CN103295415A - Bus positioning method based on double-beacon and double-module communication - Google Patents
Bus positioning method based on double-beacon and double-module communication Download PDFInfo
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Abstract
The invention relates to a bus positioning method based on double-beacon and double-module communication. A label device of a vehicle-mounted terminal based on a radio frequency identification (RFID) technique is installed on a bus, and a benchmark device comprising a card reader and an information releasing unit are arranged in an intermediate terminal bus shelter. A double-beacon mode is adopted for positioning the bus, a vehicle-mounted intelligent terminal based on combination of RFID beacon positioning and global positioning system (GPS) positioning serves as the main beacon, a short-distance communication module and an independent GPS module are combined to serve as an auxiliary beacon, a communication module is additionally arranged in the intermediate terminal bus shelter to serve as an auxiliary information channel, and the short-distance communication module and a remote wireless communication module are arranged in the information releasing unit of the intermediate terminal bus shelter. A communication device of the intermediate terminal bus shelter and the vehicle-mounted intelligent terminal of the bus adopt different wireless communication operators. Effective data amount of the bus positioning method is 2.5 times as that of the vehicle-mounted terminal, and 99% of data of a label are delayed within 15 seconds, and information is accurate and timely.
Description
Technical field
The present invention relates to a kind of bus localization method, relate in particular to a kind of bus localization method based on two beacons and dual mode communication.
Background technology
Contemporary society is along with the continuous acceleration of urbanization process, and increasing population begins to be gathered in the city.Each city has generally run into traffic problems.Traffic jam is frequent, and road is crowded to capacity, and therefore greatly developing public transport becomes the effective ways that traffic pressure is alleviated in each city.Bus is as city dweller's instrument of mainly going on a journey, and its service quality is subjected to big numerous passengers' concern always.
So, at present on the public transit vehicle in the nearly all urban district, Shanghai special public transport vehicle-mounted terminal is installed all, so by public transport vehicle-mounted terminal and then the information service of public transport is provided has been extremely urgent.Common vehicle positioning technology has following several technology: GPS (GPS), beacon/card reading system, mileometer piloting (inertial navigation).Wherein:
The GPS location: be to use location technology the most widely, shortcoming is: in " valleys, city " such as the CBD of chief city and city tunnels and in the valley at nature, may there be trouble the GPS location.
Beacon/card reading system: the beacon equipment based on radio-frequency (RF) identification (RFID) technology is installed on each bus, in the fixed position, bus station card reader is installed, when vehicle enters, signal can be arrived by the vehicle detection of process.Signal inductor on the road sign is used for determining vehicle location, and passes positional information back control center.In the place that does not have road sign, vehicle utilizes mileometer to calculate the distance of the last road sign, passes control center back by wireless transmission method then, perhaps directly passes next targeted sites back.Radio-frequency (RF) identification is RFID(Radio Frequency Identification) technology, claim electronic tag, radio frequency identification again, it is a kind of communication technology, can identify specific objective and read and write related data by radio signals, and need not to set up machinery between recognition system and the specific objective or optics contacts.
Mileometer piloting (inertial navigation): this a kind of technology uses mileometer and compass on the vehicle to calculate vehicle location.Vehicle is since a known position, and system-computed distance and traffic direction are made comparisons with the route data storehouse that is stored in the vehicle then, regulates the reposition of estimating.In order to revise the positional fault of accumulation, it also reads data on the road sign at key place.This method is accurate in locating technology least in the system that comes into question.
Widespread use along with the GPS positioning system, most public transit vehicle all is to position by GPS, as Fig. 1 public transport GPS of the prior art car-mounted terminal structural representation, each car-mounted terminal exchanges data message and vehicle management platform, but the locating information that car-mounted terminal can provide is not enough to satisfy the information service of issue efficiently and accurately.Reason is as follows:
(1) although the cost performance of GPS locating module has had significant progress in recent years, comprise that sensitivity and noise objective have had significant raising, but will locate in the overhead beneath and tunnel in the big city, can drift about because " valley effect " produces the location in built-up business district and residential area.
(2) there is technological deficiency in single data return path.What the communication module of present public transport vehicle-mounted terminal was commonly used is the GPSR communication module, and this wireless communication mode has more inborn defectives, lower, the easy broken string of upstream rate for example, and covering not enough area even short time in some mobile base station can't normal communication etc.
(3) data acquisition of GPS terminal common design at present report mechanism be 200 meters displacements or 20 seconds at interval or Event triggered.Enough for the supervision of the vehicle in the public traffic management and scheduling, but can not satisfy far away the forecast of arriving at a station in the Bus information service.What forecast was paid close attention to because arrive at a station is accuracy.A secondary data is sent out in 200 meters displacements of vehicle, if one group of data is lost because of communication again in the centre, vehicle movement has just become 400 meters when reentrying next data, when having only average 800 meters two websites to 1000 meters intervals to mean to receive data, vehicle may be through website!
In the reality, the error that existing GPS locating bias produces surpasses 100 meters, even 200 meters; The communication delay average out to of GPRS 10～20 seconds (ideal value was at 10 seconds, and surpassing time-delay in 30 seconds also is ordinary affair); Add aforesaid collecting vehicle information data-triggered passback mechanism, cause the most important forecast of arriving at a station in real time of doing, ready-made vehicle GPS data are actual can only do auxiliary data and historical data, even only does station level and give the correct time in advance and will give the correct time in advance and accomplish accurately also to undertake to do what is apparently beyond one's ability " being about to arrive ".
In order to overcome the defective of single locator meams, and it is unusual to overcome the communication link that the single communication module causes, and is necessary the bus localization method is reformed.
Summary of the invention
The object of the present invention is to provide a kind of bus localization method based on two beacons and dual mode communication, adopt two beacons location, and the data link of dual mode communication, the time that the passenger can accurately and timely be known the position of current waiting vehicle and estimate to wait for.
The object of the invention is achieved through the following technical solutions: a kind of bus localization method based on two beacons and dual mode communication, labeling apparatus based on RFID technology car-mounted terminal is installed on the public transit vehicle, comprise mark post equipment and the information release unit of card reader in the waiting booth setting of public transport way station, wherein:
Adopt two beacon patterns that bus is located, be leading beacon to locate the vehicle intelligent terminal that combines based on the beacon of RFID location with GPS, data communication module by vehicle intelligent terminal is real-time transmitted to vehicle location in the background server, and background server arrives result of calculation the information release unit of public transport way station waiting booth by the communication module real-time release; Car-mounted terminal is uploaded the GPS locating information in background server by GPRS, and label sends to locating information in the background server by mark post;
Adopt the short distance communication module to be combined as auxiliary beacon with independent GPS module, auxiliary beacon and vehicle intelligent terminal are independently installed, the background server program will be by the processing of priority, and it is main that remote vehicle adopts leading beacon, and closely vehicle employing auxiliary beacon is main;
Waiting booth is set up communication module as auxiliary channel in the public transport way station, is provided with short distance communication module and long-distance radio communication module in the information release unit of public transport way station waiting booth;
Described public transport way station waiting booth communication apparatus is selected different wireless telecommunications operators with public transit vehicle vehicle intelligent terminal equipment.
In order to guarantee the accurate collection of data, the present invention adopts the technical matters of multi-beacon pattern solution decision bit and intelligent terminal; The present invention is based on the beacon location of RFID and locatees the station-keeping mode that combines with GPS, vehicle in the forward and backward 300 meters scopes in bus stop arrives at a station to locate and orientates the master as with the beacon based on RFID, orientate additional two beacons location as with GPS, in the scope that exceeds card reader recognition distance, orientate the master as with GPS.Near the bus stop, adopt the beacon location based on RFID, can fundamentally solve the tender subject that the forecast is inaccurate when public transit vehicle entered the station.It is dynamic, real-time, accurate, complete that the collection of public transit vehicle operation information can reach.Wherein mainly comprise three category informations: public transit vehicle transport condition information (time, space and travel speed etc.); Public transit vehicle operation information (different vehicle frequency and on the way supply and demand matching state and accident); Condition information by roadway sign crossing and transfer.
Public transport information acquisition with car-mounted terminal as leading beacon, at the embedded accurate positioning GPS chip of car-mounted terminal equipment.Data communication module by car-mounted terminal is real-time transmitted to vehicle location in the background server, and background server arrives public transport way station waiting booth information release unit with result of calculation by the communication module real-time release, for citizen provide the Bus information service.
On the such scheme basis, in order to guarantee normal operating conditions of the present invention, described leading beacon and auxiliary beacon equipment itself all have the real-time monitoring system of fault self-diagnosis function, and the communication link by beacon and auxiliary beacon equipment transfers to record and prompting in the background server.
On the such scheme basis, described short distance communication module is ZIGBEE short distance communication module, and this short distance communication module has starlike communication link and chain hop link.The ZIGBEE technology be a kind of closely, low complex degree, low-power consumption, low rate, double-direction radio mechanics of communication cheaply, wherein, starlike communication link can make up the miniature Cellular Networks of 500～1000 meters distances, each ZIGBEE network node (FFD) also can be in the scope that own signal covers and a plurality of isolated child node (RFD) wireless connections of not bearing network information transfer task; And chain hop link can be so that vehicle and station board can be judged the position of front and back vehicle.ZIGBEE itself has 256 grades signal intensity and differentiates, according to signal intensity can accurately judge the relative public transport of vehicle midway website enter or leave.
Be combined as auxiliary beacon with independent GPS module by the ZIGBEE communication module, independently install with vehicle intelligent terminal, the fault of any one equipment can not influence the normal use of another one equipment, two equipment itself all must have fault self-diagnosis function, can transfer to the background server central record by the communication link of equipment.
On the such scheme basis, be provided with ZIGBEE short distance communication module and long-distance radio communication module at public transport way station waiting booth, directly obtain ZIGBEE auxiliary beacon information by the ZIGBEE module, and pass information back background server by the communication link of self.
Because adopting ZIGBEE short distance communication module is combined as auxiliary beacon with independent GPS module.Auxiliary beacon is AT STATION in 200～500 meters scopes, communication module by the bus stop is real-time transmitted to vehicle location in the background server, directly realize the instant messaging with public transport way station waiting booth information release unit, communication module by the bus stop is real-time transmitted to vehicle location in the background server, and server arrives public transport way station waiting booth information release unit with the result of calculation real-time release.The Bus information service of more preparing is provided for citizen.
The invention provides a kind of bus positioning equipment based on two beacons and dual mode communication, comprise label and mark post, wherein,
Described label comprises short-range communication module and GPS locating module, powered by power module, and be connected with flush bonding processor respectively, with locate the vehicle intelligent terminal that combines based on the beacon of RFID location and GPS and independently be installed on the public transit vehicle, upload the GPS locator information of vehicle-carrying by GPRS, the vehicle GPS locating information of uploading by GPRS is to background server;
Described mark post comprises short-range communication module and 3G communication module, by power module power supply, and be connected with flush bonding processor respectively, by cdma communication to background server.
On the such scheme basis, described short-range communication module is the ZIGBEE communication module, reads the ZIGBEE beacon through the mark post that is installed in public transport way station waiting booth, by cdma communication to background server.
On the such scheme basis, have ZIGBEE short distance communication module and long-distance radio communication module in the waiting booth information release unit of public transport way station.Can directly obtain ZIGBEE auxiliary beacon information by the ZIGBEE module, and can pass information back backstage by the communication link of self.Can be for vehicle location provide another communication link, even when the car-mounted terminal communication module breaks down, still there is the locating information of label to pass the backstage back.
The principle of work of present device is: the background server program is by the processing of priority, and remote vehicle adopts leading beacon, and closely vehicle employing ZIGBEE auxiliary beacon is main.Any one beacon failure can not influence the accurate forecast of public transport way station waiting booth information issue.
If the communication module of public transport way station waiting booth information release unit produces fault, the real-time monitoring system of public transport way station waiting booth information issue can be understood failure message immediately, thereby carries out quick maintenance and management.And as long as the ZIGBEE auxiliary beacon is working properly, can not influence the correct forecast of public transport way station waiting booth information issue.
Consider that the mobile base station can produce the possibility of fault, waiting booth information issue in public transport way station has been selected different wireless telecommunications operators with vehicle intelligent terminal.
Superiority of the present invention is: the information acquisition data-triggered passback of label of the present invention and mark post is intervals in 2 seconds.Even if between have individual data to lose because of communication, do not influence bulk treatment yet.The valid data amount of our beacon is about 2.5 times of car-mounted terminal at present; And the data of label 99% time-delays is in 15 seconds, and the best 925B GPS terminal of the quality of data has only 66% data to reach this standard in the car-mounted terminal.
Description of drawings
Fig. 1 public transport GPS of the prior art car-mounted terminal structural representation;
The structural representation of label in Fig. 2 the invention process;
The structural representation of mark post in Fig. 3 the invention process;
Fig. 4 bus localization method of the present invention synoptic diagram.
Embodiment
Bus positioning equipment based on two beacons and dual mode communication, comprise label and mark post, shown in the structural representation of label in Fig. 2 the invention process, a kind of label comprises short-range communication module and GPS locating module, is powered by power module, and be connected with flush bonding processor respectively, with locate the vehicle intelligent terminal that combines based on the beacon of RFID location and GPS and independently be installed on the public transit vehicle, upload the GPS locator information of vehicle-carrying by GPRS, to the vehicle management platform.
Shown in the structural representation of mark post in Fig. 3 the invention process, a kind of mark post comprises short-range communication module and 3G communication module, by the power module power supply, and is connected with flush bonding processor respectively, uploads mark post information by CDMA, to the vehicle management platform.
A kind of bus localization method based on two beacons and dual mode communication is provided, shown in Fig. 4 bus localization method of the present invention synoptic diagram, labeling apparatus based on RFID technology car-mounted terminal is installed on the public transit vehicle, comprise mark post equipment and the information release unit of card reader in the waiting booth setting of public transport way station, wherein:
Adopt two beacon patterns that bus is located, be leading beacon to locate the vehicle intelligent terminal that combines based on the beacon of RFID location with GPS, data communication module by vehicle intelligent terminal is real-time transmitted to the vehicle management platform with vehicle location, and the vehicle management platform arrives result of calculation the information release unit of public transport way station waiting booth by the communication module real-time release; Car-mounted terminal is uploaded the GPS locating information to the vehicle management platform by GPRS, and label sends to locating information in the vehicle management platform by mark post;
Adopt ZIGBEE short distance communication module to be combined as auxiliary beacon with independent GPS module, auxiliary beacon and vehicle intelligent terminal are independently installed, in the vehicle management platform the background server program will be by the processing of priority, it is main that remote vehicle adopts leading beacon, and closely vehicle employing auxiliary beacon is main;
Waiting booth is set up communication module as auxiliary channel in the public transport way station, is provided with ZIGBEE short distance communication module and long-distance radio communication module in the information release unit of public transport way station waiting booth;
Described public transport way station waiting booth communication apparatus is selected different wireless telecommunications operators with public transit vehicle vehicle intelligent terminal equipment.
In the present embodiment, public transport information acquisition with car-mounted terminal as leading beacon, at the embedded accurate positioning GPS chip of car-mounted terminal equipment.
Described leading beacon and auxiliary beacon equipment itself all have the real-time monitoring system of fault self-diagnosis function, and the communication link by beacon and auxiliary beacon equipment transfers to record and prompting in the background server.
Described short distance communication module is ZIGBEE short distance communication module, and this short distance communication module has starlike communication link and chain hop link.
Described public transport way station waiting booth communication module has ZIGBEE module and long-distance radio communication module, directly obtain ZIGBEE auxiliary beacon information by the ZIGBEE module, and pass information back background server by the communication link of self, AT STATION in 200～500 meters scopes, communication module by the bus stop is real-time transmitted to vehicle location in the background server, directly realizes the instant messaging with public transport way station waiting booth information release unit.
At the public transit vehicle of 925B and 146 tunnel label as Fig. 2 has been installed, mark post as shown in Figure 3 is installed on the bus shelter of vehicle parking, adopt system architecture of the present invention, car-mounted terminal is uploaded the GPS locating information to management platform by GPRS, and label sends to management platform by the mark post on the waiting booth with locating information.
Label on the car carries GPS, reads through the ZIGBEE beacon that is contained in website, sets up average 5～10 seconds of the time-delay at center, obviously well GPRS through cdma communication to information.
The information acquisition data-triggered passback of label and mark post is intervals in 2 seconds.Even if between have individual data to lose because of communication, do not influence bulk treatment yet.The valid data amount that adopts beacon of the present invention at present is about 2.5 times of car-mounted terminal; And the data of label 99% time-delays is in 15 seconds, and the best 925B GPS terminal of the quality of data has only 66% data to reach this standard in the car-mounted terminal.
Beacon is that failure rate is very low by non-maintaining working method design.It can become main information channel in the supervision of the service of bus trip forecast information or the actual operation of checking public transport.
Claims (9)
1. the bus localization method based on two beacons and dual mode communication is equipped with the labeling apparatus based on RFID technology car-mounted terminal on the public transit vehicle, comprises in the waiting booth setting of public transport way station it is characterized in that mark post equipment and the information release unit of card reader:
Adopt two beacon patterns that bus is located, be leading beacon to locate the vehicle intelligent terminal that combines based on the beacon of RFID location with GPS, data communication module by vehicle intelligent terminal is real-time transmitted to vehicle location in the background server, and background server arrives result of calculation the information release unit of public transport way station waiting booth by the communication module real-time release; Car-mounted terminal is uploaded the GPS locating information in background server by GPRS, and label sends to locating information in the background server by mark post;
Adopt the short distance communication module to be combined as auxiliary beacon with independent GPS module, auxiliary beacon and vehicle intelligent terminal are independently installed, the background server program will be by the processing of priority, and it is main that remote vehicle adopts leading beacon, and closely vehicle employing auxiliary beacon is main;
Waiting booth is set up communication module as auxiliary channel in the public transport way station, is provided with short distance communication module and long-distance radio communication module in the information release unit of public transport way station waiting booth;
Described public transport way station waiting booth communication apparatus is selected different wireless telecommunications operators with public transit vehicle vehicle intelligent terminal equipment.
2. the bus localization method based on two beacons and dual mode communication according to claim 1 is characterized in that, public transport information acquisition with car-mounted terminal as leading beacon, at the embedded accurate positioning GPS chip of car-mounted terminal equipment.
3. the bus localization method based on two beacons and dual mode communication according to claim 1, it is characterized in that, described leading beacon and auxiliary beacon equipment itself all have the real-time monitoring system of fault self-diagnosis function, and the communication link by beacon and auxiliary beacon equipment transfers to record and prompting in the background server.
4. the bus localization method based on two beacons and dual mode communication according to claim 1, it is characterized in that: described short distance communication module is ZIGBEE short distance communication module, this short distance communication module has starlike communication link and chain hop link.
5. the bus localization method based on two beacons and dual mode communication according to claim 4 is characterized in that: be combined as auxiliary beacon with independent GPS module by the ZIGBEE communication module, independently install with vehicle intelligent terminal.
6. the bus localization method based on two beacons and dual mode communication according to claim 4, it is characterized in that: public transport way station waiting booth has module ZIGBEE short distance communication module and long-distance radio communication module.
7. according to the described bus positioning equipment based on two beacons and dual mode communication of one of claim 1 to 6, it is characterized in that: comprise label and mark post, wherein,
Described label comprises short-range communication module and GPS locating module, powered by power module, and be connected with flush bonding processor respectively, with locate the vehicle intelligent terminal that combines based on the beacon of RFID location and GPS and independently be installed on the public transit vehicle, upload on the GPS locator information of vehicle-carrying affair device by GPRS;
Described mark post comprises short-range communication module and 3G communication module, by power module power supply, and be connected with flush bonding processor respectively, by cdma communication to background server.
8. bus positioning equipment according to claim 7, it is characterized in that: described short-range communication module is the ZIGBEE communication module.
9. bus positioning equipment according to claim 8 is characterized in that: have ZIGBEE short distance communication module and long-distance radio communication module in the waiting booth information release unit of public transport way station.
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| CN103617743A (en) * | 2013-11-22 | 2014-03-05 | 冶金自动化研究设计院 | Iron and steel enterprise vehicle locating system and method based on RFID and power line carrier waves |
| CN103971535A (en) * | 2014-05-26 | 2014-08-06 | 山西百得科技开发有限公司 | Vehicle position data processing method, device and system |
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| CN110770594A (en) * | 2017-06-21 | 2020-02-07 | 谷歌有限责任公司 | Passenger vehicle geo-location |
| CN113556677A (en) * | 2021-08-05 | 2021-10-26 | 安徽富煌科技股份有限公司 | Bus-mounted machine based on WIFI auxiliary positioning |
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| CN104464351A (en) * | 2014-12-10 | 2015-03-25 | 江苏本能科技有限公司 | Bus inquiry system and method realized based on bus electronic identification and mobile terminal |
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| CN107545762A (en) * | 2016-06-24 | 2018-01-05 | 深圳市金博通科技有限公司 | Vehicle information management method and apparatus |
| CN106646555A (en) * | 2016-12-13 | 2017-05-10 | 北京中船信息科技有限公司 | BDS and Zigbee based locating and tracking system for heavy flat car |
| CN110770594A (en) * | 2017-06-21 | 2020-02-07 | 谷歌有限责任公司 | Passenger vehicle geo-location |
| CN113556677A (en) * | 2021-08-05 | 2021-10-26 | 安徽富煌科技股份有限公司 | Bus-mounted machine based on WIFI auxiliary positioning |
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Application publication date: 20130911 |