CN102680990A - System and method used for measuring truck combination position track and based on global positioning system (GPS) - Google Patents
System and method used for measuring truck combination position track and based on global positioning system (GPS) Download PDFInfo
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- CN102680990A CN102680990A CN2012101775751A CN201210177575A CN102680990A CN 102680990 A CN102680990 A CN 102680990A CN 2012101775751 A CN2012101775751 A CN 2012101775751A CN 201210177575 A CN201210177575 A CN 201210177575A CN 102680990 A CN102680990 A CN 102680990A
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Abstract
Provided are a system and a method used for measuring a truck combination position track and based on a global positioning system (GPS). The system comprises a base station subsystem (5), a movable station subsystem and a direction-finding slave station subsystem. The base station subsystem comprises an FLEX6-G2L-BOG-TTR receiver, a GPS-702-GG antenna and a WDS-4710-5W radio modem. The antenna is used for receiving GPS satellite signals. The receiver is used for processing the received GPS satellite signals and generating position difference correction information. The radio modem transmits the position difference correction information to the movable station subsystem and the direction-finding slave station subsystem. The method includes that 1 the base station subsystem is arranged on a ground fixing point position; 2 the direction-finding slave station subsystem is arranged on a dragging vehicle; 3 the movable station subsystem is arranged on a trailer; 4 data information is collected through steps from step 1 to step 3, the collected data information is processed in filtering mode, and measurement of the truck combination position track is achieved finally through a conventional computer.
Description
Technical field
The present invention relates to a kind of truck combination location track measuring system and method, relate in particular to a kind of simple accurate truck combination location track measuring system and method based on GPS.
Background technology
Along with the fast development of transport by road, characteristics such as the high-mechanic that truck combination has, economy, efficient receive industry and pay close attention to, and become the main vehicle of long-distance logistics gradually.Obtain truck combination location track in the process of moving exactly; Measure computing and just can know that tractor angulus anterolateralis, forward swing value, back pendulum value and passage breadth extreme etc. in the truck combination driving process influence the parameter of road passage capability and driving safety through simple again, for the research of truck combination riding stability and the development of intelligent transportation system (ITS) provide parameter basic.
Money 4.13 proposes clearly that " truck combination and wheeled tractor transport unit on smooth, dry road surface during straight-line travelling; trailer rear shaft center is with respect to the maximum beat value amplitude of tractor front axle center; should be greater than 110 mm to articulated train, passenger car train and mid-trailer train, should be greater than 220 mm to other train among the standard GB 7258-2004 " motor vehicle security of operation technical regulation ".During other motor vehicle straight-line travelling, the line at its antero posterior axis center should be consistent with the center line of driving trace ".Additional properties in the traffic rower " technical requirement of goods stock security of operation " require also to propose " the riding stability requirement comprises roll stability requirement, goods vehicle train lateral stability evaluating limit value and the requirement of goods stock steering characteristic ".How measuring tractor and trailer location track in the process of moving exactly is the basis of the above content of research.A kind of conventional measurement is: each fixing spray gun below tractor and chassis of trailer centre; In vehicle traveling process simultaneously towards below ground spray certain white liquid; Form two curves on the ground; These two location track that curve is exactly the spray gun point of fixity are carried out dead reckoning again and just can be known that truck combination is in each location track constantly.This method accuracy rate is low, and loss is high, and the liquid of adding the spray gun ejection receives the influence of air-flow on every side easily, and to the bad adaptability of environment, detecting reliability also is affected simultaneously.
Along with the innovation development of GPS technology, that a kind of truck combination location track measuring method based on GPS has is simple in structure, easy to operate, measure accurately and characteristics not affected by environment.Can effectively solve the problems of measurement of truck combination linear position track, for the further investigation of road passage capability and truck combination driving safety provides reliable theoretical basis.
Summary of the invention
Technical matters to be solved: the invention provides a kind of truck combination location track measuring system and method that reliable solution is provided for the measurement of truck combination driving trace based on GPS to above problem.
Technical scheme: to the invention provides a kind of truck combination location track measuring system in order overcoming the above problems, to it is characterized in that: comprise base station subsystem, movement station subsystem, direction finding slave station subsystem based on GPS;
The base station subsystem comprises a FLEX6-G2L-BOG-TTR receiver, a GPS-702-GG antenna, a WDS-4710-5W data radio station; The GPS-702-GG antenna is used to receive gps satellite signal; The FLEX6-G2L-BOG-TTR receiver is used to handle the gps satellite signal that receives and produces the differential position correcting information; The WDS-4710-5W data radio station of base station subsystem sends the differential position correcting information and gives movement station subsystem and slave station direction-finding receiver subsystem;
Direction finding slave station subsystem comprises two GPS-702-GG antennas, and promptly gps antenna I and gps antenna II also comprise N500 series direction-finding receiver and a WDS-4710-5W data radio station;
Two GPS-702-GG antennas of direction finding slave station subsystem are used to receive gps satellite signal; N500 series direction-finding receiver is used to handle the gps satellite signal that receives; Realize that the dual-frequency carrier differential position resolves; Obtain high precision centimetre-sized coordinate, produce the direction finding correction simultaneously, realize the course information of measuring vehicle trailer with respect to the base station subsystem; The WDS-4710-5W data radio station of direction finding slave station subsystem receives the differential position correcting information of the WDS-4710-5W data radio station transmission of base station subsystem;
The movement station subsystem comprises a GPS-702-GG antenna, and promptly the gps antenna III also comprises a FLEX6-G2L-ROG-TTR receiver and a WDS-4710-5W data radio station;
The GPS-702-GG antenna of movement station subsystem is used to receive gps satellite signal; The FLEX6-G2L-ROG-TTR receiver of movement station subsystem is used to handle the gps satellite signal that receives, and realizes that the dual-frequency carrier differential position resolves, and obtains the high precision centimetre-sized coordinate with respect to base station; The differential position correcting information that the WDS-4710-5W data radio station of the WDS-4710-5W data radio station reception base station subsystem of movement station subsystem sends is also exported high precision centimetre-sized position.
Described FLEX6-G2L-BOG-TTR receiver adopts Beijing BDStar Navigation Co., Ltd. to make.
Described N500 series direction-finding receiver adopts Beijing BDStar Navigation Co., Ltd. to make.
A kind of truck combination location track measuring method based on GPS is characterized in that: may further comprise the steps:
The first step: the base station subsystem is installed on the point of fixity position, ground
:GPS-702-GG antenna in fixed reference station, the spaciousness place subsystem of measuring the place;
Second step: direction finding slave station subsystem is installed on the tractor: in order to prevent two GPS-702-GG antennas of direction finding slave station subsystem; Be that gps antenna I and gps antenna II are placed on roof owing to suspension rocks; Draw a Metallic rod from tractor front axle center line along tractor Y tractor the place ahead, Metallic rod one end is fixed on the chassis; Fixing these two GPS-702-GG antennas on the tractor Metallic rod; The distance of these two gps antennas is 1 meter;
The 3rd step: the movement station subsystem is installed on the trailer: draw another root Metallic rod from trailer rear shaft center line along trailer Y trailer rear, Metallic rod one end also is fixed on the chassis; The fixing GPS-702-GG antenna of movement station subsystem on the trailer Metallic rod;
The 4th step: gather following information through step 1 to three: the location point of the pin joint between tractor and the trailer, gps antenna II, the location point of gps antenna III and the course angle of tractor; The data that collect are measured through the conventional location track that finally realizes truck combination of calculating through after the Filtering Processing again.
What described Filtering Processing of the 4th step adopted is Kalman filter.
Two GPS-702-GG antenna directions of described direction finding slave station subsystem and carrier, the center line that is tractor is parallel, the course information in exportable compartment.
Beneficial effect: the present invention can effectively solve the problems of measurement of truck combination driving trace, for the research of truck combination riding stability and road passage capability provides high-precision data theoretical.
Description of drawings
Fig. 1 is a measurement scheme synoptic diagram of the present invention;
Fig. 2 is that system of the present invention forms synoptic diagram;
Fig. 3 is a dead reckoning synoptic diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing the present invention is done further description.
Like Fig. 1, shown in 2,
This is based on the truck combination location track measuring system of GPSComprise base station subsystem 5, movement station subsystem, direction finding slave station subsystem.
The base station subsystemComprise a FLEX6-G2L-BOG-TTR receiver, a GPS-702-GG antenna, a WDS-4710-5W data radio station.
The GPS-702-GG antenna is used to receive gps satellite signal; The FLEX6-G2L-BOG-TTR receiver is used to handle the gps satellite signal that receives and produces the differential position correcting information; The WDS-4710-5W data radio station of base station subsystem sends the differential position correcting information and gives movement station subsystem and slave station direction-finding receiver subsystem.
FLEX6-G2L-BOG-TTR receiver real-time resolving goes out the coordinate of the GPS-702-GG antenna position of base station subsystem as stated; The positional information of real-time resolving and our the known point coordinate information of input are analyzed automatically, generate the differential position correcting information.
The FLEX6-G2L-BOG-TTR receiver can adopt Beijing BDStar Navigation Co., Ltd. to make.
Direction finding slave station subsystemComprise N500 series direction-finding receiver, two GPS-702-GG antennas (being gps antenna I 1 and gps antenna II 2), a WDS-4710-5W data radio station.
Two GPS-702-GG antennas of direction finding slave station subsystem are used to receive gps satellite signal; N500 series direction-finding receiver is used to handle the gps satellite signal that receives; Realize that the dual-frequency carrier differential position resolves; Obtain high precision centimetre-sized coordinate, produce the direction finding correction simultaneously, realize the course information of measuring vehicle trailer with respect to the base station subsystem; The WDS-4710-5W data radio station of direction finding slave station subsystem receives the differential position correcting information of the WDS-4710-5W data radio station transmission of base station subsystem.Two GPS-702-GG antenna directions of direction finding slave station subsystem parallel with the center line of carrier (being tractor) (if the not parallel then course of output needs the corrective system poor), the course information in exportable compartment.
N500 series direction-finding receiver can adopt Beijing BDStar Navigation Co., Ltd. to make.
The movement station subsystemComprise a FLEX6-G2L-ROG-TTR receiver, a GPS-702-GG antenna (being gps antenna III 3), a WDS-4710-5W data radio station.
The GPS-702-GG antenna of movement station subsystem is used to receive gps satellite signal; The FLEX6-G2L-ROG-TTR receiver of movement station subsystem is used to handle the gps satellite signal that receives, and realizes that the dual-frequency carrier differential position resolves, and obtains the high precision centimetre-sized coordinate with respect to base station; The differential position correcting information that the WDS-4710-5W data radio station of the WDS-4710-5W data radio station reception base station subsystem of movement station subsystem sends is also exported high precision centimetre-sized position.
Native system can obtain positional information and the course information of carrier 0.2 degree/rice base length of the 1cm+1ppm of mobile station system measuring position point in real time, can reach the course data turnover rate of 20Hz position data turnover rate and 20Hz.
The output frequency of GPS is 20Hz in the native system, and the data of its output store local computer into through serial ports earlier, and acquisition tasks is carried out data processing after accomplishing again.In process of the test; Usually many such as barriers such as buildings, side slope, trees around the experimental enviroment round having; These barriers usually cause gps signal diffraction or reflection; The signal that receives of antenna often not only has directly from the signal of satellites transmits like this, also has from the signal of reflecting body reflection and through the signal of diffracting object diffraction, and these three kinds of signals are superimposed to position as observed quantity and will produce error; And because the factors such as deviation between thermonoise, software and each passage also usually can cause the error of GPS observed reading.Therefore, in order to accurately calculate the movement locus of trailer and tractor, at first need carry out filtering to gps signal.When gps signal is carried out filtering, select the Kalman filter of widespread use to realize.Kalman filter is to be the optimal State Estimation wave filter of criterion with the Minimum Mean Square Error; It need not store measured value in the past; Only according to the current observed reading and the estimated value of previous moment; Utilize computing machine to carry out recursion and calculate, just can realize estimation, have the advantages that memory data output is little, algorithm is easy live signal.For solving very most problem, it is optimum, most effective or even the most useful.
Dead reckoning synoptic diagram of the present invention shown in Figure 3, for trailer, the pin joint of establishing between tractor and the trailer is the O point, and the position of gps antenna II 2 is the A point, and the position of gps antenna III 3 is the B point, and A, B and O point can constitute a triangle AOB when turning.Among the figure; AE is the extended line of OA; OF is the extended line of BO; AE is
with the angle of positive north orientation, and OF is
with the angle of positive north orientation.Can find out by figure;
is exactly the angle of the tractor longitudinal axis and positive north orientation, the i.e. course angle of tractor;
is exactly the angle of the trailer longitudinal axis and positive north orientation, the i.e. course angle of trailer.What distance A O that gps antenna II 2 to O is ordered and gps antenna III 3 to O were ordered all is constant apart from BO, can record in advance.Real-time distance between gps antenna III 3 and the gps antenna II 2 can be calculated by its elements of a fix and obtain.For triangle AOB; Under the known situation of three edge lengths, can solve the angle between each limit, so utilize
again and angular relationship shown in Figure 3 just can push away the course angle
of trailer.Utilize the signal of the FLEX6-G2L-ROG-TTR receiver of difference movement station subsystem, can obtain the high-precision motion track at these gps antenna III 3 places, utilize again push away the trailer course angle just can calculate the location track of trailer any point by the plane geometry relation.And then can restore the location track of whole car, just can calculate parameter values such as tractor angulus anterolateralis, forward swing value, back pendulum value and passage breadth extreme.
This is based on the truck combination location track measuring method of GPS,May further comprise the steps:
The first step: the base station subsystem is installed on the point of fixity position, ground
:GPS-702-GG antenna in fixed reference station, the spaciousness place subsystem of measuring the place;
Second step: direction finding slave station subsystem is installed on the tractor: for two the GPS-702-GG antennas (being gps antenna I 1 and gps antenna II 2) that prevent direction finding slave station subsystem are placed on roof owing to suspension rocks; Draw a Metallic rod from tractor front axle center line along tractor Y tractor the place ahead, Metallic rod one end is fixed on the chassis; Fixing these two GPS-702-GG antennas on the tractor Metallic rod; The distance of these two gps antennas is 1 meter;
The 3rd step: the movement station subsystem is installed on the trailer: draw another root Metallic rod from trailer rear shaft center line along trailer Y trailer rear, Metallic rod one end also is fixed on the chassis; The fixing GPS-702-GG antenna of movement station subsystem on the trailer Metallic rod;
The 4th step: gather following information through step 1 to three: the location point of the pin joint between tractor and the trailer, gps antenna II 2, the location point of gps antenna III 3 and the course angle of tractor.The data that collect are measured through the conventional location track that finally realizes truck combination of calculating through after the Filtering Processing again.
The above is merely the preferred embodiments of the present invention, is not restricted to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within the claim scope of the present invention.
Claims (6)
1. the truck combination location track measuring system based on GPS is characterized in that: comprise base station subsystem (5), movement station subsystem, direction finding slave station subsystem;
The base station subsystem comprises a FLEX6-G2L-BOG-TTR receiver, a GPS-702-GG antenna, a WDS-4710-5W data radio station; The GPS-702-GG antenna is used to receive gps satellite signal; The FLEX6-G2L-BOG-TTR receiver is used to handle the gps satellite signal that receives and produces the differential position correcting information; The WDS-4710-5W data radio station of base station subsystem sends the differential position correcting information and gives movement station subsystem and slave station direction-finding receiver subsystem;
Direction finding slave station subsystem comprises two GPS-702-GG antennas, and promptly gps antenna I (1) and gps antenna II (2) also comprise N500 series direction-finding receiver and a WDS-4710-5W data radio station;
Two GPS-702-GG antennas of direction finding slave station subsystem are used to receive gps satellite signal; N500 series direction-finding receiver is used to handle the gps satellite signal that receives; Realize that the dual-frequency carrier differential position resolves; Obtain high precision centimetre-sized coordinate, produce the direction finding correction simultaneously, realize the course information of measuring vehicle trailer with respect to the base station subsystem; The WDS-4710-5W data radio station of direction finding slave station subsystem receives the differential position correcting information of the WDS-4710-5W data radio station transmission of base station subsystem;
The movement station subsystem comprises a GPS-702-GG antenna, and promptly gps antenna III (3) also comprises a FLEX6-G2L-ROG-TTR receiver and a WDS-4710-5W data radio station;
The GPS-702-GG antenna of movement station subsystem is used to receive gps satellite signal; The FLEX6-G2L-ROG-TTR receiver of movement station subsystem is used to handle the gps satellite signal that receives, and realizes that the dual-frequency carrier differential position resolves, and obtains the high precision centimetre-sized coordinate with respect to base station; The differential position correcting information that the WDS-4710-5W data radio station of the WDS-4710-5W data radio station reception base station subsystem of movement station subsystem sends is also exported high precision centimetre-sized position.
2. a kind of truck combination location track measuring system based on GPS according to claim 1 is characterized in that: described FLEX6-G2L-BOG-TTR receiver adopts Beijing BDStar Navigation Co., Ltd. to make.
3. a kind of truck combination location track measuring system based on GPS according to claim 1 is characterized in that: described N500 series direction-finding receiver adopts Beijing BDStar Navigation Co., Ltd. to make.
4. truck combination location track measuring method based on GPS is characterized in that: may further comprise the steps:
The first step: the base station subsystem is installed on the point of fixity position, ground
:GPS-702-GG antenna in fixed reference station, the spaciousness place subsystem of measuring the place;
Second step: direction finding slave station subsystem is installed on the tractor: in order to prevent two GPS-702-GG antennas of direction finding slave station subsystem; Be that gps antenna I (1) and gps antenna II (2) are placed on roof owing to suspension rocks; Draw a Metallic rod from tractor front axle center line along tractor Y tractor the place ahead, Metallic rod one end is fixed on the chassis; Fixing these two GPS-702-GG antennas on the tractor Metallic rod; The distance of these two gps antennas is 1 meter;
The 3rd step: the movement station subsystem is installed on the trailer: draw another root Metallic rod from trailer rear shaft center line along trailer Y trailer rear, Metallic rod one end also is fixed on the chassis; The fixing GPS-702-GG antenna of movement station subsystem on the trailer Metallic rod;
The 4th step: gather following information through step 1 to three: the location point of the pin joint between tractor and the trailer, gps antenna II (2), the location point of gps antenna III (3) and the course angle of tractor; The data that collect are measured through the conventional location track that finally realizes truck combination of calculating through after the Filtering Processing again.
5. a kind of truck combination location track measuring method based on GPS according to claim 4 is characterized in that: what described Filtering Processing of the 4th step adopted is Kalman filter.
6. a kind of truck combination location track measuring method according to claim 4 based on GPS; It is characterized in that: two GPS-702-GG antenna directions of described direction finding slave station subsystem and carrier; The center line (4) that is tractor is parallel, the course information in exportable compartment.
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| CN102944882A (en) * | 2012-10-26 | 2013-02-27 | 东莞市车脉导航科技有限公司 | Satellite positioning terminal system for drop and pull transport |
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| CN103616706A (en) * | 2013-12-05 | 2014-03-05 | 中国航空无线电电子研究所 | Target movement track prediction method in big-dipper-position-based monitoring application |
| CN104613915A (en) * | 2013-11-01 | 2015-05-13 | 北汽福田汽车股份有限公司 | Measuring device and measuring method for measuring outer profile parameters of vehicles |
| CN107121980A (en) * | 2017-03-17 | 2017-09-01 | 北京理工大学 | A kind of automatic driving vehicle paths planning method based on virtual constraint |
| CN107512264A (en) * | 2017-07-25 | 2017-12-26 | 武汉依迅北斗空间技术有限公司 | The keeping method and device of a kind of vehicle lane |
| CN108489735A (en) * | 2018-03-28 | 2018-09-04 | 吉林大学 | Double trailer train model stability experimental rig based on the theory of similarity and method |
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| CN102944882A (en) * | 2012-10-26 | 2013-02-27 | 东莞市车脉导航科技有限公司 | Satellite positioning terminal system for drop and pull transport |
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| CN107121980A (en) * | 2017-03-17 | 2017-09-01 | 北京理工大学 | A kind of automatic driving vehicle paths planning method based on virtual constraint |
| CN107121980B (en) * | 2017-03-17 | 2019-07-09 | 北京理工大学 | A kind of automatic driving vehicle paths planning method based on virtual constraint |
| CN107512264A (en) * | 2017-07-25 | 2017-12-26 | 武汉依迅北斗空间技术有限公司 | The keeping method and device of a kind of vehicle lane |
| CN108489735A (en) * | 2018-03-28 | 2018-09-04 | 吉林大学 | Double trailer train model stability experimental rig based on the theory of similarity and method |
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| CN102680990B (en) | 2013-09-25 |
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Address after: 100088 Beijing city Haidian District Xitucheng Road No. 8 Building 820 NEW Patentee after: Nanjing wisdom electronic Polytron Technologies Inc Patentee after: Dongnan Univ. Patentee after: Nanjing Zhizhen Electronic Science and Technology Co., Ltd. Address before: 100088 Beijing city Haidian District Xitucheng Road No. 8 Building 820 NEW Patentee before: Research Institute of Highway Ministry of Transport Patentee before: Dongnan Univ. Patentee before: Nanjing Zhizhen Electronic Science and Technology Co., Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130925 Termination date: 20180601 |