CN100582670C - Localization subsystem of vehicle self-building net system and localization method thereof - Google Patents
Localization subsystem of vehicle self-building net system and localization method thereof Download PDFInfo
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Abstract
The invention provides a positioning subsystem for a vehicle ad hoc network system and a positioning method and relates to an embedding vehicle-mounted positioning subsystem platform in a certain range, a vehicle positioning technology and a method, moreover, the invention belongs to the related technical field of the vehicle ad hoc network. The invention is characterized in that the subsystem consists of a GPS satellite positioning receiving device, a movement direction sensor, a speed collection module, a storage equipment, etc., and adopts the way of combining the GPS satellite positioning technology and the sensor positioning technology. The positioning method is characterized in that when the GPS satellite positioning function is normal, the GPS satellite positioning technology can be adopted for reliable positioning; when the GPS satellite positioning function is unusual, the speed and the directional data of the present vehicle collected by the sensor are combined with the related algorithm and the electronic map stored in the storage equipment to realize emergency positioning; the GPS satellite positioning technology can be restored for reliable positioning till the GPS satellite positioning function is played stably and reliably again. The technical category of positioning is expanded and the dependency of the vehicle positioning function on the objective environment is reduced, moreover, the environmental suitability of the positioning function is increased.
Description
Technical field
The positioning subsystem and the localization method of a kind of car self-organization network system relate to embedded onboard positioning subsystem platform, vehicle positioning technology and method in the certain limit, belong to the car self-organization network correlative technology field.
Background technology
In the car self-organization network system, information often requires to know relative or absolute geographic position between vehicle at the transmission between vehicle, relaying, and this possesses the self poisoning function with regard to the vehicle that requires to participate in MANET, can obtain the more specific location information of each vehicle.
The GPS GPS is a kind of localization method, and the gps satellite positioning system is carried out map match with the latitude and longitude information of its acquisition, to determine the vehicle particular location.But the gps satellite positioning system has its special requirement to the residing environment of system, and it requires any moment all to have under the observation that is no less than 4 satellites, can realize the location.When vehicle ' under the real road environment, the positioning signal that gps satellite transmitted may be subjected to blocking of some buildingss or geographical natural forms, cause gps satellite location receiving equipment to the unfavorable situation of the reception condition of GPS positioning satellite signal (can't receive gps satellite signal, only can receive the signal that is less than 4 satellites, the satellite-signal that receives has been subjected to interference etc.), just can't obtain complete geographical location information, cause the gps satellite positioning system normally to move.At this moment, we just need to seek in addition a localization method, can substitute its location of meeting an urgent need when the gps satellite positioning system can't operate as normal.
The technology that relates to integrated positioning is arranged in the existing technology, as patent of invention " GPS/DR Vehicle Integrated Location System and localization method ", utilize absolute location information that GPS provides that the initial value of DR is carried out error correction, simultaneously compensate error immediately in the GPS location, thereby realize location continuously according to the reckoning result of DR.DR technology desired data is gathered by gyroscope, mileometer by this system, and desired datas such as data computation outgoing direction by collecting, and used the federated Kalman filtering algorithm to carry out information fusion, the realization of total system and algorithm are comparatively complicated, and obtaining of directional data needs extra computation.
Summary of the invention
Content of the present invention is to design the positioning subsystem of a kind of car self-organization network system, and the gps satellite location technology is combined with the sensor location technology, proposes a kind ofly can utilize specific sensor the meet an urgent need localization method and the location technology of location.This system mainly carries out satnav by the gps satellite positioning system under gps satellite positioning system operation normal condition; Under the situation that the gps satellite positioning system can not normally be moved, the speed pickup that utilizes direction of motion sensor and vehicle to carry, obtain current direction of motion of vehicle and velocity information in real time, in conjunction with some specific algorithms, calculate the track of vehicle ', and then finish location to vehicle, and for the car self-organization network system provides a kind of environmental suitability strong, stable, positioning subsystem reliably.
The positioning subsystem platform of car self-organization network system proposed by the invention is located receiver module, direction of motion sensor, speed acquisition module, memory device (SD card) by gps satellite and is formed.Gps satellite location receiver module receives the signal that the GPS position location satellite transmits, and obtains the locating information data of each vehicle, is transferred to the car self-organization network master control system by serial ports; The direction of motion sensor that is used for collection vehicle direction of motion data is connected with the car self-organization network master control system by serial ports, the directional data of the current operation of collection vehicle in real time; The speed acquisition module of being made up of the speed pickup of collection vehicle travelling speed is connected with the car self-organization network master control system by serial ports, the speed data of the current operation of collection vehicle in real time; Adopt the memory device of high capacity SD card to be connected with the car self-organization network master control system, be used for record and preserve electronic chart, geographical environment information, car status information etc. by storage device interface (SD card).
The localization method feature of system of the present invention is as follows:
Based on the above platform, the positioning subsystem of the car self-organization network system that the present invention proposes comprises GPS automobile navigation locating module, sensor locating module, the basic control module in location and positional information memory module.Locate basic control module be mainly used in to coordination mutual between each functional module, contact, scheduling unify control, judge which kind of vehicle location mode of taking, between two kinds of localization function module, in time switch according to certain decision mechanism, and control, handle the flow process of total system location, can help the sensor locating module that assist process is carried out in the computing of related algorithm simultaneously; The sensor locating module comprises the collection of locator data and to the calculating of the related data of vehicle location, by the direction of motion sensor directional data of the current operation of vehicle is carried out real-time collection, the speed pickup that carries by vehicle itself carries out real-time collection to the present speed data of vehicle; Vehicle position information under the two-dimentional local coordinate system form that the positional information memory module obtains system and the electronic map match that is stored on the memory device (SD card) generate the located in connection data message and also carry out real-time storage.
At first, start the GPS receiver module and the GPS positioning satellite signal is received, analyze, judge whether it can get access to complete gps satellite locating information by the basic control module in location;
Under the situation that the gps satellite positioning system can normally be moved, receive the gps satellite positioning signal by the GPS receiver module, obtain the relevant location information of vehicle, transmit these data by serial ports and make corresponding parsing and conversion process, then can carry out relatively accurately, locate reliably vehicle in conjunction with the electronic chart that is stored on the memory device (SD card) to the car self-organization network master control system and to it;
Under the situation that the gps satellite positioning system can not normally be moved, start sensor localization method then, use the current direction of motion data of direction of motion sensor acquisition vehicle, the speed pickup that carries by vehicle itself carries out the collection of current driving speed data.The sample frequency that direction of motion sensor and speed pickup are adopted is the function of Vehicle Speed, be expressed as f=f (v) (wherein the unit of v is a meter per second) is defined as follows:
The directional data that collects shows as the three-dimensional coordinate form, and three coordinate axis of three-dimensional system of coordinate are represented longitudinal, latitude direction and vertical direction respectively; Collect after the required related data, the directional data that sensor is obtained converts local coordinate form to earlier, to mate local electronic chart, uses related algorithm that the running orbit of vehicle is calculated subsequently; The algorithm flow of calculating vehicle movement track specifically may further comprise the steps as shown in Figure 4 among the present invention:
Step 1: setting up the v-t coordinate system, is coordinate axis with time, speed, with sampling period of sensor as the time interval, set up a discrete type function model by the sampled value that sensor obtained;
Step 2: using corresponding mathematics interpolation algorithm is that the discrete type function that previous step is built is set up out a continuous type function model V=V (t);
Step 3: to the continuous type function model that the last step sets up, use the high precision approximating method and calculate the shift value of vehicle in the certain hour section, algorithm steps of the present invention is as follows:
1) sampling rate → f (v)
2) sampled value → V (i) i=0,1,2...
3)c＝T
i-2，b＝T
i-1 a＝T
i
4)T＝1/f(v)
5)Fori＝1，...，n，...
h＝T
IF i is an odd number
Δ＝(V(a)+V(b))h/2
X(i)＝X(i-1)+Δ
ELSE
Δ＝(V(a)+4V(b)+V(c))h/3
X(i)＝X(i-2)+Δ
END?IF
Output X (i) continue
Step 4: collected according to current direction of motion sensor, the directional data of the vehicle movement after the conversion, analyze vehicle and whether be carrying out level and travel, if, then proceed next step, travel if not level, then needing the direction of motion data conversion is the directional data of horizontal coordinate, and then carries out next step;
Step 5: set up local two-dimensional coordinate system, the step is calculated in the utilization displacement data information and bonding position data message calculate concrete displacement situation in the special time period;
Step 6: according to local two-dimensional space coordinate system, concrete displacement situation in the special time period that the step is calculated in the utilization, calculate corresponding position data, all position datas that calculate combine, just draw a continuous curve in the certain hour section, promptly formed the movement locus of vehicle in this time period.
After the gps satellite position system function recovers normally, by the basic control module control in location, stop sensor is located immediately, restart the gps satellite positioning system vehicle is carried out accurate relatively, reliable gps satellite location, and do corresponding correction using sensor to position the error that is produced before this.
Be stored in memory device owing to be used for the electronic chart of navigator fix, in order to improve the response speed of navigator fix, to call in electronic chart in advance in the internal memory of car self-organization network master control system, the location technology process is all carried out navigator fix in conjunction with the electronic chart that is stored on the memory device, and on memory device the real-time corresponding vehicle location information of record.
This system has reduced the dependence of vehicle location function to objective environment owing to combine gps satellite location technology and sensor location technology, has enlarged the application category of location technology.Hardware platform of the present invention can be applied to embedded device related development field, and native system can be widely used in association areas such as running fix.
Description of drawings
Fig. 1 is the hardware configuration synoptic diagram of car self-organization network system positioning subsystem.
Fig. 2 is the system module structural drawing of car self-organization network system positioning subsystem.
Fig. 3 is the localization method process flow diagram of car self-organization network system positioning subsystem.
Fig. 4 is the algorithm flow chart that calculates the vehicle movement track in the localization method of this invention.
Embodiment
The location technology that the positioning subsystem of car self-organization network of the present invention system has adopted the gps satellite location technology to combine with the sensor location technology, accompanying drawing 1 is a hardware configuration design diagram of the present invention.This car self-organization network system positioning subsystem hardware configuration consists of: gps satellite location receiver module, direction of motion sensor, speed acquisition module, memory device (SD card) etc.; Hardware system structure based on the positioning subsystem of above-mentioned car self-organization network system, in conjunction with the car self-organization network master control system, based on comprising the upper application software exploitation of locating required related algorithm, can realize the desired positioning function demand of this car self-organization network system positioning subsystem, narrate the concrete composition and the implementation method of every functional module shown in the accompanying drawing 2 below respectively.
1, locatees basic control module.
This module is in the center in the whole system function structure, be mainly used in control is unified in coordination mutual between each functional module, contact, scheduling, respective handling is analyzed, judges and made to the flow process of control total system location to each position fixing process.This module adopts a kind of handover mechanism, judges taking which kind of localization function module to position, and can switch timely according to certain judgment mechanism between two kinds of localization function module.This module also can be carried out the computing of related algorithm by the aid sensors locating module in addition.
2, GPS automobile navigation locating module.
Receive the satellite-signal of GPS position location satellite by gps satellite location receiver module, obtain the located in connection information of vehicle, be transferred to the car self-organization network master control system by serial ports, and it is made corresponding data resolve and conversion process, then can carry out the relevant position location in conjunction with the electronic chart that is stored on the memory device (SD card).
3, sensor locating module.
Its function comprises the collection of the locator data line correlation algorithm computing of going forward side by side, to draw the location related data of vehicle.The data that sensor is located required collection comprise directional data and speed data, wherein the directional data of the current operation of vehicle is carried out real-time collection by the direction of motion sensor, directional data shows as the three-dimensional coordinate form, three coordinate axis of three-dimensional system of coordinate are represented longitudinal, latitude direction and vertical direction respectively, in addition can be by the current travelling speed data of the real-time collection vehicle of the speed pickup that vehicle itself carries.
Collect after the required related data in location, before the running orbit to vehicle calculated, the directional data of earlier sensor to be obtained converted local coordinate form to, to mate local electronic chart.Calculate the running orbit of vehicle, at first set up a v-t coordinate system in the algorithm, with the time, speed is coordinate axis, with the sampling period as the time interval, function interpolation in the applied mathematics is set up continuous function, calculate the interior at interval displacement of certain hour with corresponding high precision approximating method again, subsequently in conjunction with the local flatness coordinate system, utilize displacement data that the front calculates and in conjunction with the direction of motion data after the conversion, calculate corresponding position data, all position datas that calculate combine, and have just obtained the movement locus of vehicle in this time period.
4, positional information memory module.
This module is used for record and preserves electronic chart, geographical environment information, car status information etc., vehicle positions with the localization method that the sensor location technology combines by the gps satellite location technology that is proposed in this invention, and generates the located in connection data message and carry out real-time storage in conjunction with the electronic chart that is stored on the memory device (SD card).
More than each system's composition function module specific contact is arranged each other, need work in coordination and just can finish the functional requirement of total system, connecting each other, cooperate, dispatching between each functional module of total system all is to unify control by the basic control module in location, and other functional modules only need be finished specific function separately.Concrete composition of system and connecting each other as shown in Figure 2 of each intermodule.
The localization method flow process of the positioning subsystem of car self-organization network of the present invention system adopts the above system as shown in Figure 3, and concrete grammar is as follows:
After the vehicle location function on, at first start the gps satellite receiver module gps satellite signal is received, judge the gps satellite signal reception condition of this moment simultaneously.
If can get access to complete gps satellite locating information 1 this moment, the gps satellite signal reception fair then is described, can satisfy the requirement of gps satellite positioning system module fully, then start the positioning function of gps satellite positioning system module, carry out the gps satellite position fixing process.
If can not get access to complete gps satellite locating information 2 this moments, illustrate that then the gps satellite signal reception condition is bad, can not satisfy the requirement of gps satellite positioning system module, can't finish the positioning function of gps satellite positioning system module, then the start sensor localization function module is carried out the emergent location of sensor.
3, carrying out sensor meets an urgent need when locating, at first remove to obtain the relevant current exercise data of vehicle by each function sensor, can obtain the directional data of the current operation of vehicle by the direction of motion sensor, obtain the speed data of the current operation of vehicle by speed pickup.The sample frequency that above-mentioned direction of motion sensor and speed pickup are adopted is the function of Vehicle Speed, be expressed as f=f (v) (wherein the unit of v is a meter per second) is defined as follows:
4, before the running orbit to vehicle calculates, the directional data of earlier sensor to be obtained converts local coordinate form to, and to mate local electronic chart, convenient running orbit to vehicle calculates.
5, get access to the current motion of vehicle related side to data such as, speed, and do after the corresponding data conversion, then need, calculate the movement locus of vehicle in the certain hour section by specific related algorithm.The algorithm flow of calculating vehicle movement track specifically may further comprise the steps as shown in Figure 4 among the present invention:
Step 1: setting up the v-t coordinate system, is coordinate axis with time, speed, with sampling period of sensor as the time interval, set up a discrete type function model by the sampled value that sensor obtained;
Step 2: using corresponding mathematics interpolation algorithm is that the discrete type function that previous step is built is set up out a continuous type function model V=V (t);
Step 3: to the continuous type function model that the last step sets up, use the high precision approximating method and calculate the shift value of vehicle in the certain hour section, algorithm steps of the present invention is as follows:
1) sampling rate → f (v)
2) sampled value → V (i) i=0,1,2...
3)c＝T
i-2，b＝T
i-1 a＝T
i
4)T＝1/f(v)
5)For i＝1，...，n，...
h＝T
IF i is an odd number
Δ＝(V(a)+V(b))h/2
X(i)＝X(i-1)+Δ
ELSE
Δ＝(V(a)+4V(b)+V(c))h/3
X(i)＝X(i-2)+Δ
END?IF
Output X (i) continue
Step 4: collected according to current direction of motion sensor, the directional data of the vehicle movement after the conversion, analyze vehicle and whether be carrying out level and travel, if, then proceed next step, travel if not level, then needing the direction of motion data conversion is the directional data of horizontal coordinate, and then carries out next step;
Step 5: set up local two-dimensional coordinate system, the step is calculated in the utilization displacement data information and bonding position data message calculate concrete displacement situation in the special time period;
Step 6: according to local two-dimensional space coordinate system, concrete displacement situation in the special time period that the step is calculated in the utilization, calculate corresponding position data, all position datas that calculate combine, just draw a continuous curve in the certain hour section, promptly formed the movement locus of vehicle in this time period.
Used the current directional data of direction of motion sensor acquisition vehicle in the whole algorithm process, the speed pickup that has used vehicle to carry is gathered the present speed data.According to situations such as vehicle self speed, transport condition (whether directive change), sensor adopts stablizes sampling rate accordingly, and to reduce the error between calculated value and the actual value as much as possible, the sampling rate of each sensor in the same period is identical;
6, after the vehicle movement track in this time period calculates, combine, calculate the concrete moving line of vehicle, and then obtain the real-time positioning information of vehicle in this time period with electronic chart in being stored in memory device (SD card).
7, carry out then needing located in connection information to be stored after gps satellite location or sensor location finishes in conjunction with the electronic chart that is stored in the memory device (SD card).Then, the place that begins that forwards the whole algorithm flow process to carries out next one location cyclic process.
In the localization method process of the present invention, whenever carry out after the one-time positioning circulation, will carry out one-time positioning selects to judge, and the location frequency of sensor position fixing process generally is to carry out according to its sample frequency, time is shorter, and whole positioning system can be switched between two localization methods timely.After the gps satellite position system function recovers normally, restart the gps satellite positioning system vehicle is carried out accurate relatively, reliable gps satellite location, and do corresponding correction using sensor to position the error that is produced before this.
Each functional module of total system of the present invention can both be finished specific separately function, by the basic control module in location each functional module is unified control, and carries out specific analysis, judgement and logical operation, and whole positioning function can be finished smoothly.
The present invention adopts the gps satellite location technology to combine with the sensor location technology, can either use the gps satellite location technology that vehicle is carried out comparatively accurate, reliable gps satellite location, also can be when the gps satellite location can't be carried out, with the sensor location technology as the auxiliary location of meeting an urgent need, enlarged the technology category of location, reduced the dependence of vehicle location function, increased the environmental suitability of positioning function objective environment.
Claims (1)
1. the localization method of the positioning subsystem of car self-organization network system, positioning subsystem based on the car self-organization network system, positioning subsystem comprises: the GPS receiver module, the direction of motion sensor, speed pickup and memory device, it is characterized in that: adopt the gps satellite location to combine with the vehicle sensors location, by the duty real-time judge of the basic control module in location according to the gps satellite location, under the gps satellite positioning function can normal operation, by the GPS receiver module from gps satellite positioning system receiving satellite signal, obtain the location information data of each vehicle, by serial ports transmit these data in the car self-organization network master control system and it is resolved, then can position vehicle in conjunction with the electronic chart that is stored on the memory device; The gps satellite positioning function can't normally be carried out under the situation, start sensor localization method then, use the current direction of motion data of direction of motion sensor acquisition vehicle, carry out the collection of current driving speed data by the speed pickup of vehicle location subsystem, calculate the real time kinematics track of vehicle subsequently, and in conjunction with being stored in electronic chart on the memory device location of meeting an urgent need; After the gps satellite positioning function is recovered normally, the stop sensor location, restart the gps satellite positioning system vehicle is carried out the gps satellite location, and do corresponding correction to using sensor to position the error that is produced before this, described sensor positioning method, the related algorithm process following steps of calculating vehicle movement track in this method:
Step 1: setting up the v-t coordinate system, is coordinate axis with time, speed, with sampling period of sensor as the time interval, set up a discrete type function model by the sampled value that sensor obtained;
Step 2: using corresponding mathematics interpolation algorithm is that the discrete type function that previous step is built is set up out a continuous type function model;
Step 3: to the continuous type function model that the last step sets up, use approximating method and calculate the shift value of vehicle in the certain hour section, algorithm steps is as follows:
1) sampling rate → f (v)
2) sampled value → V (i) i=0,1,2...
3)c＝T
i-2，b＝T
i-1?a＝T
i
4)T＝1/f(v)
5)For?i＝1，...，n，...
h＝T
IF i is an odd number
Δ＝(V(a)+V(b))h/2
X(i)＝X(i-1)+Δ
ELSE
Δ＝(V(a)+4V(b)+V(c))h/3
X(i)＝X(i-2)+Δ
END?IF
Output X (i) continue
Step 4: collected according to current direction of motion sensor, the directional data of the vehicle movement after the conversion, analyze vehicle and whether be carrying out level and travel, if, then proceed next step, travel if not level, then needing the direction of motion data conversion is the directional data of horizontal coordinate, and then carries out next step;
Step 5: set up local two-dimensional coordinate system, the step is calculated in the utilization displacement data information and bonding position data message calculate concrete displacement situation in the special time period;
Step 6: according to local two-dimensional space coordinate system, concrete displacement situation in the special time period that the step is calculated in the utilization, calculate corresponding position data, all position datas that calculate combine, just draw a continuous curve in the certain hour section, promptly formed the movement locus of vehicle in this time period.
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| CN200710178700A CN100582670C (en) | 2007-12-04 | 2007-12-04 | Localization subsystem of vehicle self-building net system and localization method thereof |
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| CN103853901B (en) * | 2012-11-29 | 2017-07-28 | 深圳先进技术研究院 | A kind of traffic track data preprocess method and system |
| CN103298059B (en) * | 2013-05-13 | 2015-09-30 | 西安电子科技大学 | The degree of communication perception method for routing of position-based prediction in car self-organization network |
| CN103824457B (en) * | 2014-03-12 | 2016-03-23 | 哈尔滨工业大学 | Based on express way driving safety information query system and the querying method of VANET |
| CN104076379B (en) * | 2014-07-01 | 2016-09-14 | 山东航向电子科技有限公司 | Transfer rate self-adapting intelligent power saving 4G positioning and tracking device and method |
| CN105300395A (en) * | 2014-07-11 | 2016-02-03 | 北京协进科技发展有限公司 | Navigation and positioning method and device |
| CN104340173A (en) * | 2014-10-22 | 2015-02-11 | 成都技高科技有限公司 | Wireless ad hoc network vehicle anti-theft system |
| JP6573156B2 (en) * | 2015-06-18 | 2019-09-11 | カシオ計算機株式会社 | Data analysis apparatus, data analysis method, and data analysis program |
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| CN105738655A (en) * | 2015-12-23 | 2016-07-06 | 深圳市金立通信设备有限公司 | Direction sensor calibration method and terminal |
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| CN106710204B (en) * | 2017-01-13 | 2019-12-17 | 浙江大学 | Cross positioning device and method for public transport vehicle |
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| CN110766105A (en) * | 2018-07-27 | 2020-02-07 | 比亚迪股份有限公司 | Vehicle key positioning method, device and equipment |
| CN111954157A (en) * | 2019-04-30 | 2020-11-17 | 博世汽车部件(苏州)有限公司 | Driving device and method and device for acquiring driving track thereof |
| CN110191412B (en) * | 2019-05-22 | 2021-01-26 | 象翌微链科技发展有限公司 | Method for correcting vehicle driving route information and vehicle-mounted terminal |
| CN110118980B (en) * | 2019-05-31 | 2022-07-08 | 卡斯柯信号有限公司 | GNSS positioning data health degree diagnosis method applied to rail transit |
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| CN113405549B (en) * | 2021-06-17 | 2023-11-14 | 中寰卫星导航通信有限公司 | Vehicle positioning method, assembly, electronic device and storage medium |
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