CN108983263A - A kind of differential position system and method based on bus or train route cooperative system - Google Patents
A kind of differential position system and method based on bus or train route cooperative system Download PDFInfo
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- CN108983263A CN108983263A CN201810815707.6A CN201810815707A CN108983263A CN 108983263 A CN108983263 A CN 108983263A CN 201810815707 A CN201810815707 A CN 201810815707A CN 108983263 A CN108983263 A CN 108983263A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/18—Multiprotocol handlers, e.g. single devices capable of handling multiple protocols
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/22—Parsing or analysis of headers
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- Computer Networks & Wireless Communication (AREA)
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Security & Cryptography (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Computing Systems (AREA)
- General Health & Medical Sciences (AREA)
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- Traffic Control Systems (AREA)
Abstract
A kind of differential position system based on bus or train route cooperative system, including, drive test subsystem and car-mounted terminal, the drive test subsystem generate Differential corrections, and send it to the car-mounted terminal；The car-mounted terminal generates the difference positioning information of vehicle by the original location information of vehicle obtained and the Differential corrections；The drive test subsystem further comprises difference base station, Regional Synergetic controlling terminal, trackside terminal, the difference base station, generates Differential corrections according to the accurate coordinate of self-position and the location information of the variation of acquisition；The Regional Synergetic controlling terminal, the multiple roadside devices Differential corrections being sent in its region；The Differential corrections are broadcasted the car-mounted terminal to its coverage area by the roadside device.The present invention also provides a kind of Differential positioning methods based on bus or train route cooperative system, join automobile for intelligent network and pilotless automobile provides high accuracy positioning information.
Description
Technical field
The present invention relates to intelligent bus or train route coordination technique field more particularly to a kind of Differential positionings based on bus or train route cooperative system
System and method.
Background technique
Intelligent network connection automobile, which refers to, carries the devices such as advanced onboard sensor, controller, actuator, and merges modern communications
With network technology, vehicle and X(vehicle, road, people, cloud etc. are realized) intelligent information exchange, is shared, having complex environment and perceive, intelligently
The functions such as decision, Collaborative Control.Safe and efficient, comfortable, energy saving traveling can be achieved, and finally can be achieved to substitute people to operate
Young mobile.
As a base support technology of intelligent network connection automobile, high accuracy positioning is an important environmental information of vehicle
Source.The positioning chip positioning accuracy being commonly used is lower, is unable to satisfy the demand of intelligent network connection automobile.In order to obtain more
High-precision locating effect, generallys use differential position.
Differential positioning is achieved in that: a GPS receiver being placed on base station and is observed.According to base station
Known accurate coordinate calculates base station to the distance correction of satellite, and is in real time sent this data by base station
It goes out.Receiver user also receives the correction of base station sending while carrying out GPS observation, and to its location information
It is corrected, to improve positioning accuracy, can achieve sub-meter grade not even li by the revised positioning accuracy of Differential positioning
Meter level is other.
The implementation of above-mentioned Differential positioning, generally by mobile operator network between difference base station and positioning terminal
Or wireless digital broadcasting station carries out the transmission of Differential corrections, on the one hand, since difference base station and each positioning terminal require
Corresponding communication equipment is additionally configured, this undoubtedly will increase many hardware costs；On the other hand also using mobile operator network
Certain campus network can be generated, and when network signal is bad, the effect of Differential positioning will be affected.If used
Wireless digital broadcasting station, although not needing payment campus network, but a disadvantage is that coverage area is small apart from limited, therefore current
Differential positioning mode is obviously not suitable for the application of intelligent network connection automobile.
Summary of the invention
In order to solve the shortcomings of the prior art, the present invention provides a kind of Differential positioning system based on bus or train route cooperative system
System, it is by roadside device that Differential corrections RTCM is wide in the way of dedicated short-distance wireless communication in bus or train route cooperative system
Broadcast is gone, and vehicle receives position update information using mobile unit, obtains Differential positioning number in conjunction with the location information that itself is obtained
According to, and then high accuracy positioning information is provided for intelligent network connection automobile and pilotless automobile, reach and meets intelligent network connection automobile pair
Realize the purpose of the demand of high accuracy positioning.
In order to achieve the above object, the present invention provides a kind of differential position system based on bus or train route cooperative system, including, road
Subsystem and car-mounted terminal are surveyed,
The drive test subsystem generates Differential corrections, and sends it to the car-mounted terminal；
The car-mounted terminal generates the difference of vehicle by the original location information of vehicle obtained and the Differential corrections
Divide location information.
The drive test subsystem further comprises difference base station, Regional Synergetic controlling terminal, trackside terminal, wherein
The difference base station generates differential corrections letter according to the accurate coordinate of self-position and the location information of the variation of acquisition
Breath；
The Differential corrections are sent to multiple tracksides in its region and set by the Regional Synergetic controlling terminal
It is standby；
The Differential corrections are broadcasted the car-mounted terminal to its coverage area by the roadside device.
Further, the Differential corrections are sent to the Regional Synergetic by TCP mode by the difference base station
Controlling terminal.
Further, the roadside device is received described in the Regional Synergetic controlling terminal transmission by TCP mode
Differential corrections, and the car-mounted terminal is broadcast to by dedicated short-distance wireless communication.
Further, the roadside device, including, network communication module, the first internal interface, first monitor module, compile
Code module and the first short-range wireless communication module, wherein
The network communication module receives the Differential corrections that the Regional Synergetic controlling terminal issues, and is sent to
To first internal port；
Described first monitors module, monitors first internal port, and the Differential corrections listened to are carried out
The coding module is sent to after parsing to be encoded；
First short-range wireless communication module broadcasts the Differential corrections after coding by dedicated short-distance wireless communication
The car-mounted terminal in its coverage area.
Further, the network communication module receives the difference that the Regional Synergetic controlling terminal issues by TCP
Update information, and first internal port is sent by internal agreement by UDP by it.
Further, it is described first monitor module, by the Differential corrections listened to by UDP by internal agreement into
The parsing of row data.
Further, the car-mounted terminal, including, the second short-range wireless communication module, decoder module connect inside second
Mouth, second monitor module, message processing module and localization process module, wherein
Second short-range wireless communication module, is broadcasted by dedicated short-distance wireless communication, is received the roadside device and is sent
Differential corrections, and send it to the decoder module and be decoded processing；
The decoder module is sent into second internal interface after being decoded to the Differential corrections；
Described second monitors module, monitors second internal interface, and the Differential corrections listened to are sent out
Give the message processing module；
The message processing module receives described second and monitors the Differential corrections that module is sent, and screens to it
Processing；
The localization process module receives the Differential corrections that the message processing module filters out, in conjunction with self-position
Information obtains difference positioning information.
Further, described second module is monitored, second internal interface is supervised by internal agreement by UDP
It listens.
Further, the message processing module will not repeat, difference identical with self poisoning support RTCM version
Point update information is sent to the localization process module.
In order to achieve the above object, the present invention provides a kind of Differential positioning method based on bus or train route cooperative system, including with
Lower step:
1) difference base station generates Differential corrections, and is transmitted to Regional Synergetic controlling terminal；
2) Regional Synergetic controlling terminal sends the received Differential corrections to the roadside device in its region；
3) Differential corrections are broadcasted the car-mounted terminal to its coverage area by roadside device；
4) car-mounted terminal receives Differential corrections and obtains the difference positioning information of vehicle in conjunction with own location information.
Further, step 1) further comprises:
Differential corrections are sent to the Regional Synergetic controlling terminal by Ethernet by difference base station.
Further, step 3) further comprises:
The roadside device receives the Differential corrections that the Regional Synergetic controlling terminal is sent by TCP；
Differential corrections are encoded；
Differential corrections are broadcasted to car-mounted terminal by dedicated short-distance wireless communication.
Further, the step 4) further comprises:
The broadcast message that roadside device is sent is received by dedicated short-distance wireless communication；
Received broadcast message is decoded, Differential corrections are obtained；The Differential corrections of acquisition are screened；
Self poisoning information is corrected using the Differential corrections filtered out, obtains difference positioning information.
Further, described the step of screening to received Differential corrections is from received differential corrections
Filtered out in information not repeat and the identical Differential corrections of version.
Relative to traditional Differential positioning method, the invention has the following advantages that
1, the present invention does not need to transmit data by mobile operator, has saved campus network；
2, the present invention does not increase additional hardware device, has saved cost；
3, the present invention is transmitted using RTCM, has the characteristics that delay is low, positioning is more stable；
4, the present invention supports various version RTCM agreements, more convenient to use flexible.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, and with it is of the invention
Embodiment is used to explain the present invention together, is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the structural schematic diagram of the differential position system according to the present invention based on bus or train route cooperative system；
Fig. 2 is roadside device structural block diagram according to the present invention；
Fig. 3 is car-mounted terminal structural block diagram according to the present invention；
Fig. 4 is the flow chart of the Differential positioning method according to the present invention based on bus or train route cooperative system；
Fig. 5 is roadside device work flow diagram according to the present invention；
Fig. 6 is car-mounted terminal work flow diagram according to the present invention.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
Fig. 1 is the structural schematic diagram of the differential position system according to the present invention based on bus or train route cooperative system, such as Fig. 1 institute
Show, the differential position system of the invention based on bus or train route cooperative system, including 30 two parts of trackside subsystem and car-mounted terminal,
In, the net connection interaction at trackside subsystem responsible local crossing and the side of synergistic application Scene realization and responsible regional coordination
Edge calculates；Car-mounted terminal 30 obtains original location information by GPS positioning module, and in conjunction with the RTCM information that V2X is got, obtains
To high-precision difference location data.
Trackside subsystem, including, difference base station 40, Regional Synergetic controlling terminal 10 and roadside device 20, wherein
Difference base station 40, for generating Differential corrections (RTCM information), it supports the RTCM agreement of various formats, such as
RTCM2.3, RTCM3.0, RTCM3.2 etc., and support to carry out different configurations by TCP communication mode to realize that a variety of data flows take
Business.Difference base station 40 is made of host and antenna two parts, and antenna is mounted in spacious region for receiving satellite positioning letter
Number, base station calculates in real time generates Differential corrections.
Difference base station 40 will calculate differential corrections number, it is necessary first to obtain the accurate coordinate of its own position, method is
The accurate coordinate information that base station is obtained by way of multiple repairing weld is averaged is carried out to received satellite positioning information base station,
It is saved after having obtained.Base station can be according to the location information and the reference coordinate information meter of itself of the variation constantly obtained later
Calculate Differential corrections.Regional Synergetic controlling terminal 10 is handed down to by Ethernet.Regional Synergetic controlling terminal 10 is by difference
Update information is handed down to each roadside device 20.
Regional Synergetic controlling terminal 10, as the mobile edge calculations part of Regional Synergetic control centre, for managing one
The Differential corrections that difference base station 40 generates are sent to roadside device 20 by the roadside device 20 of a specific section.It passes through
Optical fiber switch accesses external public network, carries out data interaction with other trackside nodes.
Roadside device 20, for the equipment with communication and processing capacity for being mounted on roadside traffic intersection, major function
It is to carry out real-time V2X communication with car-mounted terminal 30, RTCM information is received by TCP, and pass through V2I broadcast channel (dedicated short distance
Wireless communication) it is handed down to the car-mounted terminal 30 in region.
Car-mounted terminal 30 is mounted on the equipment in the vehicle of traveling for completing vehicle location and V2X communication function.It is vehicle-mounted
Terminal 30 obtains original location information by GPS positioning module, in conjunction with the Differential corrections got from roadside device 20
(RTCM information), positioning chip inside can be calculated automatically, finally obtain high-precision difference location data.
Fig. 2 is roadside device structural block diagram according to the present invention, as shown in Fig. 2, roadside device 20 of the invention, including, network
Communication module 201, the first internal interface 202, first monitor module 203, coding module 204 and the first short-distance wireless communication
Module 205, wherein
Network communication module 201, the Differential corrections issued by the receiving area TCP Collaborative Control terminal 10, and by its
The first internal port 202 is sent to by internal agreement by UDP.
First internal interface 202 receives the first monitoring request for monitoring module 203, Differential corrections is sent to
First monitors module 203.
First monitors module 203, and the Differential corrections listened to are carried out data parsing by internal agreement by UDP,
And the Differential corrections after parsing are sent to coding module 204 according to T/CSAE 53-2017 " cooperative intelligent transport system
Unite automobile-used communication system applications layer and application layer data interactive standards " carry out coded treatment.
Coding module 204 is sent to the first short-distance radio after carrying out coded treatment to the Differential corrections after parsing
Communication module 205.
Differential corrections after coding are passed through dedicated short-distance wireless communication by the first short-range wireless communication module 205
It broadcasts to the car-mounted terminal 30 in its coverage area.
Fig. 3 is car-mounted terminal structural block diagram according to the present invention, as shown in figure 3, car-mounted terminal 30 of the invention, including,
Second short-range wireless communication module 301, decoder module 302, the second internal interface 303, second monitor module 304, information processing
Module 305 and localization process module 306, wherein
Second short-range wireless communication module 301 is set by the trackside of dedicated short-distance wireless communication broadcast reception trackside subsystem
Standby 20 Differential corrections sent, and send it to decoder module 302 and be decoded processing.
Decoder module 302 receives the Differential corrections that the second short-range wireless communication module 301 is sent, and will decoding
Differential corrections afterwards are sent into the second internal interface 303.
Second internal interface 303 receives the second monitoring request for monitoring module 304, decoded differential corrections is believed
Breath is sent to the second monitoring module 304.
Second monitors module 304, is monitored by internal agreement the second internal interface 303 by UDP, and will monitor
To Differential corrections be sent to message processing module 305.
Message processing module 305 receives second and monitors the Differential corrections that module 304 is sent, and sieves to it
Choosing processing.Message processing module 305 may receive a plurality of duplicate Differential corrections from the second monitoring module 304, be
Unnecessary repetitive operation, message processing module 305 can first judge the Differential corrections this time received whether with the last time
It is identical, if identical, which is not processed, continues to the data of the second monitoring module 304 transmission, such as
Fruit is different, then the Differential corrections is sent to localization process module 306.Message processing module 305 of the invention, is also docked
The consistency for the version that the RTCM version of the Differential corrections of receipts is supported with self poisoning is handled, if it is different, then right
The Differential corrections are not processed, and the data of the second monitoring module 304 transmission are continued to, if it is different, then by the difference
Update information is sent to localization process module 306.
Localization process module 306 receives the Differential corrections that message processing module 305 is sent, in conjunction with self poisoning
The location information that module obtains can voluntarily resolve to obtain the high-precision that on board unit finally needs inside localization process module 306
Difference positioning information.
Fig. 4 is the flow chart of the Differential positioning method according to the present invention based on bus or train route cooperative system, below with reference to figure
4, the Differential positioning method of the invention based on bus or train route cooperative system is described in detail.
Firstly, difference base station 40 generates Differential corrections, and Differential corrections are transferred to region in step 401
Collaborative Control terminal 10.Difference base station 40(is also known as Differential positioning base station), mainly pass through to obtain using positioning device and initially determine
Position coordinate, is compared with the accurate coordinate of the self-position obtained before, using the accurate coordinate of self-position as benchmark, meter
Calculate Differential corrections of the initial alignment coordinate relative to reference coordinate.The accurate coordinate of Differential positioning base station can be by fixed
Position equipment multiple repairing weld, takes the mode approximation of its average value to obtain, can also be obtained by other feasible modes.The difference
Update information follows the RTCM agreement of each version, and is transferred to Regional Synergetic controlling terminal 10 by Ethernet.
In step 402, received Differential corrections are sent roadside device 20 by Regional Synergetic controlling terminal 10.Region
Collaborative Control terminal 10 sets one in certain regional scope, has multiple roadside devices 20 in each regional scope, each
Regional Synergetic controlling terminal 10 carries out Collaborative Control, reaches and controls the roadside device in bigger region.Regional Synergetic control
Terminal 10 processed sends Differential corrections to the roadside device 20 in region by way of TCP.
In step 403, roadside device receives Differential corrections, Differential corrections is broadcasted to its coverage area
Car-mounted terminal.Differential corrections are broadcasted the vehicle-mounted end to its coverage area by dedicated short-distance wireless communication by roadside device
End.
In step 404, car-mounted terminal receives Differential corrections, the initial bit confidence obtained in conjunction with self poisoning module
Breath, calibrates it by Differential corrections, obtains the accurate location information of vehicle.Car-mounted terminal is by way of V2X
Obtain Differential corrections.The V2X refers to vehicle to extraneous information exchange.Car networking passes through integrated global positioning system
(GPS) airmanship, vehicle-to-vehicle alternating-current technique, wireless communication and long-range induction technology have established new automotive technology development side
To realizing the compatibility of manual drive and automatic Pilot.
Fig. 5 is roadside device work flow diagram according to the present invention, below with reference to Fig. 5, to roadside device of the invention
Workflow is described in detail.
Firstly, the differential corrections that 201 receiving area Collaborative Control terminal 10 of network communication module is sent are believed in step 501
Breath, and send it to the first internal port 202.In this step, network communication module 201 is cooperateed with by the receiving area TCP
The RTCM information that controlling terminal 10 is sent, and the first internal port is sent for Differential corrections by internal agreement by UDP
202。
In step 502, the first monitoring module 203 monitors the first internal port 202, obtains Differential corrections.
In step 503, coding module 204 sends it to the first short-distance radio after encoding to Differential corrections logical
Believe module 205.
It is raw after the Differential corrections after step 504, the first 205 pairs of short-range wireless communication module coding are modulated
At broadcast message, car-mounted terminal 30 is broadcast to by short-distance wireless communication.In this step, preferably the first short-distance wireless communication
Module 205 is modulated the Differential corrections after coding using ASK mode.
Fig. 6 is car-mounted terminal work flow diagram according to the present invention, below with reference to Fig. 6, to car-mounted terminal of the invention
Workflow is described in detail.
Firstly, second short-range wireless communication module 302 receives trackside end by dedicated short-distance wireless communication in step 601
The broadcast message that end 20 is sent, and send it to decoder module 302 and be decoded acquisition Differential corrections；Decoder module
Differential corrections are sent the second internal port 303 by internal agreement by UDP by 302.
In step 602, the second monitoring module 304 persistently monitors the second internal port 303 to by UDP, by received difference
Point update information is sent to message processing module 306.
In step 603, message processing module 306 screens received Differential corrections, and the difference of screening is repaired
Positive information is sent to localization process module 306.In this step, message processing module 305 may monitor module 304 from second
A plurality of duplicate Differential corrections are received, for unnecessary repetitive operation, message processing module 305 can first judge this time
Whether the Differential corrections received are identical as the last time, if identical, are not processed to the Differential corrections, after continued access
It receives second and monitors the data that module 304 is sent, if it is different, then the Differential corrections are sent to localization process module 306.
Message processing module 305 of the invention, the version that also the RTCM version of received Differential corrections and self poisoning are supported
Consistency handled, if it is different, then being not processed to the Differential corrections, continue to the second monitoring module 304
The data of transmission, if it is different, then the Differential corrections are sent to localization process module 306.
In step 604, localization process module 306 receives the Differential corrections after screening, in conjunction with self poisoning module
The initial position message of acquisition calibrates it by Differential corrections, obtains the accurate difference positioning information of vehicle.
Those of ordinary skill in the art will appreciate that: the foregoing is only a preferred embodiment of the present invention, and does not have to
In the limitation present invention, although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art
For, still can to foregoing embodiments record technical solution modify, or to part of technical characteristic into
Row equivalent replacement.All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should all include
Within protection scope of the present invention.
Claims (14)
1. a kind of differential position system based on bus or train route cooperative system, including, drive test subsystem and car-mounted terminal, feature exist
In,
The drive test subsystem generates Differential corrections, and sends it to the car-mounted terminal；
The car-mounted terminal generates the difference of vehicle by the original location information of vehicle obtained and the Differential corrections
Divide location information；
The drive test subsystem further comprises difference base station, Regional Synergetic controlling terminal, trackside terminal, wherein
The difference base station generates differential corrections letter according to the accurate coordinate of self-position and the location information of the variation of acquisition
Breath；
The Differential corrections are sent to multiple tracksides in its region and set by the Regional Synergetic controlling terminal
It is standby；
The Differential corrections are broadcasted the car-mounted terminal to its coverage area by the roadside device.
2. the differential position system according to claim 1 based on bus or train route cooperative system, which is characterized in that the difference base
It stands, the Differential corrections is sent to by the Regional Synergetic controlling terminal by TCP mode.
3. the differential position system according to claim 1 based on bus or train route cooperative system, which is characterized in that the trackside is set
It is standby, the Differential corrections that the Regional Synergetic controlling terminal is sent are received by TCP mode, and pass through dedicated short distance
Wireless communication is broadcast to the car-mounted terminal.
4. the differential position system according to claim 1 based on bus or train route cooperative system, which is characterized in that the trackside is set
It is standby, including, network communication module, the first internal interface, first monitor module, coding module and the first short-distance wireless communication
Module, wherein
The network communication module receives the Differential corrections that the Regional Synergetic controlling terminal issues, and is sent to
To first internal port；
Described first monitors module, monitors first internal port, and the Differential corrections listened to are carried out
The coding module is sent to after parsing to be encoded；
First short-range wireless communication module broadcasts the Differential corrections after coding by dedicated short-distance wireless communication
The car-mounted terminal in its coverage area.
5. the differential position system according to claim 4 based on bus or train route cooperative system, which is characterized in that the network is logical
Believe module, the Differential corrections that the Regional Synergetic controlling terminal issues is received by TCP, and it is passed through into UDP by interior
Portion's agreement is sent to first internal port.
6. the differential position system according to claim 4 based on bus or train route cooperative system, which is characterized in that first prison
Module is listened, the Differential corrections listened to are subjected to data parsing by internal agreement by UDP.
7. the differential position system according to claim 1 based on bus or train route cooperative system, which is characterized in that the vehicle-mounted end
End, including, the second short-range wireless communication module, decoder module, the second internal interface, second monitor module, message processing module,
And localization process module, wherein
Second short-range wireless communication module, is broadcasted by dedicated short-distance wireless communication, is received the roadside device and is sent
Differential corrections, and send it to the decoder module and be decoded processing；
The decoder module is sent into second internal interface after being decoded to the Differential corrections；
Described second monitors module, monitors second internal interface, and the Differential corrections listened to are sent out
Give the message processing module；
The message processing module receives described second and monitors the Differential corrections that module is sent, and screens to it
Processing；
The localization process module receives the Differential corrections that the message processing module filters out, in conjunction with self-position
Information obtains difference positioning information.
8. the differential position system according to claim 7 based on bus or train route cooperative system, which is characterized in that second prison
Module is listened, second internal interface is monitored by internal agreement by UDP.
9. the differential position system according to claim 7 based on bus or train route cooperative system, which is characterized in that at the information
Module is managed, will not be repeated, Differential corrections identical with self poisoning support RTCM version are sent to the localization process
Module.
10. a kind of Differential positioning method based on bus or train route cooperative system, which comprises the following steps:
1) difference base station generates Differential corrections, and is transmitted to Regional Synergetic controlling terminal；
2) Regional Synergetic controlling terminal sends the received Differential corrections to the roadside device in its region；
3) Differential corrections are broadcasted the car-mounted terminal to its coverage area by roadside device；
4) car-mounted terminal receives Differential corrections and obtains the difference positioning information of vehicle in conjunction with own location information.
11. the Differential positioning method according to claim 10 based on bus or train route cooperative system, which is characterized in that step 1) into
One step includes:
Differential corrections are sent to the Regional Synergetic controlling terminal by Ethernet by difference base station.
12. the Differential positioning method according to claim 10 based on bus or train route cooperative system, which is characterized in that step 3) into
One step includes:
The roadside device receives the Differential corrections that the Regional Synergetic controlling terminal is sent by TCP；
Differential corrections are encoded；
Differential corrections are broadcasted to car-mounted terminal by dedicated short-distance wireless communication.
13. the Differential positioning method according to claim 10 based on bus or train route cooperative system, which is characterized in that the step
4), further comprise:
The broadcast message that roadside device is sent is received by dedicated short-distance wireless communication；
Received broadcast message is decoded, Differential corrections are obtained；The Differential corrections of acquisition are screened；
Self poisoning information is corrected using the Differential corrections filtered out, obtains difference positioning information.
14. the Differential positioning method according to claim 13 based on bus or train route cooperative system, which is characterized in that the docking
The step of Differential corrections of receipts are screened, be filtered out from received Differential corrections not repeat and version it is identical
Differential corrections.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810815707.6A CN108983263A (en) | 2018-07-16 | 2018-07-16 | A kind of differential position system and method based on bus or train route cooperative system |
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| CN201810815707.6A CN108983263A (en) | 2018-07-16 | 2018-07-16 | A kind of differential position system and method based on bus or train route cooperative system |
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| CN201810815707.6A Withdrawn CN108983263A (en) | 2018-07-16 | 2018-07-16 | A kind of differential position system and method based on bus or train route cooperative system |
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| CN109814137A (en) * | 2019-02-26 | 2019-05-28 | 腾讯科技（深圳）有限公司 | Localization method, device and calculating equipment |
| CN110045405A (en) * | 2019-04-23 | 2019-07-23 | 深圳成谷科技有限公司 | On board unit OBU and vehicle positioning system based on Beidou Differential positioning |
| CN110068837A (en) * | 2019-04-26 | 2019-07-30 | 深圳成谷科技有限公司 | A kind of the urban road charging method and system of high-precision Beidou and DSRC fusion |
| CN110648410A (en) * | 2019-07-24 | 2020-01-03 | 广州南方卫星导航仪器有限公司 | Vehicle position information monitoring method and system based on highway toll collection system |
| CN110660221A (en) * | 2019-10-09 | 2020-01-07 | 浙江省交通规划设计研究院有限公司 | Information interaction method and device based on vehicle-road cooperative system |
| CN110800324A (en) * | 2019-03-26 | 2020-02-14 | 香港应用科技研究院有限公司 | System and method for improving road safety and/or management |
| CN111898946A (en) * | 2020-07-20 | 2020-11-06 | 杭州多协信息技术有限公司 | Medicine cold chain verification system and method based on Internet of things and cloud platform |
| CN111913200A (en) * | 2020-06-28 | 2020-11-10 | 深圳市金溢科技股份有限公司 | Vehicle group differential positioning method, RSU (remote subscriber Unit) equipment, fusion sensing equipment and system |
| FR3098925A1 (en) * | 2019-07-16 | 2021-01-22 | Psa Automobiles Sa | Method and device for determining the position of a vehicle |
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| CN112896240A (en) * | 2021-03-17 | 2021-06-04 | 北京交通大学 | Multi-sensor train positioning method based on edge calculation |
| CN113079516A (en) * | 2020-08-14 | 2021-07-06 | 中移(上海)信息通信科技有限公司 | Method, device and equipment for determining base station and computer storage medium |
| CN113074742A (en) * | 2020-08-14 | 2021-07-06 | 中移(上海)信息通信科技有限公司 | Information sending method, device, equipment and computer storage medium |
| CN113630739A (en) * | 2021-07-28 | 2021-11-09 | 南京莱斯网信技术研究院有限公司 | PC5 short-range communication road side equipment for providing high-precision positioning service |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109814137A (en) * | 2019-02-26 | 2019-05-28 | 腾讯科技（深圳）有限公司 | Localization method, device and calculating equipment |
| CN110800324B (en) * | 2019-03-26 | 2022-04-29 | 香港应用科技研究院有限公司 | System and method for improving road safety and/or management |
| CN110800324A (en) * | 2019-03-26 | 2020-02-14 | 香港应用科技研究院有限公司 | System and method for improving road safety and/or management |
| CN110045405A (en) * | 2019-04-23 | 2019-07-23 | 深圳成谷科技有限公司 | On board unit OBU and vehicle positioning system based on Beidou Differential positioning |
| CN110068837A (en) * | 2019-04-26 | 2019-07-30 | 深圳成谷科技有限公司 | A kind of the urban road charging method and system of high-precision Beidou and DSRC fusion |
| FR3098925A1 (en) * | 2019-07-16 | 2021-01-22 | Psa Automobiles Sa | Method and device for determining the position of a vehicle |
| CN110648410B (en) * | 2019-07-24 | 2022-02-01 | 广州南方卫星导航仪器有限公司 | Vehicle position information monitoring method and system based on highway toll collection system |
| CN110648410A (en) * | 2019-07-24 | 2020-01-03 | 广州南方卫星导航仪器有限公司 | Vehicle position information monitoring method and system based on highway toll collection system |
| CN110660221A (en) * | 2019-10-09 | 2020-01-07 | 浙江省交通规划设计研究院有限公司 | Information interaction method and device based on vehicle-road cooperative system |
| CN111913200B (en) * | 2020-06-28 | 2023-07-14 | 深圳市金溢科技股份有限公司 | Vehicle group differential positioning method, RSU equipment, fusion sensing equipment and system |
| CN111913200A (en) * | 2020-06-28 | 2020-11-10 | 深圳市金溢科技股份有限公司 | Vehicle group differential positioning method, RSU (remote subscriber Unit) equipment, fusion sensing equipment and system |
| CN111898946A (en) * | 2020-07-20 | 2020-11-06 | 杭州多协信息技术有限公司 | Medicine cold chain verification system and method based on Internet of things and cloud platform |
| CN113079516A (en) * | 2020-08-14 | 2021-07-06 | 中移(上海)信息通信科技有限公司 | Method, device and equipment for determining base station and computer storage medium |
| CN113079516B (en) * | 2020-08-14 | 2021-10-26 | 中移(上海)信息通信科技有限公司 | Method, device and equipment for determining base station and computer storage medium |
| CN113074742A (en) * | 2020-08-14 | 2021-07-06 | 中移(上海)信息通信科技有限公司 | Information sending method, device, equipment and computer storage medium |
| CN112689236A (en) * | 2021-01-15 | 2021-04-20 | 北京斯年智驾科技有限公司 | RTK transmission system and method based on V2X networking technology |
| CN112689236B (en) * | 2021-01-15 | 2024-03-15 | 北京斯年智驾科技有限公司 | RTK transmission system and method based on V2X networking technology |
| CN112896240B (en) * | 2021-03-17 | 2022-04-22 | 北京交通大学 | Multi-sensor train positioning method based on edge calculation |
| CN112896240A (en) * | 2021-03-17 | 2021-06-04 | 北京交通大学 | Multi-sensor train positioning method based on edge calculation |
| CN113630739A (en) * | 2021-07-28 | 2021-11-09 | 南京莱斯网信技术研究院有限公司 | PC5 short-range communication road side equipment for providing high-precision positioning service |
| CN113630739B (en) * | 2021-07-28 | 2024-03-22 | 南京莱斯网信技术研究院有限公司 | PC5 short-range communication path side equipment for providing high-precision positioning service |
| CN114396960A (en) * | 2021-12-21 | 2022-04-26 | 智道网联科技(北京)有限公司 | Method and equipment for roadside communication and positioning data processing and vehicle navigation system |
| CN114566053A (en) * | 2022-03-03 | 2022-05-31 | 中交第一公路勘察设计研究院有限公司 | Highway traffic prediction optimization algorithm |
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