CN101308207A - GPS directional distance finding calculating method and directional distance finding module using same - Google Patents
GPS directional distance finding calculating method and directional distance finding module using same Download PDFInfo
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- CN101308207A CN101308207A CNA2008100598147A CN200810059814A CN101308207A CN 101308207 A CN101308207 A CN 101308207A CN A2008100598147 A CNA2008100598147 A CN A2008100598147A CN 200810059814 A CN200810059814 A CN 200810059814A CN 101308207 A CN101308207 A CN 101308207A
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Abstract
The invention relates to a GPS navigation system, in particular to a GPS direction and range determination operational method and a direction and range determination module using the method, which are mainly applied to GPS car frame monitoring and scheduling systems, GPS autonomous navigators and mobile phones having the GPS function, and can also be applied to other related fields. The GPS direction and range determination operational method comprises the following steps of: initial state; receiving GPS data, judging data effectiveness; detecting whether the GPS data conform to the effective location of a database or not; starting to calculate the distance from a moving object to the target location; and outputting effective locating data and data indicating the current distance from the target state through output serial ports when the moving object is in motion. The invention additionally discloses the GPS direction and range determination module using the algorithm. The navigation system binds the database in the GPS module, and preprocesses the database through the module, thereby reducing the system burden to a great extent and increasing the system stability.
Description
Technical field
The present invention relates to a kind of GPS navigation system, relate in particular to a kind of GPS directed range finding operational method and, be mainly used in GPS ride monitoring and dispatching system, the GPS autonomous navigator with the directed range finder module of this method, the cell phone that contains the GPS function also can be used on other association area.
Background technology
The technology of using comparative maturity in the market is that the GPS function is integrated in the navigational system, adopts the method for time-sharing multiplex, handles navigation algorithm and evaluation algorithm simultaneously, must cause like this increase system burden after, cause system's fluctuation of service.The GPS module is integrated in the large scale system, also must have increased difficulty and reliability that information database upgrades, can not satisfy users' requirement to a great extent, application also is restricted.
Summary of the invention
In order to solve the deficiency that above-mentioned interpolation GPS function causes system's instability and Data Update difficulty, the purpose of this invention is to provide the directed range finding of a kind of GPS operational method, this method is the mitigation system burden to a great extent, increases the stability of system.Another object of the present invention is the directed range finder module of a kind of GPS, and it is innovated on the basis that does not influence the original product function, built-in information data increases aforementioned algorithm simultaneously, has realized the function of GPS orientation, range finding.
In order to realize first above-mentioned purpose, the present invention has adopted the following directed range finding of GPS operational method, and it comprises the steps:
A) original state;
B) receive gps data, judgment data validity, otherwise output data is invalid, returns original state;
C) detect gps data and whether meet the database active position, detection method is as follows: 1. the position of moving target is played between point position distance in the database smaller or equal to effective measuring distance of storing in the database, 2. the direction of motion of moving target is consistent with direction of measurement in the database, and 3. playing location, to put the direction of moving target consistent with direction of measurement in the database; Satisfy condition 1., 2. the back just begins measuring distance in moving target enters initial measurement circle, the motion gps data of the back moving target that goes too far must satisfy whole three conditions and could export effective measurement data; Otherwise output data is invalid, returns original state;
D) begin to calculate the distance of moving target to the target location;
E) in the moving target motion, and export effective locator data and show current data apart from dbjective state by the output serial ports.
As preferably, effective measuring distance of above-mentioned step (3) is 50～150 meters, and direction of measurement is 10～60 degree in the database.
As preferably, above-mentioned step (5) keeps 5～30s with current effective measuring distance after moving target stops, and in keeping 5～30s in the time, after occurring continuing motion as moving target, finishes hold mode, gets back under the normal measuring condition; Otherwise return original state.
As preferably, the data of above-mentioned step (2) should be that to receive three satellites effectively above.
In order to realize second above-mentioned purpose, the directed range finder module of the GPS that the present invention has adopted, comprise the ARM CPU processor that embeds the GPS chip, data storage cell, orientation, range finder module and output serial ports, data storage cell storage data and software, described data comprise latitude, longitude, measuring distance, deflection and measurement type, the GPS chip receives the built-in data message of information and date storage unit and resolves the back by the required information of output serial ports output by directed, range finder module; Described orientation, range finder module adopt the directed range finding of GPS as claimed in claim 1 operational method.
As preferably, above-mentioned GPS chip adopts the SIRF chip.Adopt the professional GPS chip of U.S. SiRF company (SIRF), guaranteed precisely stable GPS location.
As preferably, above-mentioned output serial ports comprises two output serial ports, be respectively independent outputting standard agreement NMEA 0183 and self-defining agreement, self-defining agreement comprises longitude and latitude, measures commencing signal, distance type, direction of traffic, the speed of a motor vehicle and Distance Remaining.Above-mentioned self-defining agreement can be changed at any time according to customer requirements.
As preferably, above-mentioned ARM CPU processor is provided with data and program upgrade unit.Hardware restarts after switching to the BOOT state, and promptly the Sirfflash software upgrading and the information data that can provide by SIRF company easily upgraded.
The present invention in the GPS module, carries out pre-service by module to it with database binding, and mitigation system is born to a great extent, increases the stability of system.The present invention guarantees precisely stable GPS location, has exclusive hardware configuration and range finding, directed software algorithm, when enhancing product performance, has expanded the application of entire product.Be applicable to GPS ride monitoring and dispatching system, the GPS autonomous navigator contains other association areas such as cell phone of GPS function.
Description of drawings
Fig. 1 is a structured flowchart of the present invention.
Synoptic diagram when Fig. 2 measures for the present invention.
Fig. 3 is the FB(flow block) of algorithm routine of the present invention.
Fig. 4～Fig. 7 is The result of dynamic test figure of the present invention.
Fig. 8 is static test of the present invention figure as a result.
Embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present invention is made a detailed explanation.
Embodiment 1
The directed range finder module of GPS as shown in Figure 1 comprises the ARM CPU processor, output serial ports and data and the program upgrade unit that embed the GPS chip.The GPS chip adopts the SIRF chip, the output serial ports comprises two output serial ports, serial ports A is independent outputting standard agreement NMEA 0183, and serial ports B is self-defining agreement, and self-defining agreement comprises longitude and latitude, measures commencing signal, distance type, direction of traffic, the speed of a motor vehicle and Distance Remaining.And be built-in with data storage cell at ARM CPU processor, data storage cell storage data and directed, range finder module, described data comprise latitude, longitude, measuring distance, deflection and measurement type, and the GPS chip receives the built-in data message of information and date storage unit and calculates the back by the required information of output serial ports output by directed, range finder module.
Directed, range finder module comprises successively whether reception judgment data validity module, detection data meet database active position module, calculate target location spacing module and data outputting module.Be described in detail at algorithm directed, range finder module below.
As shown in Figure 2, the B point is the measuring distance of target longitude and latitude point of lane database, and the BD spacing is the test coverage.When car enters with B is the circle at center, and the direction of direction of traffic and point angular range (be angle a) in, determine to begin range finding and export effective measuring distance and position angle after the direction, when car rolls this circle away from, suppose to drive to the C place, the distance that car and B are ordered is also less than predeterminable range (being the distance of 2 of BD), and calculating angle a angle is really in condition and range, then also can export effective informations such as measuring distance and position angle, finish effective information output up to the D point.
The circle radius and the angle a that with B are the center will adjust as required, do not report the requirement of failing to report by mistake to satisfy at some dead angle on road.By repeatedly test, the reckoning result of employing is 80 meters of B circle radius at present, and the angle of a is 25 degree.
Program to algorithm is described in detail below, and block diagram as shown in Figure 3.
1, initialization.
2, judge receiving gps data, whether effective.General GPS module is receiving accurately location of three ability more than the satellite, so our algorithm should be found range based on the data behind the accurate location.Data are invalid then returns initialization.
3, detect gps data and whether meet the interior active position of database.1. detect vehicle location and play between point position distance in the database smaller or equal to 80 meters of effective measuring distances of storing in the database; 2. it is consistent with measurement road direction in the database to detect direction of vehicle movement; 3. playing location, to put direction of traffic consistent with measurement road direction in the database.Satisfy condition 1., 2. the back just begins measuring distance in vehicle enters initial measurement circle among Fig. 2, the back vehicle movement gps data that goes too far must satisfy whole three conditions and could export effective measurement data.
4, begin to calculate the target location distance.
5, during vehicle is exercised, export effective locator data at serial ports A; Serial ports B exports computational data, shows that current distance apart from the target location waits other states.Vehicle can be lost motion orientation accurately after stopping, so we keep 10s with current effective measuring distance, in keeping 10s in the time, as after vehicle occurring and continuing motion, finish hold mode, gets back under the normal measuring condition.
Test example 1
The software algorithm test result is as follows:
Adopt record track track, it is empty according to the method that shows contrast on the map that this record track data is transformed into satellite: testing location: ring road, Jiaxing.Test duration: 2007.09.07.
The result of dynamic test:
Shown in Figure 4, for being kept at sample point in the FLASH database, be numbered 2513, and it is shown on google-earth, data type is 4, and (positive north is 0 degree to position angle 346 degree between a measuring point and the end point, increase clockwise), the range finding coverage is 352m.
As shown in Figure 5, dzg1 plays measuring point for first, and direction of traffic is 325 degree, and at this moment, the interception that rises of database point 2513 is 346 degree, and both differences are 21 degree, less than 25 degree of the survey condition a angle in the algorithm.So valid data have been exported in directed range finding.Algorithm the inside has increased plays measuring point 80m in advance to begin orientation survey effective, and dzg1 is effectively to the measurement point of dzg10, and between be verified as 80.11m apart from software measurement tool, with the 80m error of setting in 1m.This kind way is to prevent that the speed of a motor vehicle is too fast, has broken through measuring point and cause this data point not have test data output in measuring computation period.Actual test effect is obvious, meets the requirements.
As shown in Figure 6, the effective location of special marking symbol (mark point) expression range finding is (from the dzg1 point to the dzg40 point, point is 1S with the time interval of point), by algorithm as can be known, though this point of dzg1 is on the bend, but its a driving angle and a location offset angle are in error range, the point position distance is also eligible apart from rising, be that this glyph closes the survey condition, up to dzg40 point, the end of test (EOT) of this database point 2513, verify by software proportion measurement instrument, measurement result dzg40 point is 349.67m with point 2513 coverage, with the measuring distance 352m error that requires be more than 2 meters, actual requirement fully conforms to.
As shown in Figure 7, this test data is the reverse track with Fig. 3 direction of vehicle, direction of traffic is about 185 degree, because it is 346 degree that 2513 direction requires, though the distance that this some distance is 2513 is less than 80 meters, both directions differ from 161 degree, are not inconsistent to close tape spare, so be can not carry out range observation on this trajectory direction, the result of test also tallies with the actual situation.
The static test result:
As shown in Figure 8, static state was tested 48 hours down, and first open state next divide half can locate, and can receive 8 satellite datas subsequently under the best condition simultaneously, and between the signal to noise ratio (S/N ratio) average 44～45.This situation shows that the module location is very stable.
Claims (8)
1.GPS directed range finding operational method is characterized in that comprising the steps:
(1) original state;
(2) receive gps data, judgment data validity, otherwise output data is invalid, returns original state;
(3) detect gps data and whether meet the database active position, detection method is as follows: 1. the position of moving target is played between point position distance in the database smaller or equal to effective measuring distance of storing in the database, 2. the direction of motion of moving target is consistent with direction of measurement in the database, and 3. playing location, to put the direction of moving target consistent with direction of measurement in the database; Satisfy condition 1., 2. the back just begins measuring distance in moving target enters initial measurement circle, the motion gps data of the back moving target that goes too far must satisfy whole three conditions and could export effective measurement data; Otherwise output data is invalid, returns original state;
(4) begin to calculate the distance of moving target to the target location;
(5) in the moving target motion, and export effective locator data and show current data apart from dbjective state by the output serial ports.
2. the directed range finding of GPS according to claim 1 operational method, it is characterized in that: effective measuring distance of step (3) is 50～150 meters, direction of measurement is 10～60 degree in the database.
3. the directed range finding of GPS according to claim 1 and 2 operational method, it is characterized in that: step (5) is after moving target stops, current effective measuring distance is kept 5～30s, in keeping 5～30s in the time, after appearance continues motion as moving target, finish hold mode, get back under the normal measuring condition; Otherwise return original state.
4. the directed range finding of GPS according to claim 3 operational method is characterized in that: the data of step (2) should be that to receive three satellites effectively above.
5.GPS directed range finder module, it is characterized in that: comprise the ARM CPU processor that embeds the GPS chip, data storage cell, orientation, range finder module and output serial ports, data storage cell storage data and software, described data comprise latitude, longitude, measuring distance, deflection and measurement type, and the GPS chip receives the built-in data message of information and date storage unit and resolves the back by the required information of output serial ports output by directed, range finder module; Described orientation, range finder module adopt the directed range finding of GPS as claimed in claim 1 operational method.
6. the directed range finder module of GPS according to claim 5, it is characterized in that: the GPS chip adopts the SIRF chip.
7. according to claim 5 or the directed range finder module of 6 described GPS, it is characterized in that: the output serial ports comprises two output serial ports, be respectively independent outputting standard agreement NMEA 0183 and self-defining agreement, self-defining agreement comprises longitude and latitude, measures commencing signal, distance type, direction of traffic, the speed of a motor vehicle and Distance Remaining.
8. the directed range finder module of GPS according to claim 7, it is characterized in that: ARM CPU processor is provided with data and program upgrade unit.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103234612A (en) * | 2013-04-12 | 2013-08-07 | 昆山钰恒电子衡量器有限公司 | Electronic weighing system |
| CN107942333A (en) * | 2017-10-13 | 2018-04-20 | 中国南方电网有限责任公司调峰调频发电公司 | The data processing method of ranging sonar |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4268278B2 (en) * | 1999-08-23 | 2009-05-27 | 株式会社ザナヴィ・インフォマティクス | Navigation device |
| CN1139786C (en) * | 2002-02-06 | 2004-02-25 | 何秀凤 | Autonomous positioning and directing navigator |
| CN1828225A (en) * | 2005-03-02 | 2006-09-06 | 北京航天鼎一科技发展有限公司 | Automobile dead reckoning positioning method and module |
| KR100749276B1 (en) * | 2005-05-03 | 2007-08-13 | 주식회사 현대오토넷 | Navigation system for displaying direction information to the destination and method thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103234612A (en) * | 2013-04-12 | 2013-08-07 | 昆山钰恒电子衡量器有限公司 | Electronic weighing system |
| CN107942333A (en) * | 2017-10-13 | 2018-04-20 | 中国南方电网有限责任公司调峰调频发电公司 | The data processing method of ranging sonar |
| CN107942333B (en) * | 2017-10-13 | 2020-03-10 | 中国南方电网有限责任公司调峰调频发电公司 | Data processing method of range finding sonar |
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Effective date of registration: 20110216 Address after: 314003 Jiaxing Economic Development Zone, Tong Tong Street is the original road, No. 66, No. Patentee after: Jiaxing Jiali Electronic Co., Ltd. Address before: 314003, No. 1, No. 1 road, pond Industrial Zone, Jiaxing Economic Development Zone, Zhejiang Patentee before: Zhejiang Zhengyuan Electric Co., Ltd. |
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Address after: 314003 Jiaxing City, Zhejiang Province Economic Development Zone Yong Wui street is the original Road No. 66 Patentee after: Jiaxing Jiali Electronic Co., Ltd. Address before: 314003 Jiaxing Economic Development Zone, Tong Tong Street is the original road, No. 66, No. Patentee before: Jiaxing Jiali Electronic Co., Ltd. |