CN101173860B - Accurate positioning system and method for vehicle - Google Patents
Accurate positioning system and method for vehicle Download PDFInfo
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- CN101173860B CN101173860B CN2006101433000A CN200610143300A CN101173860B CN 101173860 B CN101173860 B CN 101173860B CN 2006101433000 A CN2006101433000 A CN 2006101433000A CN 200610143300 A CN200610143300 A CN 200610143300A CN 101173860 B CN101173860 B CN 101173860B
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Abstract
The invention relates to an accurate vehicle positioning system and the method thereof, being assembled and used on a vehicle, which comprises a global positioning device, a gyroscope detector, a speed measuring device and a controller. When the global positioning device outputs the next global positioning coordinate, the controller calculates the next reference position coordinate according to the gyroscope detector and the speed measuring device of the vehicle, and calculates the spacing distance between the next global positioning coordinate and the next reference position coordinate, therefore when the spacing distance is larger than a specific distance, the controller designates the next global positioning coordinate as the next accurate position coordinate and outputs the coordinate; contrarily, the controller designates the next reference position coordinate as the next accurate position coordinate and outputs the coordinate.
Description
Technical field
The present invention relates to a kind of technology of vehicle location, refer to a kind of vehicle Precise Position System and method of being applicable to especially.
Background technology
Fig. 1 shows that tradition has the vehicle of Vehicular navigation system (Navigation System) function, on car, be provided with a global location device 81 (Global Position System, GPS), an and guider 82.Known GPS global location device 81 receives the signal of a plurality of HA Global Positioning Satellite 9 in the space at any time, and calculates vehicle coordinate at that time at any time.The built-in electronic map database 822 of microprocessor 821 comparison of guider 82, union go out at that time vehicle coordinate and represent the symbol of this vehicle to be shown on this display 83 with one again at the correspondence position of a map data of electronic map database 822.So that when allowing the driver drive, can understand vehicle location immediately, and carry out navigation operation in view of the above.
Known global location device 81 receives the signal of a plurality of HA Global Positioning Satellite 9 in the space, and exports vehicle coordinate at that time every a second.Yet, when high vehicle speeds, because the speed of a motor vehicle is ultrafast fast changing, so export at that time the vehicle location coordinate once every a second, probably cross and cause the actual vehicle position coordinates can produce great error for a long time because of time interval in a second, if this microprocessor 821 is according to this incorrect comparison of vehicle coordinate at that time The built-in electronic map database 822, and this microprocessor 821 can be presented at the errors present place with the symbol of representing this vehicle, and then carries out wrong navigation directions.Simultaneously, when vehicle entered the tunnel, owing to can't receive the signal of this HA Global Positioning Satellite 9, this global location device 81 also can produce the signal of site error, causes vehicle can't obtain the exact position.Therefore, known Vehicular navigation system still has improved necessity.
Summary of the invention
Fundamental purpose of the present invention is to provide a kind of vehicle Precise Position System, this system can solve when high vehicle speeds, the global location device makes the vehicle that vehicle Precise Position System of the present invention is installed can obtain position the most accurately because of the time interval crosses the problem of maximum error that vehicle coordinate produces at that time of just exporting once for a long time.
Another object of the present invention is to provide a kind of vehicle accurate positioning method, the step that this method provided can solve in the time of can't receiving global positioning satellite signal in the prior art, and the global location device can produce the problem of site error.
For reaching above-mentioned purpose, the invention provides a kind of vehicle Precise Position System, be mounted on the vehicle, comprise a global location device, a gyroscope detector, a speed of a motor vehicle measuring equipment, reach a controller.This global location device is just exported this vehicle global location coordinate at that time at interval every a very first time; This gyroscope detector is exported garage's orientation angle, and this garage's orientation angle is represented this vehicle direct of travel angle at that time; This speed of a motor vehicle measuring equipment is exported a speed of a motor vehicle signal, and this speed of a motor vehicle signal is represented this vehicle driving speed at that time; This controller is electrically connected to this global location device, this gyroscope detector respectively, reaches this speed of a motor vehicle measuring equipment; It is characterized in that: this controller captures this garage's orientation angle, and this speed of a motor vehicle signal of this speed of a motor vehicle measuring equipment of this gyroscope detector, and capture this global location coordinate of this global location device output, and calculate the reference position coordinate of this vehicle according to this, this controller and specify this reference position coordinate as one at that time the exact position coordinate so that exported; This controller also just captures this garage's orientation angle, and this speed of a motor vehicle signal of this speed of a motor vehicle measuring equipment of this gyroscope detector every one second time interval, and read last exact position coordinate, and calculate the reference position coordinate of this vehicle according to this, wherein, this second time interval is shorter than this at interval very first time, and this controller also specifies this reference position coordinate as at that time exact position coordinate and then exported; After this global location device is exported next global location coordinate at the expiration at interval because of this very first time, this controller just calculates next reference position coordinate of this vehicle, and calculate earlier this next global location coordinate, with the standoff distance of this next reference position coordinate, when relatively this standoff distance was greater than a specific range then, this controller just specified this next global location coordinate as next exact position coordinate and then exported; Otherwise this controller just specifies this next reference position coordinate as next exact position coordinate and then exported.
For reaching above-mentioned purpose, the invention provides a kind of vehicle accurate positioning method, comprise the following steps: steps A: the garage's orientation angle, a speed of a motor vehicle signal, and the global location coordinate that capture a vehicle, wherein, this garage's orientation angle is exported by a gyroscope detector that is mounted on this vehicle, this speed of a motor vehicle signal is exported by a speed of a motor vehicle measuring equipment that is mounted on this vehicle, and this global location coordinate is exported every a very first time at interval by a global location device that is mounted on this vehicle; Step B: according to this garage's orientation angle of this vehicle in the steps A, this speed of a motor vehicle signal, and this global location coordinate, calculate a reference position coordinate of this vehicle, and specify this reference position coordinate conduct exact position coordinate at that time, and export this exact position coordinate; Step C: capture this garage's orientation angle, and this speed of a motor vehicle signal of this speed of a motor vehicle measuring equipment of this gyroscope detector every one second time interval, and read last exact position coordinate, wherein, this second time interval is shorter than this very first time at interval; Step D: every this second time interval, according to this garage's orientation angle, and this speed of a motor vehicle signal, and this last exact position coordinate, calculate the reference position coordinate of this vehicle, and specify this reference position coordinate, and export this exact position coordinate as this exact position coordinate at that time; Step e: after this global location device is exported next global location coordinate at the expiration at interval because of this very first time, calculate next reference position coordinate of this vehicle, and calculate this next global location coordinate, with the standoff distance of this next reference position coordinate; Step F: when relatively this standoff distance is greater than a specific range, specify this next global location coordinate as next exact position coordinate, and export this next exact position coordinate, when judging that this standoff distance is less than or equal to this specific range, then specify this next reference position coordinate as next exact position coordinate, and export this next exact position coordinate.
Description of drawings
Fig. 1 shows known synoptic diagram with vehicle of Vehicular navigation system function.
The system architecture diagram of Fig. 2 a preferred embodiment of the present invention.
The controller of Fig. 3 a preferred embodiment of the present invention calculates vehicle exact position coordinate content at that time in different time.
The process flow diagram of Fig. 4 a preferred embodiment of the present invention.
Fig. 5 vehicle location synoptic diagram of the present invention.
Symbol description among the figure
81 global location devices, 82 guiders
9 HA Global Positioning Satellite, 821 microprocessors
822 electronic map database, 83 displays
823 input medias
11 global location devices, 21 gyroscope detectors
22 speed of a motor vehicle measuring equipments, 3 controllers
51 display screens, 12 memory storages
4 adjusting gears, 211 analog-to-digital converters
23 electronic map database
Embodiment
A kind of vehicle Precise Position System of the present invention (an accurate positioning system for avehicle), this vehicle Precise Position System is mounted on the vehicle M, in order to do providing accurate location immediately to this vehicle M.The system architecture diagram of Fig. 2 vehicle Precise Position System one preferred embodiment of the present invention.As shown in the figure, this vehicle Precise Position System comprises a global location device 11 (GPS, Global Positioning system), a gyroscope detector 21 (GYRO sensor), a speed of a motor vehicle measuring equipment 22 (car speed meter), a controller 3, a display screen 51, a memory storage 12, an adjusting gear 4 (adjusting device), an analog-to-digital converter 211 (A/Dconverter), reaches an electronic map database 23.
Global location device 11 of the present invention is just exported this vehicle M global location coordinate P (GPS coordinates) at that time every a very first time interval T (first interval).In present embodiment, this very first time interval T refers to a second.
Gyroscope detector 21 of the present invention is (frequently) output one orientation angle θ of garage at any time.The orientation angle θ of this garage represents this vehicle M at that time with respect to the direct of travel angle of earth latitude and longitude coordinates.
Analog-to-digital converter 211 of the present invention is electrically connected between this gyroscope detector 21 and this controller 3, this analog-to-digital converter 211 converts the analog signal of the orientation angle θ of garage that this gyroscope detector 21 is exported to digital signal, is calculated in order to do being beneficial in this controller 3.
Speed of a motor vehicle measuring equipment 22 of the present invention is (frequently) output one speed of a motor vehicle signal V at any time, and this speed of a motor vehicle signal V represents this vehicle M at that time with respect to the driving speed of earth latitude and longitude coordinates.Wherein, this speed of a motor vehicle signal V of this speed of a motor vehicle measuring equipment 22 includes the pulse signal (a series ofpulse signals) of row, and the frequency of these pulse signals is proportional to this vehicle M at that time with respect to the driving speed of earth latitude and longitude coordinates.
Controller 3 of the present invention is electrically connected to this global location device 11, this gyroscope detector 21 respectively, reaches this speed of a motor vehicle measuring equipment 22.This memory storage 12 is connected to this controller 3, in order to store an exact position coordinate A described later, to reach a specific range r.This memory storage 12 also can in be built in this controller 3 a for example preferable flash memory.
Adjusting gear 4 of the present invention is electrically connected to this controller 3 and in order to this specific range r in this memory storage 12 of editor change, so can adjust the precision of this vehicle Precise Position System.This adjusting gear 4 can be an all for example infrared ray of wired input or wireless input, can also only be an input port for example USB plug or an external GPRS mobile phone with the wireless receiving data for updating.Adjusting gear 4 of the present invention adopts one to be arranged at the input keyboard 4 on the instrument panel in the car.
Display screen 51 of the present invention and electronic map database 23 are electrically connected to this controller 3 respectively.This electronic map database 23 stores a plurality of road-map data, and this controller 3 reads the road-map data that is associated with this exact position coordinate A in this electronic map database 23, and is exported to this display screen 51 and shown.Wherein, the road-map data of this electronic map database 23 includes a plurality of road names and corresponding respectively starting point coordinate and terminal point coordinate thereof.These road-map data more include these road names and distinguish related a plurality of roads connections (link), reach a plurality of peripheral facilities.
(t0～t10) calculates this vehicle M exact position coordinate content graph at that time to Fig. 3 in different time for this controller among the present invention.Fig. 4 is the process flow diagram of vehicle accurate positioning method of the present invention, and Fig. 5 is a vehicle location synoptic diagram of the present invention.At first, when time t0, owing to just begun to calculate the exact position coordinate of this vehicle M, so this global location coordinate Pm that exports with this global location device 11 is as this vehicle M exact position coordinate A0 at that time.When time t1, the orientation angle θ of this garage 1 of this controller 3 these gyroscope detectors 21 of acquisition, and this speed of a motor vehicle signal V1 of this speed of a motor vehicle measuring equipment 22, and capture this global location coordinate Pm (steps A) of this global location device 11 outputs, convert garage's orientation angle of analog signal to digital signal (steps A 1), and calculate the reference position coordinate G1 (step B) of this vehicle M according to formula G1=Pm+f (V1, θ 1).This controller 3 and specify this reference position coordinate G1 as one at that time exact position coordinate A1 (accurate coordinates) so that exported.This controller 3 reads the road-map data that is associated with this exact position coordinate A1 in the electronic map database 23 according to exact position coordinate A1 at that time, and is exported (step B1).
Then, this controller 3 also just captures the orientation angle θ i (i=2 of this garage of this gyroscope detector 21 every one second time interval t (second interval), 3,4..., j), reach this speed of a motor vehicle signal Vi of this speed of a motor vehicle measuring equipment 22, and read last exact position coordinate Ai-1 (step C), and according to formula Gi=Ai-1+f (Vi, θ i) (i=2,3,4... j) calculates the reference position coordinate Gi (step D) of this vehicle M, wherein, t is shorter than this very first time interval T this second time interval.In present embodiment, this second time interval, t referred to for 0.25 second.This controller 3 and specify this reference position coordinate Gi as this at that time exact position coordinate Ai so that exported.That is, when time t2, the orientation angle θ of this garage 2 of this controller 3 these gyroscope detectors 21 of acquisition, and this speed of a motor vehicle signal V2 of this speed of a motor vehicle measuring equipment 22, and read last exact position coordinate A1, and calculate the reference position coordinate G2 of this vehicle M according to formula G2=A1+f (V2, θ 2).This controller 3 and specify this reference position coordinate G2 as this at that time exact position coordinate A2 so that exported.Also be so when time t3, repeat no more.
When time t4, when this global location device 11 because of this very first time interval T after at the expiration (this example referred to for 1 second) export next global location coordinate Pm+1, this controller 3 just captures next orientation angle θ of garage 4 of this gyroscope detector 21, and next speed of a motor vehicle signal V4 of this speed of a motor vehicle measuring equipment 22, and read last exact position coordinate A3, and formula G4=A3+f (V4 according to this, θ 4) calculate next reference position coordinate G4 of this vehicle M, and the standoff distance d (step e) of this next global location coordinate Pm+1 and this next reference position coordinate G4 calculates in elder generation, then relatively this standoff distance d if during greater than a specific range r (step F), the error that its expectation is shown the two surpassed allow radius r outside, for avoiding error, this controller 3 is just specified with this next global location coordinate Pm+1 and is proofreaied and correct and and then exported with work as next exact position coordinate A4.In the present embodiment, above-mentioned specific range r is preset as 25 meters, also can utilize adjusting gear 4 in time to be adjusted to required degree of accuracy, all can for for example 5 meters, 10 meters or 50 meters.
Again when time t8 that next very first time interval T expires, because controller 3 relatively this standoff distance d is less than or equal to this specific range r, the error that its expectation is shown the two also allow radius r in, so needn't proofread and correct, this controller 3 is just directly specified this next reference position coordinate G8 to continue as next exact position coordinate A8 and is exported.
This global location coordinate Pm, the Pm+1, and the Pm+2 that remove to show 11 outputs of global location device among Fig. 5 also show exact position coordinate A0～A8 of time t0～t10.As shown in Figure 5, known global location device is only at t0, t4, t8 output global location coordinate.And the present invention can all show exact position coordinate A0～A8 at time t0～t10 by gyroscope detector 2 and speed of a motor vehicle measuring equipment 22.
As shown in the above description, known global location device must just can be exported vehicle coordinate at that time every a second.So when high vehicle speeds, known export at that time vehicle coordinate every a second and will cross and to produce great error for a long time because of the time interval.Review the present invention and utilize gyroscope detector 21 and speed of a motor vehicle measuring equipment 22 promptly to calculate and to export vehicle coordinate at that time every 0.25 second, can make this vehicle location can be presented at more accurately on this display screen 51.Simultaneously, the present invention is the global location coordinate exported of this global location device 11 more relatively, and next reference position coordinate that is calculated according to the speed of a motor vehicle signal of garage's orientation angle of this gyroscope detector 21 and this speed of a motor vehicle measuring equipment 22, if surpassing apart from d, the two allows beyond the radius r, then become next exact position coordinate with this global location coordinates correction, therefore the present invention can proofread and correct the vehicle location coordinate at any time, can avoid again causing the problem that can not receive the HA Global Positioning Satellite signal because of vehicle enters the tunnel, also can avoid this gyroscope detector 21 and this speed of a motor vehicle measuring equipment 22 because of the caused error problem of earth rotation, and make the vehicle that vehicle Precise Position System of the present invention is installed obtain position the most accurately.
The foregoing description is only given an example for convenience of description, and the interest field that the present invention advocated should be as the criterion so that claim is described certainly, but not only limits to the foregoing description.
Claims (14)
1. a vehicle Precise Position System is mounted on the vehicle, comprising:
One global location device is just exported this vehicle global location coordinate at that time at interval every a very first time;
One gyroscope detector is exported garage's orientation angle, and this garage's orientation angle is represented this vehicle direct of travel angle at that time;
One speed of a motor vehicle measuring equipment is exported a speed of a motor vehicle signal, and this speed of a motor vehicle signal is represented this vehicle driving speed at that time; And
One controller is electrically connected to this global location device, this gyroscope detector respectively, reaches this speed of a motor vehicle measuring equipment;
It is characterized in that:
This controller captures this garage's orientation angle, and this speed of a motor vehicle signal of this speed of a motor vehicle measuring equipment of this gyroscope detector, and capture this global location coordinate of this global location device output, and calculate the reference position coordinate of this vehicle according to this, this controller and specify this reference position coordinate as one at that time the exact position coordinate so that exported;
This controller also just captures this garage's orientation angle, and this speed of a motor vehicle signal of this speed of a motor vehicle measuring equipment of this gyroscope detector every one second time interval, and read last exact position coordinate, and calculate the reference position coordinate of this vehicle according to this, wherein, this second time interval is shorter than this at interval very first time, and this controller also specifies this reference position coordinate as at that time exact position coordinate and then exported;
After this global location device is exported next global location coordinate at the expiration at interval because of this very first time, this controller just calculates next reference position coordinate of this vehicle, and calculate earlier this next global location coordinate, with the standoff distance of this next reference position coordinate, when relatively this standoff distance was greater than a specific range then, this controller just specified this next global location coordinate as next exact position coordinate and then exported; Otherwise this controller just specifies this next reference position coordinate as next exact position coordinate and then exported.
2. vehicle Precise Position System as claimed in claim 1, it more includes an analog-to-digital converter, it is electrically connected between this gyroscope detector and this controller, and this analog-to-digital converter converts the analog signal of garage's orientation angle that this gyroscope detector is exported to digital signal.
3. vehicle Precise Position System as claimed in claim 1, wherein, this speed of a motor vehicle signal of this speed of a motor vehicle measuring equipment includes the pulse signal of row, and the frequency of these pulse signals is proportional to this vehicle driving speed at that time.
4. vehicle Precise Position System as claimed in claim 1, wherein, this controller includes a memory storage to store this exact position coordinate, to reach this specific range.
5. vehicle Precise Position System as claimed in claim 4, it more includes an adjusting gear, and this adjusting gear is electrically connected to this controller and in order to this specific range in this memory storage of editor change.
6. vehicle Precise Position System as claimed in claim 5, wherein, this adjusting gear refers to an input keyboard.
7. vehicle Precise Position System as claimed in claim 1, its more include a display screen, and an electronic map database be electrically connected to this controller respectively, this electronic map database stores a plurality of road-map data; Wherein, this controller reads the road-map data that is associated with this exact position coordinate in this electronic map database, and is exported to this display screen and shown.
8. vehicle Precise Position System as claimed in claim 7, wherein, these road-map data of this electronic map database include a plurality of road names and corresponding respectively starting point coordinate and terminal point coordinate thereof.
9. vehicle Precise Position System as claimed in claim 8, wherein, these road-map data more include these road names and distinguish related a plurality of roads connections, reach a plurality of peripheral facilities.
10. vehicle Precise Position System as claimed in claim 1, wherein, this very first time refers to a second at interval, this second time interval referred to for 0.25 second.
11. a vehicle accurate positioning method comprises the following steps:
Steps A: the garage's orientation angle, a speed of a motor vehicle signal, and the global location coordinate that capture a vehicle, wherein, this garage's orientation angle is exported by a gyroscope detector that is mounted on this vehicle, this speed of a motor vehicle signal is exported by a speed of a motor vehicle measuring equipment that is mounted on this vehicle, and this global location coordinate is exported every a very first time at interval by a global location device that is mounted on this vehicle;
Step B: according to this garage's orientation angle of this vehicle in the steps A, this speed of a motor vehicle signal, and this global location coordinate, calculate a reference position coordinate of this vehicle, and specify this reference position coordinate conduct exact position coordinate at that time, and export this exact position coordinate;
Step C: capture this garage's orientation angle, and this speed of a motor vehicle signal of this speed of a motor vehicle measuring equipment of this gyroscope detector every one second time interval, and read last exact position coordinate, wherein, this second time interval is shorter than this very first time at interval;
Step D: every this second time interval, according to this garage's orientation angle, and this speed of a motor vehicle signal, and this last exact position coordinate, calculate the reference position coordinate of this vehicle, and specify this reference position coordinate, and export this exact position coordinate at that time as this exact position coordinate at that time;
Step e: after this global location device is exported next global location coordinate at the expiration at interval because of this very first time, calculate next reference position coordinate of this vehicle, and calculate this next global location coordinate, with the standoff distance of this next reference position coordinate; And
Step F: when relatively this standoff distance is greater than a specific range, specify this next global location coordinate as next exact position coordinate, and export this next exact position coordinate, when judging that this standoff distance is less than or equal to this specific range, then specify this next reference position coordinate as next exact position coordinate, and export this next exact position coordinate.
12. vehicle accurate positioning method as claimed in claim 11, wherein, more include a steps A 1 after this steps A: the analog signal of changing this garage's orientation angle becomes digital signal.
13. vehicle accurate positioning method as claimed in claim 12, wherein, the analog signal of changing this garage's orientation angle with an analog-to-digital converter becomes digital signal.
14. vehicle accurate positioning method as claimed in claim 11 wherein, more includes a step B1 after this step B; Read the road-map data that is associated with this exact position coordinate in the electronic map database, and exported.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2006101433000A CN101173860B (en) | 2006-11-03 | 2006-11-03 | Accurate positioning system and method for vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2006101433000A CN101173860B (en) | 2006-11-03 | 2006-11-03 | Accurate positioning system and method for vehicle |
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| CN101173860A CN101173860A (en) | 2008-05-07 |
| CN101173860B true CN101173860B (en) | 2011-03-23 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101598569B (en) * | 2008-06-05 | 2011-12-07 | 财团法人工业技术研究院 | Method for identifying setting location and navigation device thereof |
| CN102192742B (en) * | 2010-03-09 | 2014-02-05 | 深圳市宇恒互动科技开发有限公司 | Navigation method and device |
| DE102010003851A1 (en) * | 2010-04-12 | 2011-10-13 | Robert Bosch Gmbh | Destination marking method for motor vehicle driver, involves determining position of destination relative to vehicle, and embedding virtual object in real vehicle environment that is visible to vehicle occupant on head-up display |
| KR20140015822A (en) * | 2012-07-25 | 2014-02-07 | 현대모비스 주식회사 | Apparatus for protecting vehicle control error in v2v system and method thereof |
| DE102012224109A1 (en) * | 2012-12-20 | 2014-06-26 | Continental Teves Ag & Co. Ohg | Device for locating a vehicle |
| CN107228675B (en) * | 2016-03-24 | 2020-10-16 | 阿里巴巴（中国）有限公司 | Method, device and system for determining road where terminal is located |
| CN105865461B (en) * | 2016-04-05 | 2019-07-12 | 武汉理工大学 | A kind of car position system and method based on Multi-sensor Fusion algorithm |
| CN109737954B (en) * | 2018-12-06 | 2021-02-09 | 成都路行通信息技术有限公司 | Inertial navigation method based on vehicle speed and angular speed |
| CN112833897B (en) * | 2020-12-24 | 2022-11-04 | 合众新能源汽车有限公司 | Vehicle positioning method and device based on vehicle-road cooperation and high-precision positioning fusion |
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