CN110275194A - A kind of track of vehicle antidote and system - Google Patents
A kind of track of vehicle antidote and system Download PDFInfo
- Publication number
- CN110275194A CN110275194A CN201810209633.1A CN201810209633A CN110275194A CN 110275194 A CN110275194 A CN 110275194A CN 201810209633 A CN201810209633 A CN 201810209633A CN 110275194 A CN110275194 A CN 110275194A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- positioning result
- positioning
- result
- final
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- 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
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
-
- 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
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
Abstract
The invention discloses a kind of track of vehicle antidote and systems.This method comprises: obtaining at least two positioning results of vehicle by least two positioning methods；Based at least two positioning result, vehicle driving trace is determined.Method provided by the invention can effectively improve the Stability and veracity of vehicle location and track monitoring.
Description
[technical field]
This application involves mobile target trajectory monitoring technical field more particularly to a kind of track of vehicle antidote and it is
System.
[background technique]
Electric bicycle is a kind of using battery as a kind of vehicles of main energy sources, operating range farther out, using fast
Victory is convenient, becomes one of the main means of transport of public trip.With the rise of shared economy, shared electric bicycle also becomes
A kind of trend.During shared trip, for riding safety, using factors such as chargings the considerations of, to electric bicycle into
Row is accurately positioned and the accurate monitoring of riding track is just particularly important.
[summary of the invention]
One aspect of the present invention provides a kind of track of vehicle antidote and system, can effectively improve vehicle location
With the Stability and veracity of track monitoring.
In a first aspect, the present invention discloses a kind of track of vehicle antidotes.This method comprises: passing through at least two positioning
Mode obtains at least two positioning results of vehicle；Based at least two positioning result, vehicle driving trace is determined.
In some embodiments, the positioning method includes the first positioning method, second of positioning method, the third is fixed
Position at least one of mode and the 4th kind of positioning method；Wherein, the first positioning method is to be obtained by wireless location system
First positioning result of vehicle；Second of positioning method is to obtain the second positioning result of vehicle by inertial navigation system；The
Three kinds of positioning methods are the operating range based on vehicle, obtain the third positioning result of vehicle, wherein the operating range is vehicle
The distance between current location and reference point；4th kind of positioning method is the bluetooth positioning system by vehicle, obtains vehicle
The 4th positioning result.
In some embodiments, which comprises by the wireless location system of vehicle, obtain the first positioning of vehicle
As a result；By the inertial navigation system of vehicle, the second positioning result of vehicle is obtained；Operating range based on vehicle, determines vehicle
Third positioning result, the operating range be the distance between current vehicle position and reference point；Based on the vehicle
First positioning result, the second positioning result and third positioning result determine the final positioning result of vehicle；Based on the vehicle
Final positioning result determines the driving trace of vehicle.
In some embodiments, the final positioning result of the vehicle be the first positioning result of the vehicle, it is second fixed
The Weighted Fusion of position result and third positioning result.
In some embodiments, which comprises by the wireless location system of vehicle, obtain the first positioning of vehicle
As a result；By the inertial navigation system of vehicle, the second positioning result of vehicle is obtained；Operating range based on vehicle, determines vehicle
Third positioning result, the operating range be the distance between current vehicle position and reference point；Pass through the bluetooth of vehicle
Positioning system obtains the 4th positioning result of vehicle；The first positioning result, the second positioning result, third based on the vehicle
Positioning result and the 4th positioning result determine the final positioning result of vehicle；Final positioning result based on the vehicle determines
The driving trace of vehicle.
In some embodiments, the final positioning result of the vehicle be the first positioning result of the vehicle, it is second fixed
The Weighted Fusion of position result, third positioning result and the 4th positioning result.
In some embodiments, the reference point is initial position or the history positioning result of vehicle driving.
Second aspect, the present invention discloses a kind of track of vehicle correction systems.The system includes: locating module, for leading to
Cross at least two positioning results that at least two positioning methods obtain vehicle；Track determining module, for based on described at least two
A positioning result, determines vehicle driving trace.
In some embodiments, the positioning method includes the first positioning method, second of positioning method, the third is fixed
Position at least one of mode and the 4th kind of positioning method；Wherein, the first positioning method is to be obtained by wireless location system
First positioning result of vehicle；Second of positioning method is to obtain the second positioning result of vehicle by inertial navigation system；The
Three kinds of positioning methods are the operating range based on vehicle, obtain the third positioning result of vehicle, wherein the operating range is vehicle
The distance between current location and reference point；4th kind of positioning method is the bluetooth positioning system by vehicle, obtains vehicle
The 4th positioning result.
In some embodiments, the system comprises locating modules and track determining module.The locating module is for leading to
The wireless location system for crossing vehicle obtains the first positioning result of vehicle；For the inertial navigation system by vehicle, vehicle is obtained
The second positioning result；For the operating range based on vehicle, determine that the third positioning result of vehicle, the operating range are
The distance between current vehicle position and reference point.The track determining module is for the first positioning knot based on the vehicle
Fruit, the second positioning result and third positioning result determine the final positioning result of vehicle；For final fixed based on the vehicle
Position is as a result, determine the driving trace of vehicle.
In some embodiments, the final positioning result of the vehicle be the first positioning result of the vehicle, it is second fixed
The Weighted Fusion of position result and third positioning result.
In some embodiments, the system comprises locating modules and track determining module.The locating module is for leading to
The wireless location system for crossing vehicle obtains the first positioning result of vehicle；For the inertial navigation system by vehicle, vehicle is obtained
The second positioning result；For the operating range based on vehicle, determine that the third positioning result of vehicle, the operating range are
The distance between current vehicle position and reference point；For passing through the bluetooth positioning system of vehicle, the 4th positioning of vehicle is obtained
As a result.The track determining module is used for the first positioning result, the second positioning result, third positioning result based on the vehicle
With the 4th positioning result, the final positioning result of vehicle is determined；For the final positioning result based on the vehicle, vehicle is determined
Driving trace.
In some embodiments, the final positioning result of the vehicle be the first positioning result of the vehicle, it is second fixed
The Weighted Fusion of position result, third positioning result and the 4th positioning result.
In some embodiments, the reference point is initial position or the history positioning result of vehicle driving.
The third aspect, the present invention discloses a kind of computer readable storage mediums.The storage medium storage computer refers to
It enables, after computer reads the computer instruction in storage medium, computer runs the track of vehicle antidote.
Fourth aspect, the present invention discloses a kind of track of vehicle apparatus for correcting.The track of vehicle apparatus for correcting includes extremely
A few processor and memory；Computer instruction is stored on the memory；The computer instruction by it is described at least
One processor executes, and the track of vehicle apparatus for correcting is caused to realize the track of vehicle antidote.
[Detailed description of the invention]
Fig. 1 be according to some embodiments of the invention shown in a kind of configuration schematic diagram of illustrative on-demand service system；
Fig. 2 is the block diagram of the exemplary computer device of the system for realizing technical solution of the present invention；
Fig. 3 is the block diagram of the EXEMPLARY MOBILE DEVICE of the system for realizing technical solution of the present invention；
Fig. 4 is a kind of flow chart of illustrative trace antidote for realizing technical solution of the present invention；
Fig. 5 is a kind of flow chart of illustrative trace antidote for realizing technical solution of the present invention；
Fig. 6 is a kind of flow chart of illustrative trace antidote for realizing technical solution of the present invention；And
Fig. 7 be according to some embodiments of the invention shown in a kind of block diagram of illustrative track apparatus for correcting.
[specific embodiment]
In order to illustrate more clearly of the technical solution of embodiments herein, will make below to required in embodiment description
Attached drawing is briefly described.It should be evident that the accompanying drawings in the following description is only some examples or implementation of the application
Example, for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings
The application is applied to other similar scenes.Unless being explained obviously or separately, identical label generation in figure from language environment
The identical structure or operation of table.
As shown in the application and claims, unless context clearly prompts exceptional situation, " one ", "one", " one
The words such as kind " and/or "the" not refer in particular to odd number, may also comprise plural number.It is, in general, that term " includes " only prompts to wrap with "comprising"
Include clearly identify the step of and element, and these steps and element do not constitute one it is exclusive enumerate, method or apparatus
It may also include other step or element.
Although the application in system according to an embodiment of the present application certain module or unit be made that various references,
However, any amount of disparate modules or unit can be used and be operated on client and/or server.The module is only
It is illustrative, and disparate modules can be used in the different aspect of the system and method.
Flow chart used herein is used to illustrate operation performed by system according to an embodiment of the present application.It should
Understand, before or operation below not necessarily accurately carry out in sequence.On the contrary, can be handled according to inverted order or simultaneously
Various steps.It is also possible to during other operations are added to these, or remove a certain step from these processes or count step behaviour
Make.
Embodiments herein can be applied to different transportation systems, and different transportation systems includes but is not limited to land
The combination of one or more of ground, ocean, Aeronautics and Astronautics etc..For example, taxi, special train, windward driving, bus, generation drive, fire
Vehicle, motor-car, high-speed rail, ship, aircraft, fire balloon, the unpiloted vehicles, receive/send express delivery etc. and apply management and/or point
The transportation system matched.The different embodiment application scenarios of the application include but is not limited to webpage, browser plug-in, client, determine
The combination of one or more of system processed, enterprises analysis system, artificial intelligence robot etc..It should be understood that this
The application scenarios of the system and method for application are only some examples or embodiment of the application, for the ordinary skill of this field
For personnel, without creative efforts, the application can also be applied to according to these attached drawings other similar
Scene.For example, other similar track of vehicle correction system.
" passenger " described herein, " customer ", " demand for services person ", " consumer ", " consumer ", " make " demander "
With demander " etc. can be interchanged, refer to needs or order service a side, can be individual, be also possible to tool.Together
Sample, " driver " described herein, " supplier ", " supplier ", " ISP ", " server ", " service side " etc.
It can be interchanged, the service of offer is provided or assists to provide individual, tool or other entities etc. of service.In addition, this Shen
The side that " user " that please be described can be the needs service of perhaps ordering is also possible to provide service or assists to provide service
One side.
Fig. 1 be according to some embodiments of the invention shown in a kind of configuration schematic diagram of illustrative on-demand service system.
Exemplary on-demand service system 100 may include track apparatus for correcting 110, network 120, user terminal 130, vehicle 140 and deposit
Reservoir 150.For convenience of description, track apparatus for correcting 110 is referred to as track correction system 110.In some embodiments, rail
Mark apparatus for correcting 110 can be used for carrying out the information of collection analysis processing to generate analysis result.Track apparatus for correcting 110 can
To be a server, it is also possible to a server farm.One server farm can be centralization, such as in data
The heart.One server farm be also possible to it is distributed, for example, a distributed system.Track apparatus for correcting 110 can be this
Ground, for example, track apparatus for correcting 110 can be mounted in the terminal device on vehicle 140.Track apparatus for correcting 110 can also
To be long-range.Track apparatus for correcting 110 may include the place of the instruction (program code) for execution track apparatus for correcting 110
Manage engine 112.
Network 120 can provide the channel of information exchange.Network 120 can be single network, be also possible to multiple network
Combination.Network 120 can include but is not limited to local area network, wide area network, common network, dedicated network, WLAN, virtual
The combination of one or more of network, city Metropolitan Area Network (MAN), public switch telephone network etc..Network 120 may include a variety of nets
Network access point, such as wired or wireless access point, base station (such as 120-1,120-2) or network exchange point, are made by the above access point
Data source connection network 120 simultaneously sends information by network.
User terminal 130 refers to the individual for receiving Service Order or service request, tool or other entities.In some realities
It applies in example, user terminal 130 can be the user of sending service request.In some embodiments, user terminal 130 includes but not
It is limited to desktop computer 130-1, laptop 130-2, the built-in device 130-3 of vehicle, mobile device 130-4 (for example, hand
Machine) etc. one or more of combination.User terminal 130 can be set in vehicle 140.For example, vehicle 140 may include
The laptop 130-2 used, the mobile device 130-4 (for example, mobile phone) of user.
Vehicle 140 includes but is not limited to one or more of motor vehicle 140-1, electric vehicle 140-2, electric bicycle etc.
Combination.
Track apparatus for correcting 110 can directly access the data information that access is stored in memory 150, can also directly lead to
Cross the information of the access access user terminal 130 of network 120.
In some embodiments, memory 150 can refer to the equipment with store function.Memory 150 is mainly used for
Store the various data generated from data and track apparatus for correcting 110 work that user terminal 130 is collected.Memory 150 can
Be it is local, be also possible to long-range.The connection or communication of system database and other intermodules of system can be it is wired,
It is also possible to wireless.
Fig. 2 is the block diagram of the exemplary computer device of the system for realizing technical solution of the present invention.As shown in Fig. 2, meter
Calculating equipment 200 may include processor 210, memory 220, input/output interface 230 and communication port 240.
Processor 210 can execute computations (program code) and execute the on-demand service system 100 that the present invention describes
Function.The computations may include that (function refers to for programs, objects, component, data structure, process, module and function
Specific function described in the present invention).For example, processor 210 can handle other any components from on-demand service system 100
The image or text data of acquisition.In some embodiments, processor 210 may include microcontroller, microprocessor, simplify finger
Enable collection computer (RISC), specific integrated circuit (ASIC), using specific instruction set processor (ASIP), central processing unit
(CPU), graphics processing unit (GPU), physical processing unit (PPU), micro controller unit, digital signal processor (DSP), existing
Field programmable gate array (FPGA), advanced risc machine (ARM), programmable logic device and it is able to carry out one or more functions
Any circuit and processor etc., or any combination thereof.Only for explanation, the calculating equipment 200 in Fig. 2 is only described at one
Device is managed, but should be noted that the calculating equipment 200 in the present invention can also include multiple processors.
Memory 220 can store the data/information obtained from any other component of on-demand service system 100.One
In a little embodiments, memory 220 may include that mass storage, removable memory, volatibility read and write memory
With read-only memory (ROM) etc., or any combination thereof.Exemplary mass storage may include that disk, CD and solid-state are driven
Dynamic device etc..Removable memory may include flash drive, floppy disk, CD, storage card, compact disk and tape etc..Volatibility
Reading and writing memory may include random access memory (RAM).RAM may include dynamic ram (DRAM), Double Data Rate
Synchronous dynamic ram (DDR SDRAM), static state RAM (SRAM), thyristor RAM (T-RAM) and zero capacitance (Z-RAM) etc..ROM can
To include mask rom (MROM), programming ROM (PROM), erasable programmable ROM (PEROM), electrically erasable ROM
(EEPROM), CD ROM (CD-ROM) and digital versatile disc ROM etc..
Input/output interface 230 can be used for inputting or output signal, data or information.In some embodiments, defeated
Enter/output interface 230 can be used family and contacted with on-demand service system 100.In some embodiments, input/output connects
Mouth 230 may include input unit and output device.Exemplary input device may include keyboard, mouse, touch screen and Mike
Wind etc., or any combination thereof.Exemplary output device may include display equipment, loudspeaker, printer, projector etc. or its
Any combination.Exemplary display devices may include liquid crystal display (LCD), the display based on light emitting diode (LED), put down
Plate display, flexible displays, television equipment, cathode-ray tube (CRT) etc., or any combination thereof.
Communication port 240 may be coupled to network so as to data communication.The connection can be wired connection, be wirelessly connected
Or both combination.Wired connection may include cable, optical cable or telephone wire etc., or any combination thereof.Wireless connection can wrap
Bluetooth, Wi-Fi, WiMax, WLAN, ZigBee, mobile network (for example, 3G, 4G or 5G etc.) etc. are included, or any combination thereof.One
In a little embodiments, communication port 240 can be standardized port, such as RS232, RS485.In some embodiments, communication ends
Mouth 240 can be the port specially designed.For example, communication port 240 can be according to digital imagery and medical communication agreement
(DICOM) it is designed.
Fig. 3 is the block diagram of the EXEMPLARY MOBILE DEVICE of the system for realizing technical solution of the present invention.As shown in figure 3, institute
Stating mobile device 300 may include communications platform 310, display 320, graphics processor (GPU) 330, central processing unit (CPU)
340, input/output interface 350, memory 360, memory 370 etc..In some embodiments, operating system 361 (e.g., iOS,
Android, Windows Phone etc.) and application program 362 can be loaded into memory 360 from memory 370, so as to by CPU
340 execute.Application program 362 may include browser or be used to receive imaging, graphics process, sound from on-demand service system 100
The application program of frequency or other relevant informations.
In order to realize various modules, unit and its function described in the present invention, calculating equipment or mobile device can be with
Hardware platform as one or more components described in the invention.These computers or the hardware element of mobile device, behaviour
It is conventional for making system and programming language substantially, and can fit these technologies after these technologies familiar to those skilled in the art
It should be in vehicle insurance early warning system described in the invention.Computer with user interface elements can be used to implement personal computer
(PC) or other kinds of work station or terminal device, if suitably programmed, computer can also act as server.
Fig. 4 is a kind of flow chart of illustrative trace antidote for realizing technical solution of the present invention.The track
Antidote 400 may comprise steps of:
Step 410, at least two positioning results of vehicle are obtained by least two positioning methods.
Specifically, the positioning method may include carrying out vehicle location by wireless location system, passing through inertial navigation
System (INS, Inertial Navigation System) carries out vehicle location, the operating range based on vehicle carries out vehicle and determines
Position and any combination that the modes such as vehicle location or above-mentioned positioning method are carried out by the bluetooth positioning system of vehicle.
In some embodiments, vehicle can be positioned by wireless location system, obtains the first of the vehicle
Positioning result.The wireless location system may include GPS system (Global Positioning System), GLONASS system
Unite (Global Navigation Satellite System), Galileo positioning system, double satellite receiver navigation positioning system and
GSM movable positioning system etc., or any combination thereof.First positioning result can be the location of vehicle range.Work as institute
State wireless location system positioning accuracy, system stability it is preferable when (for example, positioning accuracy be 1m), first positioning result
It can be a certain moment, radius is the round position range of 1m on the travel route of vehicle.Above description is exemplary only,
The position range can be circle, sector, triangle etc., without restriction herein.
In some embodiments, vehicle can be positioned by inertial navigation system, obtains the second of the vehicle
Positioning result.The inertial navigation system may include strap-down inertial navigation system, analytic inertial navigation system and half solution
Analysis formula inertial navigation system etc., or any combination thereof.Second positioning result can be the location of vehicle range.It is described
Inertial navigation system can calculate the location of vehicle range by measurement vehicle mobile course angle and speed.For example,
When the position positioning accuracy of inertial navigation system is 1.6m, second positioning result can be a certain moment, in vehicle
Radius is the round position range of 1.6m on travel route.Above description is exemplary only, and the position range can be circle
Shape, sector, triangle etc., it is without restriction herein.In some embodiments, it is mobile can also to export vehicle for inertial navigation system
The range of deflection.
In some embodiments, vehicle can be positioned based on the operating range of vehicle, obtains the of the vehicle
Three positioning results.Wherein, the operating range is the distance between current vehicle position and reference point.In some embodiments,
The reference point can be the initial position of vehicle driving.For example, the initial position of vehicle driving be A, speed be 30km/h (±
5%), after vehicle travels 3 minutes along travel route, the operating range of vehicle is 1.425km~1.575km, then the third
The round position range that it is 75m with radius at the A distance 1.5km of initial position that positioning result, which can be,.Above description is merely illustrative
Property, the position range can be circle, sector, triangle etc., without restriction herein.
In some embodiments, the reference point can be the history positioning result of vehicle.The history positioning result can
Be vehicle along travel route when driving, the positioning result of any moment before vehicle is in current location.The history
Positioning result can be by carrying out vehicle location by wireless location system progress vehicle location, by inertial navigation system, being based on
The operating range of vehicle carries out vehicle location and by any in the modes such as the bluetooth positioning system progress vehicle location of vehicle
A kind of acquisition can also be obtained by any combination of above-mentioned positioning method.Further, in some embodiments, described
Reference point can be any " better " in the history positioning result of vehicle.It is described it is " better " can in history positioning result,
In first positioning result, the second positioning result and the 4th positioning result described in when positioning signal is preferable, positioning system is more stable
The vehicle location that any positioning or any combination thereof result determines.For example, when radio positioning signal (e.g., GPS signal) is preferable, vehicle
Wireless location system (e.g., GPS system) determine a vehicle location can be used as " better ".
In some embodiments, vehicle can be positioned by the bluetooth positioning system of vehicle, obtains the vehicle
The 4th positioning result.4th positioning result can be the location of vehicle range.In some embodiments, the indigo plant
Tooth positioning system can position vehicle by Bluetooth beacon (beacon) technology.Assuming that Bluetooth base. station is only to from base station 3m
Interior target sends signal, and when vehicle passes through the Bluetooth base. station (in the 3m of base station), the bluetooth module of vehicle be can receive
The signal sent to the Bluetooth base. station.At this point, the bluetooth positioning system can orient the 4th positioning result of vehicle, i.e.,
It is the round position range of 3m by the center of circle, radius of the Bluetooth base. station.Above description is exemplary only, the position range
It can be circle, sector, triangle etc., it is without restriction herein.
Step 420, it is based at least two positioning result, determines the driving trace of vehicle.The positioning result can be with
It is any one in the first positioning result, the second positioning result, third positioning result or the 4th positioning result.
In some embodiments, can two positioning results based on vehicle Weighted Fusion, and then determine vehicle driving
Track.For example, the locating periodically of vehicle is T (that is, the positioning result for obtaining vehicle at interval of time T), obtained respectively at the t1 moment
The first positioning result and the second positioning result of pick-up, the first positioning result and the second positioning result based on vehicle at this time
Weighted Fusion can determine vehicle in the positioning result at t1 moment.In next positioning moment t2 (that is, t2=t1+T), vehicle is obtained
The first positioning result and the second positioning result at this time, the first positioning result and the second positioning result based on t2 moment vehicle
Weighted Fusion, vehicle can be determined in the positioning result at t2 moment.Similarly, available vehicle is at all positioning moment
Positioning result, the positioning result based on all positioning moment is the driving trace that can determine vehicle.
The Weighted Fusion of first positioning result and the second positioning result, which refers to, positions the first positioning result and second
As a result corresponding weight is assigned respectively, and the first positioning result and the second positioning result take the two multiplied by corresponding weight respectively later
Intersection, the as positioning result of vehicle at a time (for example, t1, t2).For example, obtaining the of vehicle respectively at the t1 moment
One positioning result and the second positioning result, the weight for assigning the first positioning result and the second positioning result is 1, can determine vehicle
Positioning result at the t1 moment is the intersection of the first positioning result and the second positioning result.In another example distinguishing at the t1 moment
The first positioning result and the second positioning result of vehicle are obtained, the weight for assigning the first positioning result is 1.2, and assigns second
The weight of positioning result is 0.8, can determine that positioning result of the vehicle at the t1 moment is that the first positioning result expands 20% He
Second positioning result reduces the intersection after 20%.In some embodiments, it is pre-set to can be user for the weight.
It determines that the driving trace of vehicle can solve based at least two positioning results of vehicle and only relies upon a kind of positioning
The problem of mode is brought improves the accuracy and stability of vehicle location.For example, when only relying upon wireless location system to vehicle
When positioning, often it can lead to not be accurately positioned because of the failure of wireless location system internal electronic element.In this case, such as
If fruit can position vehicle by other positioning methods (for example, inertial navigation system, bluetooth positioning system etc.), then
The accuracy of vehicle location and the available promotion of stability.It in some embodiments, can three positioning knot based on vehicle
Fruit, determines the driving trace of vehicle, and associated description may refer to Fig. 5.In some embodiments, can four based on vehicle it is fixed
As a result, determining the driving trace of vehicle, associated description may refer to Fig. 6 for position.
It should be noted that be above for illustrative purposes for the description of track antidote 400 and provide, and
It is not intended to be limited to scope of the present application.For those of ordinary skill in the art, the case where not departing from the application principle
Under, the above method and systematic difference form and details can be carry out various modifications and changed.In some embodiments, track
Antidote 400 may include other one or more positioning methods and positioning result.However, these change and modification are still at this
In the range of application.
Fig. 5 is a kind of flow chart of illustrative trace antidote for realizing technical solution of the present invention.The track
Antidote 500 may comprise steps of:
Step 510, by the wireless location system of vehicle, the first positioning result of vehicle is obtained.
Specifically, the wireless location system may include GPS system (Global Positioning System),
GLONASS system (Global Navigation Satellite System), Galileo positioning system, double satellite receiver navigation
Positioning system and GSM movable positioning system etc., or any combination thereof.First positioning result can be the location of vehicle
Range.When the positioning accuracy of the wireless location system, system stability are preferable (for example, positioning accuracy be 1m), described the
One positioning result can be the t1 moment, and radius is the round position range of 1m on the travel route of vehicle.
Step 520, by the inertial navigation system of vehicle, the second positioning result of vehicle is obtained.
Specifically, the inertial navigation system may include strap-down inertial navigation system, analytic inertial navigation system
With semianalytic inertial navigation system etc., or any combination thereof.Second positioning result can be the location of vehicle model
It encloses.The inertial navigation system can calculate the location of vehicle model by measurement vehicle mobile course angle and speed
It encloses.For example, second positioning result can be the t1 moment when the position positioning accuracy of inertial navigation system is 1.6m,
Radius is the round position range of 1.6m on the travel route of vehicle.
Step 530, based on the operating range of vehicle, the third positioning result of vehicle is determined.Wherein, the operating range is
The distance between current vehicle position and reference point.
In some embodiments, the reference point can be the initial position of vehicle driving.For example, the starting of vehicle driving
Position is A, and speed is v (± 5%), is positioned at the t1 moment to vehicle, the operating range of vehicle be 0.95v × t1~
1.05v × t1, then the third positioning result can be at initial position A distance 0.5 × (0.95v × t1+1.05v × t1)
Radius is the round position range of 0.5 × (0.95v × t1-1.05v × t1).In some embodiments, the reference point can be with
For the history positioning result of vehicle.The history positioning result can be vehicle along travel route when driving, before the t1 moment
Any positioning result of the vehicle.The history positioning result can be by carrying out vehicle location by wireless location system, leading to
Cross the bluetooth positioning that inertial navigation system carries out vehicle location, the operating range based on vehicle carries out vehicle location and passes through vehicle
System carries out any one acquisition in the modes such as vehicle location, can also be obtained by any combination of above-mentioned positioning method
?.In some embodiments, the reference point can be any " better " in the history positioning result of vehicle.It is described " better "
Can in history positioning result, positioning signal preferably, positioning system it is more stable when described in the first positioning result, the second positioning knot
The vehicle location that any positioning in fruit and the 4th positioning result or any combination thereof result determines.
Step 540, the first positioning result based on the vehicle, the second positioning result and third positioning result, determine vehicle
Final positioning result.
Specifically, can the first positioning result based on the vehicle, the second positioning result and third positioning result plus
Power fusion, determines the final positioning result of t1 moment vehicle.First positioning result, the second positioning result and third positioning knot
The Weighted Fusion of fruit refers to assigns corresponding weight to the first positioning result, the second positioning result and third positioning result respectively,
First positioning result, the second positioning result and third positioning result are respectively multiplied by the intersection for taking three after corresponding weight, i.e.,
For the vehicle the t1 moment final positioning result.
For example, obtaining the first positioning result, the second positioning result and third positioning result of vehicle respectively at the t1 moment, assign
The weight for giving the first positioning result, the second positioning result and third positioning result is 1, can determine vehicle the t1 moment most
Whole positioning result is the intersection of the first positioning result, the second positioning result and third positioning result.In another example at the t1 moment point
Not Huo Qu vehicle the first positioning result, the second positioning result and third positioning result, assign the first positioning result weight be
1.2 the weight for assigning the second positioning result is 0.8, and assigning the weight of third positioning result is 1.1, can determine vehicle
It is that the first positioning result expands the 20%, second positioning result diminution 20% and third positioning in the final positioning result at t1 moment
As a result expand the intersection after 10%.
Step 550, based on the final positioning result of the vehicle, the driving trace of vehicle is determined.
Specifically, it is assumed that the locating periodically of vehicle is T (that is, positioning result that vehicle is obtained at interval of time T), has been obtained
Vehicle after the final positioning result at t1 moment, in next positioning moment t2 (that is, t2=t1+T), acquisition vehicle at this time the
One positioning result, the second positioning result and third positioning result.It wherein, can be in the third positioning result for determining the t2 moment
The initial position for choosing vehicle driving is as a reference point, and the final positioning result that can also choose the t1 moment is as a reference point.Into
One step, the Weighted Fusion of the first positioning result, the second positioning result and third positioning result based on t2 moment vehicle can be with
Determine vehicle in the final positioning result at t2 moment.Similarly, final positioning knot of the available vehicle at all positioning moment
Fruit, the final positioning result based on all positioning moment is the driving trace that can determine vehicle.The positioning moment can be with
The period, can be it is preset, be also possible to it is random, it is without restriction herein.
It should be noted that be above for illustrative purposes for the description of track antidote 500 and provide, and
It is not intended to be limited to scope of the present application.For those of ordinary skill in the art, the case where not departing from the application principle
Under, the above method and systematic difference form and details can be carry out various modifications and changed.In some embodiments, track
Antidote 500 may include other one or more positioning methods and positioning result.However, these change and modification are still at this
In the range of application.
Fig. 6 is a kind of flow chart of illustrative trace antidote for realizing technical solution of the present invention.The track
Antidote 600 may comprise steps of:
Step 610, by the wireless location system of vehicle, the first positioning result of vehicle is obtained.
Specifically, the wireless location system may include GPS system (Global Positioning System),
GLONASS system (Global Navigation Satellite System), Galileo positioning system, double satellite receiver navigation
Positioning system and GSM movable positioning system etc., or any combination thereof.First positioning result can be the location of vehicle
Range.When the positioning accuracy of the wireless location system, system stability are preferable (for example, positioning accuracy be 1m), described the
One positioning result can be the t1 moment, and radius is the round position range of 1m on the travel route of vehicle.
Step 620, by the inertial navigation system of vehicle, the second positioning result of vehicle is obtained.
Specifically, the inertial navigation system may include strap-down inertial navigation system, analytic inertial navigation system
With semianalytic inertial navigation system etc., or any combination thereof.Second positioning result can be the location of vehicle model
It encloses.The inertial navigation system can calculate the location of vehicle model by measurement vehicle mobile course angle and speed
It encloses.For example, second positioning result can be the t1 moment when the position positioning accuracy of inertial navigation system is 1.6m,
Radius is the round position range of 1.6m on the travel route of vehicle.
Step 630, based on the operating range of vehicle, the third positioning result of vehicle is determined.
In some embodiments, the reference point can be the initial position of vehicle driving.For example, the starting of vehicle driving
Position is A, and speed is v (± 5%), is positioned at the t1 moment to vehicle, the operating range of vehicle be 0.95v × t1~
1.05v × t1, then the third positioning result can be at initial position A distance 0.5 × (0.95v × t1+1.05v × t1)
Radius is the round position range of 0.5 × (0.95v × t1-1.05v × t1).In some embodiments, the reference point can be with
For the history positioning result of vehicle.The history positioning result can be vehicle along travel route when driving, before the t1 moment
Any positioning result of the vehicle.The history positioning result can be by carrying out vehicle location by wireless location system, leading to
Cross the bluetooth positioning that inertial navigation system carries out vehicle location, the operating range based on vehicle carries out vehicle location and passes through vehicle
System carries out any one acquisition in the modes such as vehicle location, can also be obtained by any combination of above-mentioned positioning method
?.In some embodiments, the reference point can be any " better " in the history positioning result of vehicle.It is described " better "
Can in history positioning result, positioning signal preferably, positioning system it is more stable when described in the first positioning result, the second positioning knot
The vehicle location that any positioning in fruit and the 4th positioning result or any combination thereof result determines.
Step 640, by the bluetooth positioning system of vehicle, the 4th positioning result of vehicle is obtained.The 4th positioning knot
Fruit can be the location of vehicle range.
In some embodiments, the bluetooth positioning system can carry out vehicle by Bluetooth beacon (beacon) technology
Positioning.Assuming that Bluetooth base. station only sends signal to from the target in the 3m of base station, when vehicle passes through the Bluetooth base. station (apart from base station
In 3m), the bluetooth module of vehicle can receive the signal that the Bluetooth base. station is sent.At this point, the bluetooth positioning system can
It to orient the 4th positioning result of vehicle, i.e., is the round position range of 3m by the center of circle, radius of the Bluetooth base. station.
Step 650, the first positioning result based on the vehicle, the second positioning result, third positioning result and the 4th
Positioning result determines the final positioning result of vehicle.
It specifically, can the first positioning result, the second positioning result, third positioning result and the 4th based on the vehicle
The Weighted Fusion of positioning result determines the final positioning result of t1 moment vehicle.First positioning result, the second positioning knot
It is fixed to the first positioning result, the second positioning result, third that the Weighted Fusion of fruit, third positioning result and the 4th positioning result refers to
Position result and the 4th positioning result assign corresponding weight, the first positioning result, the second positioning result, third positioning result respectively
With the 4th positioning result respectively multiplied by the intersection for taking four after corresponding weight, the as described vehicle is final fixed the t1 moment
Position result.
For example, obtaining the first positioning result, the second positioning result, third positioning result and of vehicle respectively at the t1 moment
Four positioning results, the weight for assigning the first positioning result, the second positioning result, third positioning result and the 4th positioning result are
1, it can determine that final positioning result of the vehicle at the t1 moment is the first positioning result, the second positioning result, third positioning knot
The intersection of fruit and the 4th positioning result.In another example obtaining the first positioning result, the second positioning knot of vehicle respectively at the t1 moment
Fruit, third positioning result and the 4th positioning result, the weight for assigning the first positioning result is 1.2, assigns the second positioning result
Weight is 0.8, and the weight for assigning third positioning result is 1.1, and assigning the weight of the 4th positioning result is 0.75, can be true
Determining vehicle in the final positioning result at t1 moment is that the first positioning result expands the 20%, second positioning result and reduces 20%, the
The expansion 10% of three positioning results and the 4th positioning result reduce the intersection after 15%.
Step 660, based on the final positioning result of the vehicle, the driving trace of vehicle is determined.
Specifically, it is assumed that the locating periodically of vehicle is T (that is, positioning result that vehicle is obtained at interval of time T), has been obtained
Vehicle after the final positioning result at t1 moment, in next positioning moment t2 (that is, t2=t1+T), acquisition vehicle at this time the
One positioning result, the second positioning result, third positioning result and the 4th positioning result.Wherein, fixed in the third for determining the t2 moment
When the result of position, the initial position that can choose vehicle driving is as a reference point, can also choose the final positioning result at t1 moment
It is as a reference point.Further, the first positioning result, the second positioning result, third positioning result based on t2 moment vehicle and
The Weighted Fusion of 4th positioning result can determine vehicle in the final positioning result at t2 moment.Similarly, available vehicle
In the final positioning result at all positioning moment, the final positioning result based on all positioning moment can determine vehicle
Driving trace.The positioning moment can be the period, can be it is preset, be also possible to it is random, it is without restriction herein.
It should be noted that be above for illustrative purposes for the description of track antidote 600 and provide, and
It is not intended to be limited to scope of the present application.For those of ordinary skill in the art, the case where not departing from the application principle
Under, the above method and systematic difference form and details can be carry out various modifications and changed.In some embodiments, track
Antidote 600 may include other one or more positioning methods and positioning result.However, these change and modification are still at this
In the range of application.
Fig. 7 be according to some embodiments of the invention shown in a kind of block diagram of illustrative track apparatus for correcting.It rectifys track
Equipment 110 (track correction system 110) may include the first locating module 710, the second locating module 720, third positioning mould
Block 730, the 4th locating module 740 and track determining module 750.
First locating module 710 can be used for positioning vehicle by wireless location system, obtain the vehicle
The first positioning result.The wireless location system may include GPS system (Global Positioning System),
GLONASS system (Global Navigation Satellite System), Galileo positioning system, double satellite receiver navigation
Positioning system and GSM movable positioning system etc., or any combination thereof.First positioning result can be vehicle present position
Range.
Second locating module 720 can be used for positioning vehicle by inertial navigation system, obtain the vehicle
The second positioning result.The inertial navigation system may include strap-down inertial navigation system, analytical inertial navigation system
System and semianalytic inertial navigation system etc., or any combination thereof.Second positioning result can be vehicle present position
Range.The inertial navigation system can calculate the location of vehicle model by measurement vehicle mobile course angle and speed
It encloses.In some embodiments, second locating module 720 can also obtain the range at vehicle moving direction angle.
The third locating module 730 can be used for the operating range based on vehicle and position to vehicle, described in acquisition
The third positioning result of vehicle.Wherein, the operating range is the distance between current vehicle position and reference point.In some realities
It applies in example, the reference point can be the initial position of vehicle driving.In some embodiments, the reference point can be vehicle
History positioning result.The history positioning result can be vehicle along travel route when driving, be in present bit in vehicle
The positioning result of any moment before setting.
4th locating module 740 can be used for positioning vehicle by the bluetooth positioning system of vehicle, obtain
4th positioning result of the vehicle.4th positioning result can be the location of vehicle range.In some embodiments
In, the bluetooth positioning system can position vehicle by Bluetooth beacon (beacon) technology.
The track determining module 750 can be used for determining the driving trace of vehicle based at least two positioning results.Institute
State positioning result can be it is any in the first positioning result, the second positioning result, third positioning result or the 4th positioning result
One.The track determining module 750 can adding by least two positioning results of a certain moment (for example, t1 and t2) vehicle
Power merges and then obtains vehicle in the final positioning result at the moment.Similarly, own on travel route by obtaining vehicle
The final positioning result for positioning the moment, the final positioning result based on all positioning moment is the traveling rail that can determine vehicle
Mark.
It should be noted that above-mentioned modules can be the software module realized by computer instruction.It is described above
Modules and unit it is not necessary to.For those skilled in the art, understanding teachings herein and principle
Afterwards, all may without departing substantially from this technology principle, structure, to the system carry out various amendments in form and details and
Change.Module can be deleted or be added, and modules in any combination, or can constitute subsystem and connect with other modules.This
A little modifications and variations are still within claims hereof protection scope.
The possible beneficial effect of the embodiment of the present application includes but is not limited to: (1) improving the precision of vehicle location；(2)
Improve accuracy, the stability of track of vehicle monitoring.It should be noted that the issuable beneficial effect of different embodiments is not
Together, in different embodiments, it is possible to create beneficial effect can be the combinations of any of the above one or more, be also possible to
Other it is any can obtainable beneficial effect.
Basic conception is described above, it is clear that those skilled in the art, foregoing invention discloses only
As an example, and not constituting the restriction to the application.Although do not clearly state herein, those skilled in the art may
The application is carry out various modifications, improve and is corrected.Such modification, improvement and amendment are proposed in this application, so such
Modification improves, corrects the spirit and scope for still falling within the application example embodiment.
Meanwhile the application has used particular words to describe embodiments herein.Such as " one embodiment ", " one implements
Example ", and/or " some embodiments " mean a certain feature relevant at least one embodiment of the application, structure or feature.Cause
This, it should be highlighted that and it is noted that " embodiment " or " an implementation referred to twice or repeatedly in this specification in different location
Example " or " alternate embodiment " are not necessarily meant to refer to the same embodiment.In addition, in one or more embodiments of the application
Certain features, structure or feature can carry out combination appropriate.
In addition, it will be understood by those skilled in the art that the various aspects of the application can be by several with patentability
Type or situation are illustrated and described, the combination or right including any new and useful process, machine, product or substance
Their any new and useful improvement.Correspondingly, the various aspects of the application can completely by hardware execute, can be complete
It is executed, can also be executed by combination of hardware by software (including firmware, resident software, microcode etc.).Hardware above is soft
Part is referred to alternatively as " data block ", " module ", " engine ", " unit ", " component " or " system ".In addition, the various aspects of the application
The computer product being located in one or more computer-readable mediums may be shown as, which includes computer-readable program
Coding.
Computer-readable signal media may include the propagation data signal containing computer program code in one, such as
A part in base band or as carrier wave.The transmitting signal may there are many forms of expression, including electromagnetic form, light form etc.
Deng or suitable combining form.Computer-readable signal media can be any meter in addition to computer readable storage medium
Calculation machine readable medium, the medium can be realized by being connected to an instruction execution system, device or equipment communication, propagate or
Transmit the program for using.Program coding in computer-readable signal media can be carried out by any suitable medium
It propagates, the combination including radio, cable, fiber optic cables, radiofrequency signal or similar mediums or any of above medium.
Computer program code needed for the operation of the application each section can use any one or more programming language,
Including Object-Oriented Programming Language such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C#, VB.NET,
Python etc., conventional procedural programming language for example C language, Visual Basic, 2003 Fortran, Perl, COBOL 2002,
PHP, ABAP, dynamic programming language such as Python, Ruby and Groovy or other programming languages etc..The program coding can be complete
Entirely on the user computer run run on the user computer as independent software package or partially in subscriber computer
Upper operation part runs in remote computer or runs on a remote computer or server completely.In the latter cases, remotely
Computer can be connect by any latticed form with subscriber computer, such as local area network (LAN) or wide area network (WAN), or even
It is connected to outer computer (such as passing through internet), or in cloud computing environment, or is serviced as service using such as software
(SaaS)。
In addition, except clearly stating in non-claimed, the sequence of herein described processing element and sequence, digital alphabet
Using or other titles use, be not intended to limit the sequence of the application process and method.Although by each in above-mentioned disclosure
Kind of example discuss it is some it is now recognized that useful inventive embodiments, but it is to be understood that, such details only plays explanation
Purpose, appended claims are not limited in the embodiment disclosed, on the contrary, claim is intended to cover and all meets the application
The amendment and equivalent combinations of embodiment spirit and scope.For example, although system component described above can be set by hardware
It is standby to realize, but can also be only achieved by the solution of software, such as pacify on existing server or mobile device
Fill described system.
Similarly, it is noted that in order to simplify herein disclosed statement, to help real to one or more invention
Apply the understanding of example, above in the description of the embodiment of the present application, sometimes by various features merger to one embodiment, attached drawing or
In descriptions thereof.But this disclosure method is not meant to mention in aspect ratio claim required for the application object
And feature it is more.In fact, the feature of embodiment will be less than whole features of the single embodiment of above-mentioned disclosure.
The number of description ingredient, number of attributes is used in some embodiments, it should be appreciated that such to be used for embodiment
The number of description has used qualifier " about ", " approximation " or " generally " to modify in some instances.Unless in addition saying
It is bright, " about ", " approximation " or " generally " show the variation that the number allows to have ± 20%.Correspondingly, in some embodiments
In, numerical parameter used in description and claims is approximation, approximation feature according to needed for separate embodiment
It can change.In some embodiments, numerical parameter is considered as defined significant digit and using the reservation of general digit
Method.Although the Numerical Range and parameter in some embodiments of the application for confirming its range range are approximation, specific real
It applies in example, being set in for such numerical value is reported as precisely as possible in feasible region.
For each patent, patent application, patent application publication object and the other materials of the application reference, such as article, book
Entire contents, are incorporated herein as reference by nationality, specification, publication, document etc. hereby.It is inconsistent with teachings herein
Or except generating the application history file of conflict, (currently or later to the conditional file of the claim of this application widest scope
Be additional in the application) also except.It should be noted that if description, definition, and/or art in the application attaching material
The use of language with it is herein described it is interior have place that is inconsistent or conflicting, with making for the description of the present application, definition and/or term
Subject to.
Finally, it will be understood that embodiment described herein is only to illustrate the principle of the embodiment of the present application.Other
Deformation may also belong to scope of the present application.Therefore, as an example, not a limit, the alternative configuration of the embodiment of the present application is visual
It is consistent with teachings of the present application.Correspondingly, embodiments herein is not limited only to the implementation that the application is clearly introduced and described
Example.
Claims (16)
1. a kind of track of vehicle antidote characterized by comprising
At least two positioning results of vehicle are obtained by least two positioning methods；And
Based at least two positioning result, vehicle driving trace is determined.
2. the method as described in claim 1, which is characterized in that the positioning method comprises at least one of the following: the first is fixed
Position mode, second of positioning method, the third positioning method or the 4th kind of positioning method；
Wherein,
The first positioning method is to obtain the first positioning result of vehicle by wireless location system；
Second of positioning method is to obtain the second positioning result of vehicle by inertial navigation system；
The third positioning method be the operating range based on vehicle, obtain the third positioning result of vehicle, wherein it is described traveling away from
From for the distance between current vehicle position and reference point；Or
4th kind of positioning method is the bluetooth positioning system by vehicle, obtains the 4th positioning result of vehicle.
3. the method as described in claim 1, which is characterized in that at least two positioning methods that pass through obtain vehicle at least
The step of two positioning results includes:
By the wireless location system of vehicle, the first positioning result of vehicle is obtained；
By the inertial navigation system of vehicle, the second positioning result of vehicle is obtained；
Operating range based on vehicle determines that the third positioning result of vehicle, the operating range are current vehicle position and ginseng
The distance between examination point；
The first positioning result, the second positioning result and third positioning result based on the vehicle, determine the final positioning of vehicle
As a result；And
Final positioning result based on the vehicle, determines the driving trace of vehicle.
4. method as claimed in claim 3, which is characterized in that the final positioning result of the vehicle is the first of the vehicle
The Weighted Fusion of positioning result, the second positioning result and third positioning result.
5. the method as described in claim 1, which is characterized in that at least two positioning methods that pass through obtain vehicle at least
The step of two positioning results includes:
By the wireless location system of vehicle, the first positioning result of vehicle is obtained；
By the inertial navigation system of vehicle, the second positioning result of vehicle is obtained；
Operating range based on vehicle determines that the third positioning result of vehicle, the operating range are current vehicle position and ginseng
The distance between examination point；
By the bluetooth positioning system of vehicle, the 4th positioning result of vehicle is obtained；
The first positioning result, the second positioning result, third positioning result and the 4th positioning result based on the vehicle, determine vehicle
Final positioning result；And
Final positioning result based on the vehicle, determines the driving trace of vehicle.
6. method as claimed in claim 5, which is characterized in that the final positioning result of the vehicle is the first of the vehicle
Positioning result, the second positioning result, third positioning result and the 4th positioning result Weighted Fusion.
7. the method as claimed in claim 3 or 4, which is characterized in that the reference point is the initial position of vehicle driving, or goes through
History positioning result.
8. a kind of track of vehicle correction system characterized by comprising
Locating module, for obtaining at least two positioning results of vehicle by least two positioning methods；And
Track determining module determines vehicle driving trace for being based at least two positioning result.
9. system as claimed in claim 8, which is characterized in that the positioning method comprises at least one of the following: the first is fixed
Position mode, second of positioning method, the third positioning method or the 4th kind of positioning method；
Wherein,
The first positioning method is to obtain the first positioning result of vehicle by wireless location system；
Second of positioning method is to obtain the second positioning result of vehicle by inertial navigation system；
The third positioning method be the operating range based on vehicle, obtain the third positioning result of vehicle, wherein it is described traveling away from
From for the distance between current vehicle position and reference point；Or
4th kind of positioning method is the bluetooth positioning system by vehicle, obtains the 4th positioning result of vehicle.
10. system as claimed in claim 8, which is characterized in that the locating module is used for:
By the wireless location system of vehicle, the first positioning result of vehicle is obtained；
By the inertial navigation system of vehicle, the second positioning result of vehicle is obtained；
Operating range based on vehicle determines that the third positioning result of vehicle, the operating range are current vehicle position and ginseng
The distance between examination point；And
The track determining module is used for:
The first positioning result, the second positioning result and third positioning result based on the vehicle, determine the final positioning of vehicle
As a result；
Final positioning result based on the vehicle, determines the driving trace of vehicle.
11. system as claimed in claim 10, which is characterized in that the final positioning result of the vehicle is the of the vehicle
The Weighted Fusion of one positioning result, the second positioning result and third positioning result.
12. system as claimed in claim 8, which is characterized in that the locating module is used for:
By the wireless location system of vehicle, the first positioning result of vehicle is obtained；
By the inertial navigation system of vehicle, the second positioning result of vehicle is obtained；
Operating range based on vehicle determines that the third positioning result of vehicle, the operating range are current vehicle position and ginseng
The distance between examination point；
By the bluetooth positioning system of vehicle, the 4th positioning result of vehicle is obtained；And
The track determining module is used for:
The first positioning result, the second positioning result, third positioning result and the 4th positioning result based on the vehicle, determine vehicle
Final positioning result；
Final positioning result based on the vehicle, determines the driving trace of vehicle.
13. system as claimed in claim 12, which is characterized in that the final positioning result of the vehicle is the of the vehicle
One positioning result, the second positioning result, third positioning result and the 4th positioning result Weighted Fusion.
14. system as described in claim 10 or 11, which is characterized in that the reference point is the initial position of vehicle driving,
Or history positioning result.
15. a kind of computer readable storage medium, which is characterized in that the storage medium stores computer instruction, works as computer
After reading the computer instruction in storage medium, computer runs method as claimed in claim 1.
16. a kind of track of vehicle apparatus for correcting, which is characterized in that described device includes at least one processor and memory；
Computer instruction is stored on the memory；
The computer instruction is executed by least one described processor, and described device is caused to be realized as claim 1-7 is any
The method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810209633.1A CN110275194A (en) | 2018-03-14 | 2018-03-14 | A kind of track of vehicle antidote and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810209633.1A CN110275194A (en) | 2018-03-14 | 2018-03-14 | A kind of track of vehicle antidote and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110275194A true CN110275194A (en) | 2019-09-24 |
Family
ID=67958460
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810209633.1A Pending CN110275194A (en) | 2018-03-14 | 2018-03-14 | A kind of track of vehicle antidote and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110275194A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114490900A (en) * | 2021-12-28 | 2022-05-13 | 广州小鹏自动驾驶科技有限公司 | Multi-vehicle track data fusion method, device, equipment and storage medium |
| CN115355907A (en) * | 2022-10-19 | 2022-11-18 | 东南大学 | Autonomous navigation system and method based on millimeter wave sensing integrated unmanned equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103209388A (en) * | 2013-04-12 | 2013-07-17 | 浙江大学 | Method and system for hybrid positioning on basis of multi-mode signals |
| CN104132666A (en) * | 2014-07-16 | 2014-11-05 | 北京邮电大学 | Variable importance degree-based vehicle real time positioning method |
| CN106556397A (en) * | 2015-09-25 | 2017-04-05 | 大唐半导体设计有限公司 | A kind of GNSS map-matching methods and device |
| CN106896391A (en) * | 2017-03-14 | 2017-06-27 | 北京京东尚科信息技术有限公司 | The localization method and device of unmanned plane |
| CN107339986A (en) * | 2017-07-04 | 2017-11-10 | 郑州大学 | A kind of localization method, apparatus and system |
-
2018
- 2018-03-14 CN CN201810209633.1A patent/CN110275194A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103209388A (en) * | 2013-04-12 | 2013-07-17 | 浙江大学 | Method and system for hybrid positioning on basis of multi-mode signals |
| CN104132666A (en) * | 2014-07-16 | 2014-11-05 | 北京邮电大学 | Variable importance degree-based vehicle real time positioning method |
| CN106556397A (en) * | 2015-09-25 | 2017-04-05 | 大唐半导体设计有限公司 | A kind of GNSS map-matching methods and device |
| CN106896391A (en) * | 2017-03-14 | 2017-06-27 | 北京京东尚科信息技术有限公司 | The localization method and device of unmanned plane |
| CN107339986A (en) * | 2017-07-04 | 2017-11-10 | 郑州大学 | A kind of localization method, apparatus and system |
Non-Patent Citations (5)
| Title |
|---|
| 唐智慧等: "《交通运输安全技术》", 30 November 2017, 西南交通大学出版社 * |
| 席军强: "《车辆信息技术》", 31 December 2013, 北京理工大学出版社 * |
| 杨槐: "《无线数据通信技术基础》", 31 December 2016, 西安电子科技大学出版社 * |
| 胡振文等: "《车辆定位与导航》", 31 August 2009, 中国铁道出版社 * |
| 谢红 等: "基于iBeacon和多自由度MEMS的室内融合定位技术研究", 《应用科技》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114490900A (en) * | 2021-12-28 | 2022-05-13 | 广州小鹏自动驾驶科技有限公司 | Multi-vehicle track data fusion method, device, equipment and storage medium |
| CN114490900B (en) * | 2021-12-28 | 2022-10-14 | 广州小鹏自动驾驶科技有限公司 | Multi-vehicle track data fusion method, device, equipment and storage medium |
| CN115355907A (en) * | 2022-10-19 | 2022-11-18 | 东南大学 | Autonomous navigation system and method based on millimeter wave sensing integrated unmanned equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109141464B (en) | Navigation lane change prompting method and device | |
| US20210073728A1 (en) | Apparatus, methods, and storage media for recommending pick-up locations | |
| AU2019203926B2 (en) | Systems and methods for performing location-based actions | |
| CN110383351B (en) | System and method for vehicle sharing service | |
| US20210140774A1 (en) | Systems and methods for recommending pick-up locations | |
| TWI675184B (en) | Systems, methods and non-transitory computer readable medium for route planning | |
| TW202013305A (en) | Artificial intelligent systems and methods for predicting traffic accident locations | |
| WO2019015384A1 (en) | Systems and methods for transport capacity scheduling | |
| CN110998239B (en) | System and method for determining a new path in a map | |
| CN109429520A (en) | System and method for vehicle inspection | |
| CN110249357A (en) | The system and method updated for data | |
| CN110301132A (en) | System and method for on-demand service | |
| CN110275194A (en) | A kind of track of vehicle antidote and system | |
| CN110800030B (en) | Method and system for car pooling service | |
| CN109579862A (en) | Air navigation aid, system, equipment and the medium of electric car | |
| CN109931948A (en) | A kind of guidance user parking and vehicle topple over reminding method and system | |
| Wang et al. | A hardware-in-the-loop v2x simulation framework: Cartest | |
| CN113091737A (en) | Vehicle-road cooperative positioning method and device, automatic driving vehicle and road side equipment | |
| Yoon et al. | Design and implementation of HD mapping, vehicle control, and V2I communication for robo-taxi services | |
| WO2019062930A1 (en) | Systems and methods for stations loading and display | |
| WO2022126354A1 (en) | Systems and methods for obtaining estimated time of arrival in online to offline services | |
| CN113008246A (en) | Map matching method and device | |
| CN111080047A (en) | Method and device for judging completion condition of driving task and computer readable medium | |
| CN110352414A (en) | For the system and method for big data addition index | |
| CN110832811B (en) | System and method for transmitting spatial data |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200312 Address after: No. 203, floor 2, building 34, yard 8, Dongbei Wangxi Road, Haidian District, Beijing 100193 Applicant after: Beijing Youshan Information Technology Co., Ltd Address before: 100193 building 34, 8 West Road, Northeast Road, Haidian District, Beijing. Applicant before: BEIJING DIDI INFINITY TECHNOLOGY AND DEVELOPMENT Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: No. 203, floor 2, building 34, yard 8, Dongbei Wangxi Road, Haidian District, Beijing 100193 Applicant after: Beijing Qisheng Technology Co., Ltd Address before: No. 203, floor 2, building 34, yard 8, Dongbei Wangxi Road, Haidian District, Beijing 100193 Applicant before: Beijing Youshan Information Technology Co., Ltd |