CN101545788A - Vehicle positioning implementing method - Google Patents

Vehicle positioning implementing method Download PDF

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Publication number
CN101545788A
CN101545788A CN200910302287A CN200910302287A CN101545788A CN 101545788 A CN101545788 A CN 101545788A CN 200910302287 A CN200910302287 A CN 200910302287A CN 200910302287 A CN200910302287 A CN 200910302287A CN 101545788 A CN101545788 A CN 101545788A
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road
vehicle
longitude
location
gps
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CN200910302287A
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CN101545788B (en
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明爽
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Sichuan Changhong Electric Co Ltd
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Sichuan Changhong Electric Co Ltd
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Abstract

The invention relates to a navigation positioning technology, particularly an implementing method for vehicle positioning. The invention discloses a vehicle positioning implementing method aiming at the disadvantages of GPS and DR in prior art and combining GPS and DR to implement positioning with high efficiency, accuracy and continuation. The key points of the technical scheme are as follows: judging whether the latitude and longitude data obtained from GPS is abnormal, if not, then figuring out the vehicle current road and the specific position on the road by a matching algorithm of GPS and electronic map, if yes, then figuring out the vehicle current road and the specific position on the road by a matching algorithm of DR and electronic map. The invention combines GPS and DR and is suitable for positioning vehicles with high efficiency, accuracy and continuation.

Description

The implementation method of vehicle location
Technical field
The present invention relates to the navigator fix technology, relate to a kind of implementation method of vehicle location specifically.
Background technology
Along with developing rapidly of intelligent transportation system, the vehicle positioning and navigation system is also in continuous development.Nowadays mainly contain GPS (GPS) and boat position navigational system (DR) etc. and be used for vehicle location.Any on earth place of GPS can observe at least four satellites continuously simultaneously, thereby has guaranteed needs global, round-the-clock continuous real-time positioning.But stand in great numbers at high building, gps signal may be received and block under the tree shade, the GPS location is temporary transient lost efficacy or can not locate continuously thereby cause.DR utilizes direction and speed pickup to calculate vehicle location, and is higher for short-range location survey precision, but the error of direction sensor is bigger, and accumulative total in time can disperse, and therefore is not suitable for the location of long distance.
Summary of the invention
Technical matters to be solved by this invention is: at the shortcoming that GPS in the prior art and DR exist separately, propose a kind of implementation method of vehicle location, the two is combined to realize efficient, accurate, continuous location.
The present invention solves the problems of the technologies described above the technical scheme that is adopted: the implementation method of vehicle location may further comprise the steps:
A. read the longitude and latitude data of the current location that the GPS module gets access in real time;
B. judge whether the longitude and latitude data that the GPS module obtains are unusual, if, execution in step d then, otherwise execution in step c;
C. be corresponding rectangular coordinate with the longitude and latitude data conversion, the valid data according in the rectangular coordinate loading electronic chart adopt GPS and electronic map match algorithm, jump to step e;
D. be corresponding rectangular coordinate with the longitude and latitude data conversion,, and load the previous elements of a fix, vehicle running velocity and direction information, adopt DR and electronic map match algorithm according to the valid data in the rectangular coordinate loading electronic chart;
E. positioned vehicle present located road reaches the particular location at road of living in.
Among the described step b, judge whether unusual method is the longitude and latitude data that the GPS module obtains: if the positional precision dilution value greater than 6, longitude and latitude data exception then; If current longitude and latitude data not in the theoretical scope in the geographic area that predefined vehicle is exercised, longitude and latitude data exception then; If current vehicle running velocity is above predefined vehicle running velocity maximal value or less than predefined vehicle running velocity minimum value, then longitude and latitude data exception.
Among described step c, the d, the method that loads the valid data in the electronic chart according to rectangular coordinate is: be the center of circle with the rectangular coordinate, select suitable radius to justify, load the road data in the circle.
Among the described step e, (1) for adopting GPS and electronic map match algorithm, the method that positioned vehicle present located road reaches at the particular location of road of living in is: if the road number in the circle is one, just can judge that vehicle is to exercise on this road; If more than one of the road number in the circle, calculate the vertical range of the center of circle so to each bar road, find out the shortest road of vertical range and be the current enforcement road of vehicle, find out the center of circle again and be the particular location of vehicle on this road to the minimum distance point of the current enforcement road of vehicle; (2) for adopting DR and electronic map match algorithm, the method that positioned vehicle present located road reaches at the particular location of road of living in is: 1. get GPS and lose previous positioning result A (X 0, Y 0) be the location reference position, and note travel ID number of its place;
2. according to alignment sensor obtain travelling distance information △ S and angle information θ, obtain the increment of coordinate of vehicle X and Y direction between twice signal sampling by following formula;
ΔX = ΔS · sin θ ΔY = ΔS · cos θ
3. by the current position coordinates B (X of following formula to calculating vehicle 1, Y 1);
B(X 1，Y 1)＝A(X 0，Y 0)+(△X，△Y)
4. search for B (X on the current driving road 1, Y 1) closest approach C (X 2, Y 2), and calculate between B and the C apart from △ D 0
5. road information is handled: if the C point is intersection or node, can concern the road that finds connection by road topology according to the numbering of node, determine the road of the most similar road in road position angle for travelling by the azimuth information that aspect sensor provides;
6. judge: if △ is D 0Poor smaller or equal to limit, then C is the vehicle location point, and record C is the road ID of current driving place road ID number; Otherwise, if △ is D 0Poor greater than limit, to get on A point and the C point place straight line, the vertical projection point that B is ordered is the vehicle location point, writes down this place and is the road ID of current driving road ID number.
The invention has the beneficial effects as follows: can realize efficient, accurate, continuous location to vehicle in conjunction with GPS and DR.
Description of drawings
Fig. 1 is the vehicle location implementation method process flow diagram among the present invention.
Embodiment
The invention will be further described below in conjunction with drawings and Examples.
The present invention is with respect to prior art, GPS is combined with DR, the data of obtaining in real-time position information of obtaining by the GPS module and the electronic chart are among a small circle carried out Matching Location fast, under the situation that does not have gps signal or gps signal crested, take the Matching Location of DR and electronic chart, finally realized efficient, accurate, continuous location.
As shown in Figure 1, the vehicle location implementation method among the present invention adopts following steps to realize that a. reads the longitude and latitude data of the current location that the GPS module gets access in real time; B. judge whether the longitude and latitude data that the GPS module obtains are unusual, if, execution in step d then, otherwise execution in step c; C. be corresponding rectangular coordinate with the longitude and latitude data conversion, the valid data according in the rectangular coordinate loading electronic chart adopt GPS and electronic map match algorithm, jump to step e; D. be corresponding rectangular coordinate with the longitude and latitude data conversion,, and load the previous elements of a fix, vehicle running velocity and direction information, adopt DR and electronic map match algorithm according to the valid data in the rectangular coordinate loading electronic chart; E. positioned vehicle present located road; F. the current particular location on road of living in of positioned vehicle.
Embodiment:
Vehicle location performing step in this example is as follows: be divided into four big steps: 1.GPS data preprocessing process: the longitude and latitude data that read the current location that the GPS module gets access in real time.2. the selection of map-matching method: when data exception that the GPS module is obtained or no datat, automatically switch to DR and electronic map match algorithm; The data that the GPS module is obtained just often automatically switch to GPS and electronic map match algorithm.3. the loading of the conversion of longitude and latitude data and map datum: a. is real-time longitude and latitude data conversion corresponding rectangular coordinate; B. according to real-time rectangular coordinate, load the valid data (with current coordinate is the center, loads the data in the close scope) in the electronic chart.4. the vehicle ' highway section is definite: need select different location implementation methods this moment according to different matching process, but its basic ideas are to belong to that road for following two point: a. location current location still; B. the location belongs to which position of that road.
The factor that gps data is carried out mainly considering pretreated the time has: the PDOP that the GPS module provides (positional precision dilution) value (generally getting PROP＜6), body of a map or chart (pre-determining effective geographic area of vehicle '), and the travel speed of vehicle etc.: if PROP〉6, longitude and latitude data exception then; If current longitude and latitude data not in the theoretical scope in the geographic area that predefined vehicle is exercised, longitude and latitude data exception then; If current vehicle running velocity is above predefined vehicle running velocity maximal value or less than predefined vehicle running velocity minimum value, then longitude and latitude data exception.Its theoretical foundation is: as PROP〉6 or the longitude and latitude data not in the geographic area scope that predefined vehicle is exercised or current vehicle running velocity surpasses predefined vehicle running velocity maximal value or during less than predefined vehicle running velocity minimum value, the vehicle enforcement is described on tunnel or viaduct, gps signal crested this moment.Need select DR and electronic chart to carry out Matching Algorithm for above-mentioned situation, otherwise just select GPS and electronic chart to carry out Matching Algorithm.
Loading for the longitude and latitude data: is the longitude and latitude data conversion of obtaining from the GPS module rectangular coordinate; With the rectangular coordinate after transforming is the center of circle, selects suitable radius to do circle, and the road data in the circle is loaded in the internal memory, and if the DR that selects and the matching process of electronic chart, just need add to carry previous elements of a fix, the travel speed of automobile such as turns at information.
After having loaded the longitude and latitude data, will carry out vehicle and exercise determining of determining of highway section and the particular location on the enforcement highway section, introduce the implementation method of GPS and electronic map match below earlier: (1) can judge directly that so vehicle travels on this road if the road number in the circle scope is one; If more than one of the road number in the circle scope then calculates the vertical range of the center of circle to every road, find out the shortest road of distance at last, be the highway section of vehicle current driving.(2) find out the center of circle again and be the particular location of vehicle on this road to the minimum distance point of the current enforcement road of vehicle.
For DR and electronic map match implementation method:
DR is similar to the matching algorithm of electronic chart with GPS to the electronic map match algorithm, but the DR location must pre-determine initial position, is provided by GPS.The specific implementation process is:
(1) gets GPS and lose previous positioning result A (X 0, Y 0) be the location reference position, and note travel ID number of its place;
(2), obtain the increment of coordinate of vehicle X and Y direction between twice signal sampling by following formula according to alignment sensor (direction sensor, speed pickup) obtain travelling distance information △ S and angle information θ;
ΔX = ΔS · sin θ ΔY = ΔS · cos θ
(3) by the current position coordinates B (X of following formula to calculating vehicle 1, Y 1);
B(X 1，Y 1)＝A(X 0，Y 0)+(△X，△Y)
(4) B (X on the search current driving road 1, Y 1) closest approach C (X 2, Y 2), and calculate between B and the C apart from △ D 0
(5) road information is handled: if road is that node (starting point or terminating point) or road arrive the crossing during to C, can concern the road that finds connection by road topology according to the numbering of node, determine the road of the most similar road in road position angle for travelling by the azimuth information that aspect sensor provides;
(6) judge: if △ is D 0≤ E (it is poor to limit), then C is the vehicle location point, and record C is the road ID of current driving place road ID number; Otherwise, if △ is D 0E, taking away initial point is that the vertical projection point that B is ordered is the vehicle location point on A point and the C point place straight line, writes down this place and is the road of current driving road ID number.
Said road eliminating is to be the standard round arc road in the center of circle with institute's cut-off angular coordinate point among the present invention, because this road is non-existent substantially in reality, can judge that thus rectangular coordinate point to the shortest vertical range on the road is well-determined, and to the nearest point of road (i.e. the joining of the shortest vertical line and road) also be well-determined.

Claims (4)

  1. The implementation method of [claim 1] vehicle location is characterized in that: may further comprise the steps:
    A. read the longitude and latitude data of the current location that the GPS module gets access in real time;
    B. judge whether the longitude and latitude data that the GPS module obtains are unusual, if, execution in step d then, otherwise execution in step c;
    C. be corresponding rectangular coordinate with the longitude and latitude data conversion, the valid data according in the rectangular coordinate loading electronic chart adopt GPS and electronic map match algorithm, jump to step e;
    D. be corresponding rectangular coordinate with the longitude and latitude data conversion,, and load the previous elements of a fix, vehicle running velocity and direction information, adopt DR and electronic map match algorithm according to the valid data in the rectangular coordinate loading electronic chart;
    E. positioned vehicle present located road reaches the particular location at road of living in.
  2. The implementation method of [claim 2] vehicle location as claimed in claim 1 is characterized in that: among the described step b, judge whether unusual method is the longitude and latitude data that the GPS module obtains: if the positional precision dilution value greater than 6, longitude and latitude data exception then; If current longitude and latitude data not in the theoretical scope in the geographic area that predefined vehicle is exercised, longitude and latitude data exception then; If current vehicle running velocity is above predefined vehicle running velocity maximal value or less than predefined vehicle running velocity minimum value, then longitude and latitude data exception.
  3. The implementation method of [claim 3] vehicle location as claimed in claim 1 or 2, it is characterized in that: among described step c, the d, the method that loads the valid data in the electronic chart according to rectangular coordinate is: be the center of circle with the rectangular coordinate, select suitable radius to justify, load the road data in the circle.
  4. The implementation method of [claim 4] vehicle location as claimed in claim 3, it is characterized in that: among the described step e, (1) for adopting GPS and electronic map match algorithm, the method that positioned vehicle present located road reaches at the particular location of road of living in is: if the road number in the circle is one, just can judge that vehicle is to exercise on this road; If more than one of the road number in the circle, calculate the vertical range of the center of circle so to each bar road, find out the shortest road of vertical range and be the current enforcement road of vehicle, find out the center of circle again and be the particular location of vehicle on this road to the minimum distance point of the current enforcement road of vehicle; (2) for adopting DR and electronic map match algorithm, the method that positioned vehicle present located road reaches at the particular location of road of living in is:
    1. get GPS and lose previous positioning result A (X 0, Y 0) be the location reference position, and note travel ID number of its place;
    2. according to alignment sensor obtain travelling distance information Δ S and angle information θ, obtain the increment of coordinate of vehicle X and Y direction between twice signal sampling by following formula
    ΔX = ΔS · sin θ ΔY = ΔS · cos θ ;
    3. by the current position coordinates B (X of following formula to calculating vehicle 1, Y 1)
    B(X 1，Y 1)＝A(X 0，Y 0)+(ΔX，ΔY)；
    4. search for B (X on the current driving road 1, Y 1) closest approach C (X 2, Y 2), and the distance, delta D between calculating B and the C 0
    5. road information is handled: if the C point is intersection or node, can concern the road that finds connection by road topology according to the numbering of node, determine the road of the most similar road in road position angle for travelling by the azimuth information that aspect sensor provides;
    6. judge: if Δ D 0Poor smaller or equal to limit, then C is the vehicle location point, and record C is the road ID of current driving place road ID number; Otherwise, if Δ D 0Poor greater than limit, to get on A point and the C point place straight line, the vertical projection point that B is ordered is the vehicle location point, writes down this place and is the road ID of current driving road ID number.
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Cited By (22)

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CN102175254A (en) * 2011-01-13 2011-09-07 北京超图软件股份有限公司 Navigation positioning correction method and device, and positioning navigation system
CN102226700A (en) * 2011-03-16 2011-10-26 山东大学 Method for matching electronic map of flyover road network
CN102620732A (en) * 2011-01-27 2012-08-01 凹凸电子（武汉）有限公司 Object positioning method, position calculation system, map system and positioning system
CN102735247A (en) * 2011-03-30 2012-10-17 爱信艾达株式会社 Driving assisting device and driving assisting method
CN103518119A (en) * 2011-03-24 2014-01-15 约翰逊控制技术公司 System and method for transferring vehicle operating data to external navigation system
CN104596526A (en) * 2014-04-17 2015-05-06 腾讯科技（深圳）有限公司 Positioning point matching method and positioning point matching apparatus
CN104736966A (en) * 2013-03-28 2015-06-24 株式会社咕嘟妈咪 Route determination system
US9116005B2 (en) 2009-06-30 2015-08-25 Maishi Electronic (Shanghai) Ltd Electronic systems for locating objects
CN104898139A (en) * 2014-03-07 2015-09-09 中兴通讯股份有限公司 Vehicle positioning excursion-correcting method and device
CN105206090A (en) * 2015-10-13 2015-12-30 厦门星辰天羽汽车设计有限公司 Vehicle positioning method
CN105628033A (en) * 2016-02-26 2016-06-01 广西鑫朗通信技术有限公司 Map matching method based on road connection relationship
CN106370193A (en) * 2016-08-30 2017-02-01 上海交通大学 Vehicle integrated positioning system and method based on map matching
CN106469505A (en) * 2015-08-20 2017-03-01 方正国际软件(北京)有限公司 A kind of floating wheel paths method for correcting error and device
CN106767761A (en) * 2017-01-18 2017-05-31 深圳市可可卓科科技有限公司 A kind of benefit of position coordinates calculates method and device
CN107230375A (en) * 2016-03-24 2017-10-03 北京握奇智能科技有限公司 A kind of vehicle positioning method and system
CN103761229B (en) * 2013-10-15 2017-11-07 北京航空航天大学 Data processing method and device
CN107407733A (en) * 2015-10-30 2017-11-28 株式会社小松制作所 The control system of Work machine, Work machine, the management method of the management system of Work machine and Work machine
CN107860399A (en) * 2017-09-22 2018-03-30 北京机械设备研究所 Accurate alignment method between a kind of vehicle-mounted inertial navigation based on map match is advanced
CN107861132A (en) * 2017-10-27 2018-03-30 上海斐讯数据通信技术有限公司 A kind of GPS track optimization method and device
CN109211228A (en) * 2018-06-30 2019-01-15 华安鑫创控股（北京）股份有限公司 A kind of intelligent Web inertial navigation method and Related product
CN110415545A (en) * 2019-08-02 2019-11-05 辰芯科技有限公司 A kind of lane location method, apparatus, electronic equipment and storage medium
CN111380542A (en) * 2018-12-28 2020-07-07 沈阳美行科技有限公司 Vehicle positioning and navigation method and device and related system

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US9116005B2 (en) 2009-06-30 2015-08-25 Maishi Electronic (Shanghai) Ltd Electronic systems for locating objects
CN102175254B (en) * 2011-01-13 2013-02-20 北京超图软件股份有限公司 Navigation positioning correction method and device, and positioning navigation system
CN102175254A (en) * 2011-01-13 2011-09-07 北京超图软件股份有限公司 Navigation positioning correction method and device, and positioning navigation system
CN102620732B (en) * 2011-01-27 2014-03-12 迈实电子(上海)有限公司 Object positioning method and device
CN102620732A (en) * 2011-01-27 2012-08-01 凹凸电子（武汉）有限公司 Object positioning method, position calculation system, map system and positioning system
CN102226700A (en) * 2011-03-16 2011-10-26 山东大学 Method for matching electronic map of flyover road network
CN103518119A (en) * 2011-03-24 2014-01-15 约翰逊控制技术公司 System and method for transferring vehicle operating data to external navigation system
US9140562B2 (en) 2011-03-24 2015-09-22 Claude Mignen System and method for transferring vehicle operating data to an external navigation system
CN102735247A (en) * 2011-03-30 2012-10-17 爱信艾达株式会社 Driving assisting device and driving assisting method
CN102735247B (en) * 2011-03-30 2015-09-09 爱信艾达株式会社 Drive supporting device and driving support method
CN104736966A (en) * 2013-03-28 2015-06-24 株式会社咕嘟妈咪 Route determination system
CN104736966B (en) * 2013-03-28 2018-03-13 株式会社咕嘟妈咪 Route decision-making system
CN103761229B (en) * 2013-10-15 2017-11-07 北京航空航天大学 Data processing method and device
CN104898139A (en) * 2014-03-07 2015-09-09 中兴通讯股份有限公司 Vehicle positioning excursion-correcting method and device
CN104596526A (en) * 2014-04-17 2015-05-06 腾讯科技（深圳）有限公司 Positioning point matching method and positioning point matching apparatus
CN106469505A (en) * 2015-08-20 2017-03-01 方正国际软件(北京)有限公司 A kind of floating wheel paths method for correcting error and device
CN105206090B (en) * 2015-10-13 2017-06-16 厦门星辰天羽汽车设计有限公司 A kind of vehicle positioning method
CN105206090A (en) * 2015-10-13 2015-12-30 厦门星辰天羽汽车设计有限公司 Vehicle positioning method
CN107407733A (en) * 2015-10-30 2017-11-28 株式会社小松制作所 The control system of Work machine, Work machine, the management method of the management system of Work machine and Work machine
US10935660B2 (en) 2015-10-30 2021-03-02 Komatsu Ltd. Control system of work machine, work machine, management system of work machine, and method of managing work machine
CN107407733B (en) * 2015-10-30 2020-08-11 株式会社小松制作所 Control system for work machine, management system for work machine, and management method for work machine
CN105628033A (en) * 2016-02-26 2016-06-01 广西鑫朗通信技术有限公司 Map matching method based on road connection relationship
CN107230375A (en) * 2016-03-24 2017-10-03 北京握奇智能科技有限公司 A kind of vehicle positioning method and system
CN106370193A (en) * 2016-08-30 2017-02-01 上海交通大学 Vehicle integrated positioning system and method based on map matching
CN106767761A (en) * 2017-01-18 2017-05-31 深圳市可可卓科科技有限公司 A kind of benefit of position coordinates calculates method and device
CN107860399A (en) * 2017-09-22 2018-03-30 北京机械设备研究所 Accurate alignment method between a kind of vehicle-mounted inertial navigation based on map match is advanced
CN107861132A (en) * 2017-10-27 2018-03-30 上海斐讯数据通信技术有限公司 A kind of GPS track optimization method and device
CN109211228A (en) * 2018-06-30 2019-01-15 华安鑫创控股（北京）股份有限公司 A kind of intelligent Web inertial navigation method and Related product
CN111380542A (en) * 2018-12-28 2020-07-07 沈阳美行科技有限公司 Vehicle positioning and navigation method and device and related system
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