degree is self-evident.

Switch the time delay of cold start-up for fear of bimodulus, reasonable way is exactly that GPS and GPSOne location start simultaneously, constantly await orders, can solve the delay problem in the handoff procedure like this, but thing followed expense then is difficult to receive, get twice the result with half the effort, double economy expenditure is difficult to promote the use of in industrial point of view only in order to switch several times once in a while.

Algorithm switches in the interruption of bringing the location to a certain extent, can not start simultaneously again for economic factors and await orders, for this reason, we propose to set up algorithm that bimodulus switches link buffer zone B (I, v, H).Before this, need to determine earlier the notion of inertial coordinate net.

Described inertial coordinates system: inertial coordinates system is meant the coordinate system that satisfies Newton first law, and object is just remain a constant speed forever under 0 the situation rectilinear motion or stationary state not being subjected to external force or bonding force only.

In the vehicle ' process, if not influenced by external force, under the essentially identical situation of the road conditions of travelling, what can think in short-term that vehicle does is linear uniform motion, can think that so vehicle moves under inertial coordinates system.

The inertial coordinate net is meant when object is mobile under inertial coordinates system (i), with reference to the topological structure F (d) of current map, can calculate in following a period of time the running orbit of object and travelling speed.To be used to is under the coordinate system, cooperates the multidimensional physical context of the map topology track of planning to be called the inertial coordinate net.

Buffer zone B (I, v, H) by current inertial coordinate net I (i, F (d)), Vehicle Speed (v) and plane square rid elevation H (m, d h) constitute.Vehicle ' excessively in, judge the signal blind zone that may occur by plane square rid elevation function, press the time of vehicle current driving velocity estimation through the blind area, as in allowed band, then not switching, otherwise, before arriving the blind area, other locator meams of cold start-up, and by the inertial coordinate net and the current Vehicle Speed of current vehicle ', vehicle carries out mode in the following time of simulation, positions demonstration.What done here certainly is in the ideal case, and vehicle at the uniform velocity along the simulation of a certain track operation, can show locating information accurately.But in the real process, quicken as occurring, situations such as turning then deviation can occur midway.But in the driving process, it is less that acceleration in the short time and urgency are stopped paying out living situation in the urban district for vehicle, and simultaneously, remedying of other locator meams after the cold start-up can reach the needs of application fully.

Five, the processing in later stage

In the real-time positioning process that the vehicle bimodulus switches; the positioning signal that receives is to be presented in real time on the software; even can reduce error to a certain extent through above certain operations; but be difficult to avoid to occur the flicker in vehicle shift or the handoff procedure therebetween; in order in thereafter historical track playback or other operation, to make the vehicle operating smoothness; in the process of received signal warehouse-in; we will do certain post-processed; cooperate the map topology information; anchor point is moved to the road-center line position; the point that ranging offset is excessive is rejected, and rejects dot information by the anchor point simulation of front and back, with the level and smooth back of running orbit warehouse-in.Guarantee in the later stage use, can not go wrong.

Comprehensive above variable information can be finished the judgement of bimodulus switching state smoothly, for next step handoff algorithms work lays a solid foundation.

The proposition of multi-model process

Model structure or the parameter of many industrial control processes under different working conditions is often different, can be considered the multi-model system. in recent years, nonlinear system is also often approached with a plurality of linear models, multi-model process is regarded as handling nonlinear system method commonly used. and be subjected to the inspiration of model on the Industry Control, in embodiments of the invention GPS and GPSOne be abstracted into two nonlinear models.

Because PREDICTIVE CONTROL is based on the interior rolling optimization strategy that the result of system's prediction of output is made of a period of time, in predictive equation step current limiting matrix, be the coefficient of Diophantine equation in the prediction step limit.When model switched, variation had also taken place in forecast model, and the step current limiting matrix is relevant with former and later two models of switching.Thereby, during the controller of applied forcasting controlling Design local system, just obtain according to partial model.When switching model, be equivalent to controller also in saltus step, cause the switching disturbance of system's output quantity like this.For this reason,, re-construct the step current limiting matrix of system, just can overcome because model switches the disturbance that causes at two partial models before and after switching.

The rudimentary algorithm of generalized predictive control

Have the nonstationary noise system with one of CR IMA model description:

A(q ^-1)y(t)＝B(q ^-1)u(t-1)+C(q ^-1)ξ(t)/Δ (1)

In the formula:

$A\left(q^{-1}\right)=1+a_1{q}^{-1}+...+a_n{q}^{-n_a};$

$B\left(q^{-1}\right)=b_0+b_1{q}^{-1}+...+b_n{q}^{-n_b};$

$C\left(q^{-1}\right)=1+c_1{q}^{-1}+...+c_n{q}^{-n_c};$

Δ＝1-q ^-1；

{ y (t), u (t) } is respectively the output and the list entries of system; { ξ (t) } is the white noise sequence of zero-mean; q ^-1Be backward shift operator; A (q ^-1), B (q ^-1) and C (q ^-1) be about q ^-1Polynomial expression.

Formula (1) is made mathematics handle, take advantage of both members with Δ,

A(q ^-1)y(t)＝B(q ^-1)Δu(t-1)+C(q ^-1)ξ(t)(2)

In the formula

$\stackrel{\&OverBar;}{A}\left(q^{-1}\right)=A\left(q^{-1}\right)\mathrm{\&Delta;}=1+a_1{q}^{-1}+...+a_{n_a+1}{q}^{-n_a-1}$

In order to make the control procedure transition steady, adopt the softening reference locus:

$\left.\begin{array}{c}w\left(t\right)=y\left(t\right)\\ w(t+k)={\mathrm{\&alpha;}}_v(t+k-1)+\\ {(1-\mathrm{\&alpha;})}_{y_r}\left(t\right)\end{array}\right\}---\left(3\right)$

In the formula: yr (t) is the output setting value; α ∈ [0,1) be called the softening factor.

Adopt following objective function:

$J=E\left\{{\mathrm{\&Sigma;}}_{k=1}^N\right[y(t+k/t)-w(t+k){]}^2+$

${\mathrm{\&Sigma;}}_{k=1}^M\mathrm{\&lambda;}{u}^2(t+k-1)\}---\left(4\right)$

In the formula: N is a maximum predicted length, generally should be greater than M; M is control length; λ is the weighting greater than zero. generalized predictive control the question resolves itself into is obtained u (t), and u (t-1) ..., u (t-M-1) makes target function type (4) reach the optimization problem of minimum value.

K goes on foot the optimum prediction of output in order to obtain forward, separates following Diophan tine equation:

$\left.\begin{array}{c}C=E_k\stackrel{\&OverBar;}{A}+q^{-k}{F}_k\\ E_{k}B=G_{j}C+q^{-k}{H}_k\\ k=1,...,N\end{array}\right\}---\left(5\right)$

In the formula, Ek, Fk, Gk, Hk are the polynomial expression about q-1:

$E_k\left(q^{-1}\right)=1+\underset{j=1}{\overset{k-1}{\mathrm{\&Sigma;}}}{r}_{k,j}{q}^{-j},$ $F_k\left(q^{-1}\right)=\underset{j=0}{\overset{n_a}{\mathrm{\&Sigma;}}}{f}_{k,j}{q}^{-j}$

$G_k\left(q^{-1}\right)=\underset{j=0}{\overset{n_a+k-1}{\mathrm{\&Sigma;}}}{g}_{k,j}{q}^{-j},$ $\&PartialD;E_k=k-1,$ $\&PartialD;F_k=n_a$

$\&PartialD;G_k=k-1,$ $\&PartialD;H_k=\max (n_b-1,n_c-1)$

When noticing j＜k, g is arranged _{K, j}=g _j. when prediction length k got 1～N, its multistep prediction of output value utilized Diophan tine equation to try to achieve respectively:

y(t+k/t)＝GΔu(t)+HΔu(t-1)+Fy(t)(6)

In the formula:

y(t+k/t)＝[y(t+1/t)，y(t+2/t)，…，

y(t+N/t)] ^T

Δu(t)＝[Δu(t)，Δu(t+1)，…，

Δu(t+N-1)] ^T

$\mathrm{\&Delta;u}(t-1)=[\mathrm{\&Delta;u}(t-n_{n_b}),\mathrm{\&Delta;u}(t-n_{n_b}+1),...,$

$\mathrm{\&Delta;u}(t-1){]}^T$

y(t)＝[t(t-n _a)，…，y(t)] ^T

$G={\left[\begin{array}{ccccc}{g}_0& 0& ...& ...& 0\\ g_1& g_0& 0& ...& 0\\ .& .& .& .& .\\ .& .& .& .& .\\ .& .& .& .& .\\ g_{N-1}& g_{N-2}& ...& ...& g_0\end{array}\right]}_{N\&times;N}$

$F={\left[\begin{array}{ccc}{\mathrm{<figure-callout\; id="1"\; label="f"\; filenames="A20081021745600201.png"\; state="\{\{state\}\}">f</figure-callout>}}_{{1,n}_a}& ...& {\mathrm{<figure-callout\; id="1"\; label="f"\; filenames="A20081021745600201.png"\; state="\{\{state\}\}">f</figure-callout>}}_{\mathrm{1,0}}\\ f_{{2,n}_a}& \begin{array}{c}.\\ .\\ .\end{array}& f_{\mathrm{2,0}}\\ .& .& .\\ .& .& .\\ .& .& .\\ f_{{N,n}_a}& ...& f_{N,n_a}\end{array}\right]}_{N\&times;(n_a+1)}$

$H={\left[\begin{array}{ccccc}{\mathrm{<figure-callout\; id="1"\; label="g"\; filenames="A20081021745600201.png"\; state="\{\{state\}\}">g</figure-callout>}}_{{1,\mathrm{<figure-callout\; id="1"\; label="n\; b\; g"\; filenames="A20081021745600201.png"\; state="\{\{state\}\}">n</figure-callout>}}_b}& g_{}{}_{{1,n}_b-1}& ...& {\mathrm{<figure-callout\; id="1"\; label="g"\; filenames="A20081021745600201.png"\; state="\{\{state\}\}">g</figure-callout>}}_{\mathrm{1,2}}& {\mathrm{<figure-callout\; id="1"\; label="g"\; filenames="A20081021745600201.png"\; state="\{\{state\}\}">g</figure-callout>}}_{\mathrm{1,1}}\\ g_{{2,n}_b+1}& g_{{2,n}_b}& ...& g_{\mathrm{2,3}}& g_{\mathrm{2,2}}\\ .& .& .& .& .\\ .& .& .& .& .\\ .& .& .& .& .\\ g_{{N,n}_b+N-1}& g_{{N,n}_b+N-2}& ...& g_{N,N+1}& g_{N,N}\end{array}\right]}_{N\&times;n_b}$

By formula (6) as can be known, first on equation the right is unknown term to be asked, and second and the 3rd is the known portions of system, and order

f＝Fy(t)+HΔu(t-1) (7)

With formula (6) substitution formula (4), the minimization objective function, the control law that can get GPC is

Δu(t)＝(G ^TG+Λ) ^-1G ^T(w-f) (8)

In the formula: Λ=diag (λ); W is the softening setting value sequence of system

Taking over seamlessly of GPS+GPSOne bimodulus GPC algorithm

Supposing the system t0 constantly model switch, during t≤t0, system model is M 1; During t＞t0, system model is the component analysis of M2. from above-mentioned GPC algorithm, when construction system step current limiting matrix G, H and F, relevant with the prediction step of system, and in N step forecasting process, variation has taken place in model, and nature will be considered to carry out finding the solution of Diophantine equation according to different models when constituting G, H and F matrix. and divide three kinds of situations to consider:

What (1) at this moment t+k＜t0+1. exported is predicted as

$[y(t+1)y(t+2)...y\left(t_0\right)]\stackrel{T}{N}\&times;1=$

${\mathrm{<figure-callout\; id="1"\; label="G"\; filenames="A20081021745600201.png"\; state="\{\{state\}\}">G</figure-callout>}}_1\mathrm{\&Delta;u}\left(t\right)+{\mathrm{<figure-callout\; id="1"\; label="H"\; filenames="A20081021745600201.png"\; state="\{\{state\}\}">H</figure-callout>}}_1\mathrm{\&Delta;u}(t-1)+F_{1}y\left(t\right)$

Wherein, the element among G1, H1 and the F1 is tried to achieve by M1 model solution Diophantine equation, at this moment still presses the GPC calculation control amount of formula (8).

(2) at this moment t+k=t0+1. will predict output, next step prediction is the moment of model switching just, finding the solution of D iophan tine equation do not satisfied in the calculating of this up-to-date style (6), for fear of the fluctuation that causes controlled quentity controlled variable, the value of desirable last time of controlled quentity controlled variable is constant, and promptly the last column in G, H and F matrix is got constant g ' 0, h ' 0, f ' 0.

(3) though t0+1＜t+k≤t+N. at this moment model switched to M2, in G, H and F, form by the N row element, during this period of time, G, H and F are made up of two parts, can be write as respectively:

$G^{\&prime;}={\left[\begin{array}{c}{\mathrm{<figure-callout\; id="1"\; label="G"\; filenames="A20081021745600201.png"\; state="\{\{state\}\}">G</figure-callout>}}_1\\ .\\ .\\ .\\ g_0^{\&prime;}\\ .\\ .\\ .\\ G_2\end{array}\right]}_N$ $H^{\&prime;}={\left[\begin{array}{c}{\mathrm{<figure-callout\; id="1"\; label="H"\; filenames="A20081021745600201.png"\; state="\{\{state\}\}">H</figure-callout>}}_1\\ .\\ .\\ .\\ h_0^{\&prime;}\\ .\\ .\\ .\\ H_2\end{array}\right]}_N$ $F^{\&prime;}={\left[\begin{array}{c}{\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="A20081021745600201.png"\; state="\{\{state\}\}">F</figure-callout>}}_1\\ .\\ .\\ .\\ f_0^{\&prime;}\\ .\\ .\\ .\\ F_2\end{array}\right]}_N$

Wherein: G1, H1 and F1 press M 1D iophan tine equation solution; G2, H2 and F2 press M 2 D iophan tine equation solutions, and predictive equation at this moment is

y(t+k/t)＝G′Δu(t)+H′Δu(t-1)+F′y(t)

And control law is

Δu(t)＝(G′ ^TG′+Λ) ^-1G′ ^T(w-f′)

Along with the recursion of control step limit, the element among G ', H ' and the F ' is an alternation, after t+k＞t0+N, G '=G2 is arranged, H '=H2, F '=F2.

In GPS-GPSOne bimodulus changing method of the present invention, carrying out when the GPS-GPSOne bimodulus switches, to also have some information be that the external world is transmitted such as the situation that weather condition, portable terminal stop signal through the height of groups of building and the complexity of road net etc.

The present invention also provides GPS-GPSOne bimodulus switching terminal modular structure synoptic diagram, as shown in Figure 8, described GPS-GPSOne bimodulus switching terminal comprises main control unit 103, GPS receiving element 101, GPSOne receiving element 102, CDMA 1X communication unit 107, power supply unit 104, display unit 106 and voice call unit 105, described GPS receiving element 101 is connected with described main control unit 103, described GPSOne receiving element 102 is connected with described main control unit 103, described CDMA 1X communication unit 107 is connected with described main control unit 103, described power supply unit 104, described display unit 106 is connected with described main control unit 103 with described voice call unit 105.

Wherein, described GPS receiving element 101 is used to receive gps signal; Described GPSOne receiving element 102 is used to receive the GPSOne signal, and described main control unit 103 can carry out pre-service and transmission to gps signal and GPSOne signal, and travel record data collection and storage realize wireless remote control, the switching of signal and the transmission of data.

Described display unit 106, be used for that Word message shows, transport condition shows and with the information interaction of Surveillance center.Described voice call unit 105 adopts hands-free message equipment in technical scheme of the present invention, can with Surveillance center's voice call.Described power supply unit 104 is responsible for described main control unit 103 power supplies.

Disclosed technical scheme among the present invention, can effectively ensure flexible, the quick switching of GPS station-keeping mode and described GPSOne station-keeping mode, can overcome between the radio navigation system location or the shortcoming that lost efficacy, can overcome the shortcoming that inertial navigation, dead reckoning system positioning error are accumulated in time again, extract useful information to greatest extent, the omnidistance continuity of support vehicles location, stability.

Above content be in conjunction with concrete optimal technical scheme to further describing that the present invention did, can not assert that concrete enforcement of the present invention is confined to these explanations.For the general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, can also make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.

Claims (10)

1. GPS-GPSOne bimodulus changing method, it is characterized in that: described GPS-GPSOne bimodulus changing method comprises step:

A: the switching judging of carrying out state between the GPS-GPSOne bimodulus by inertia criterion and efficiency criterion;

B: carry out the selection of GPS or GPSOne locator meams by speed threshold values and signal threshold values;

C: the sortord to described gps satellite constellation and described GPSOne base station compares, and selects station-keeping mode;

D: carry out the switching between described GPS pattern and the described GPSOne pattern.

2. according to the described GPS-GPSOne bimodulus of claim 1 changing method, it is characterized in that: the inertia criterion is by function Z (d in the described steps A, p, s) U B=r judges, described function Z representation program p finishes the union of sufficient degree and variable B with respect to the function of functional specification s on information data set d.

3. according to the described GPS-GPSOne bimodulus of claim 2 changing method, it is characterized in that: described functional specification s refers to extraneous interfere information and condition, comprising: the situation that weather condition, portable terminal stop signal through the height of groups of building and the complexity of road net; Described information data set d represents the satellite that the current generation receives or the data cases of location, GPSOne base station; Described program p is an agenda of setting up described functional specification s and described information data set d mutual relationship, and described variable B is a variable in [0,1] interval.

4. according to the described GPS-GPSOne bimodulus of claim 1 changing method, it is characterized in that: efficiency criterion is to judge the necessity that bimodulus switches at information data collection situation and the correlation function performance under the response time in the described steps A, and its expression formula is C (B _0,1): T * D * S → V; B parameter in the formula _0,1It is interval value at economic benefit and the setting of objective interest key element; D is the information data set; S is a functional specification; T is a time range.

5. according to the described GPS-GPSOne bimodulus of claim 1 changing method, it is characterized in that: speed threshold values described in the described step B is the selection of carrying out described GPS or described GPSOne locator meams by the travel speed of portable terminal.

6. according to the described GPS-GPSOne bimodulus of claim 5 changing method, it is characterized in that: described speed threshold values is represented with Vc, on behalf of the travelling speed of portable terminal, described Vc judge in the mapping in a certain field of definition interval, and the mapping form of Vc is the nonlinear function Vc=[V+F (d) by road conditions L, standard speed V and the common decision of road network complexity F (d)]/L.

7. according to the described GPS-GPSOne bimodulus of claim 1 changing method, it is characterized in that: signal valve value record described in the described step B be the limit of the signal intensity of described GPS and described GPSOne, carry out the selection of described GPS or described GPSOne locator meams by the strong and weak degree of calculating two kinds of mode signals to be selected.

8. according to the described GPS-GPSOne bimodulus of claim 7 changing method, it is characterized in that: on behalf of portable terminal, described signal threshold values receive the mapping judgement of positioning signal in a certain field of definition interval, its mapping form is by plane square rid elevation H (m, d, h), and signal window W (W1, W2) the interval S=H * W of the Nonlinear Mapping that decides, W1 among the signal window W wherein, W2 represents two patterns (GPS, signal window GPSOne) respectively.

9. according to the described GPS-GPSOne bimodulus of claim 1 changing method, it is characterized in that: comprise also that in described GPS-GPSOne bimodulus changing method bimodulus switches the setting of buffer zone, it is to set up buffer zone at the time domain of switching about moment that described bimodulus switches buffer zone, guarantees smooth connection that two kinds of locator meamss of described GPS and described GPSOne are switched.

10. GPS-GPSOne bimodulus switching terminal, it is characterized in that: described GPS-GPSOne bimodulus switching terminal comprises main control unit (103), GPS receiving element (101), GPSOne receiving element (102) and CDMA 1X communication unit (107), and described GPS receiving element (101), described GPSOne receiving element (102) and described CDMA 1X communication unit (107) are connected with described main control unit (103) respectively.

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