CN103162689B - The assisted location method of auxiliary vehicle positioning system and vehicle - Google Patents

The assisted location method of auxiliary vehicle positioning system and vehicle Download PDF

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Publication number
CN103162689B
CN103162689B CN201110426426.XA CN201110426426A CN103162689B CN 103162689 B CN103162689 B CN 103162689B CN 201110426426 A CN201110426426 A CN 201110426426A CN 103162689 B CN103162689 B CN 103162689B
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vehicle
motion
module
information
acceleration
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CN201110426426.XA
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CN103162689A (en
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肖杨杨
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希姆通信息技术(上海)有限公司
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Abstract

The invention discloses a kind of auxiliary vehicle positioning system to comprise: velocity measuring module, for detecting and recording the movement velocity of this vehicle; Acceleration detection module, for detecting and recording the acceleration of this vehicle; Angle sensor module, for detecting and recording the variable quantity of the direction of motion of this vehicle; Magnetic force induction module, for determining the direction of motion in geographical south poles direction and this vehicle; This wireless communication module is also for calculating the estimated position information of this vehicle.The invention also discloses a kind of assisted location method of vehicle.Detected in time by multiple sensors and the real time kinematics state of registration of vehicle, when GPS module losing lock, the current location of vehicle can be estimated according to the motion state of the vehicle latitude and longitude information combined on last location, compensate for the deficiency of the GPS module location that places one's entire reliance upon to a certain extent, play the effect of auxiliary positioning.

Description

The assisted location method of auxiliary vehicle positioning system and vehicle

Technical field

The present invention relates to a kind of auxiliary vehicle positioning system and method, particularly relate to a kind of auxiliary vehicle positioning system and the method that utilize multiple sensors auxiliary positioning when GPS module cannot be located.

Background technology

GPS (GPS) is a kind of maturation and applies widely.Its ultimate principle is the distance between the satellite of measuring known location to receiver user, and then the data of comprehensive multi-satellite just can calculate the precise position information of receiver.Reach this purpose, the time that the position of satellite can be recorded according to spaceborne clock finds in satellite ephemeris.But in actual use, GPS has certain limitation, as faint at satellite-signal, or due to residing environmental limit cannot obtain enough satellite informations when, GPS just cannot complete location, i.e. GPS " losing lock ".

If the impact a kind of apparatus and method of the auxiliary positioning when GPS cannot locate being found then to eliminate GPS " losing lock " to a certain extent bring.

Summary of the invention

The technical problem to be solved in the present invention is to overcome the defect that in prior art, GPS cannot locate, user cannot learn vehicle location in time under the faint environment of satellite-signal, provide a kind of when GPS losing lock, adopt auxiliary vehicle positioning system and the method for multiple sensors auxiliary positioning.

The present invention solves above-mentioned technical matters by following technical proposals:

A kind of auxiliary vehicle positioning system, it comprises a GPS module and a wireless communication module, the latitude and longitude information that this wireless communication module is used for this GPS module to obtain is sent to a server and/or a mobile terminal by wireless network, this auxiliary vehicle positioning system is located in a vehicle, its feature is, this auxiliary vehicle positioning system also comprises a sensor subsystem, and this sensor subsystem comprises:

One velocity measuring module, for detecting and recording the movement velocity of this vehicle;

One acceleration detection module, for detecting and recording the acceleration of this vehicle;

One angle sensor module, for detecting and recording the variable quantity of the direction of motion of this vehicle;

One magnetic force induction module, for determining the direction of motion in geographical south poles direction and this vehicle;

Latitude and longitude information, this velocity measuring module, this acceleration detection module and the testing result of this angle sensor module, the direction of motion of this vehicle of this wireless communication module also for locating for the last time according to this GPS module calculate the estimated position information of this vehicle.That is, by learning the latitude and longitude information (i.e. the upper positional information obtained in last location before GPS module losing lock) of starting point, motion state (variable quantity (acceleration) of the direction of motion of vehicle, the variable quantity of direction of motion, movement velocity, movement velocity) in conjunction with vehicle just can calculate the estimated position information of vehicle, the degree of accuracy detecting the various sensors of state of motion of vehicle is higher, and the estimated position information finally calculated is more close to the physical location of vehicle.

Preferably, within a time period, this wireless communication module is also for judging whether the variable quantity of this direction of motion reaches a threshold value, if so, this wireless communication module is also for the direction of motion of this vehicle of the start time according to this time period, in this time period, the testing result of this velocity measuring module, this acceleration detection module to calculate the estimated position information of this vehicle according to rectilinear motion; If not, this wireless communication module is also for the direction of motion of this vehicle of the finish time according to this time period, in this time period, the testing result of this velocity measuring module, this acceleration detection module to calculate the estimated position information of this vehicle according to rectilinear motion.That is, with reference to the differential method, by the time interval between initial time and finish time (such as using the moment of GPS module losing lock as initial time, the moment of the instruction obtaining estimated position is sent as finish time using user) be divided into several time periods Δ t, regard the motion of this vehicle in each time period Δ t as rectilinear motion, thus obtain the estimated position information of this vehicle of finish time by each rectilinear motion calculated in these several time periods.Certainly, it is more that time period Δ t divides, and namely the numerical value of Δ t is less, and this threshold value arranges less, and final result of calculation is more accurate.

Preferably, this magnetic force induction module also for setting up a reference frame, and draws the movement locus of this vehicle in this reference frame according to the testing result of the direction of motion of this vehicle, this velocity measuring module, this acceleration detection module and this angle sensor module when this GPS module cannot be located.In order to obtain estimated position information more accurately, can also jointly calculate this estimated position information in conjunction with the testing result of the direction of motion of this movement locus and this vehicle, this velocity measuring module, this acceleration detection module and this angle sensor module when calculating.In addition, this movement locus can also be shown to user to show the motion state of vehicle more intuitively.This estimated position information can be latitude and longitude information.

Preferably, this auxiliary vehicle positioning system also comprises one for detecting the height detection module of the variable quantity of sea level elevation and/or sea level elevation residing for this vehicle, and this wireless communication module is also for calculating the estimated position information of this vehicle and learning the motion state of this vehicle in conjunction with the testing result of this height detection module.Such as, adopt an altitude gauge as this height detection module, this altitude gauge is for gathering the atmospheric pressure of environment residing for this vehicle, as a reference point with sea level, the accurate sea level elevation of vehicle present position is calculated according to the atmospheric pressure detected and the relation of height, simultaneously also learn that this vehicle is perpendicular to the motion state on the direction of surface level by the variable quantity of atmospheric pressure in a period of time, such as vehicle is climbed etc.Obviously, now this estimated position information is except the latitude and longitude information of two dimension, also comprises elevation information.

Preferably, this sensor subsystem is selected from one or more of following scheme:

Scheme 1: this acceleration detection module is an acceleration transducer;

Scheme 2: this angle sensor module is a gyroscope;

Scheme 3: this magnetic force induction module is a magnetometer.

Preferably, this acceleration transducer is two axle acceleration sensors or 3-axis acceleration sensor; And/or, this gyroscope is rate gyroscope or free gyroscope, for Three Degree Of Freedom (X-axis, Y-axis and Z axis) gyroscope, gyrostatic armature spindle (axis of rotation of armature spindle and gyro) provides the assigned direction of inertial space, if armature spindle horizontal positioned when starting is also consistent with the car body direction of vehicle, then when vehicle is around this gyrostatic vertical axle steer, gyroscope rotates relative to this armature spindle by measuring this vertical axle, thus can provide the angle and direction instruction of turn inside diameter.

Preferably, this wireless communication module also for this estimated position information is sent to this server and/or this mobile terminal, such as, sends this estimated position information by mobile communications network, and such user can learn position and the motion state of vehicle in time.

That is, auxiliary vehicle positioning system is in the stronger region of satellite-signal, the location of vehicle can be realized by this GPS module, and when after this GPS module losing lock, to be gathered by various sensing module and the movement state information recording this vehicle calculates the estimated position information of vehicle is supplied to user, make user still can learn vehicle location comparatively accurately when GPS module cannot be located, serve the effect of auxiliary positioning.

The present invention also provides a kind of assisted location method of vehicle, and its feature is, comprises the following steps:

Step S 1, locate this vehicle to obtain the latitude and longitude information of this vehicle position, detect and record the movement velocity of this vehicle, the acceleration of this vehicle, the direction of motion of this vehicle variable quantity and determine the direction of motion of geographical south poles direction and this vehicle;

Step S 2, judge whether can successfully obtain this latitude and longitude information, if so, again perform step S 1; If not, step S is entered 3;

Step S 3, movement velocity, the acceleration of this vehicle, the variable quantity of the direction of motion of this vehicle and the direction of motion of this vehicle according to the latitude and longitude information of last location, this vehicle calculates the estimated position information of this vehicle.

Preferably, step S 3comprise the following steps:

Within a time period, judge whether the variable quantity of this direction of motion reaches a threshold value, if so, according to the direction of motion of this vehicle of the start time of this time period, in this time period, the movement velocity of this vehicle, the acceleration of this vehicle to calculate the estimated position information of this vehicle according to rectilinear motion; If not, according to the direction of motion of this vehicle of the finish time of this time period, in this time period, the movement velocity of this vehicle, the acceleration of this vehicle to calculate the estimated position information of this vehicle according to rectilinear motion.That is, with reference to the differential method, by the time interval between initial time and finish time (such as using the moment of GPS module losing lock as initial time, the moment of the instruction obtaining estimated position is sent as finish time using user) be divided into several time periods Δ t, regard the motion of this vehicle in each time period Δ t as rectilinear motion, thus obtain the estimated position information of this vehicle of finish time by each rectilinear motion calculated in these several time periods.Certainly, it is more that time period Δ t divides, and namely the numerical value of Δ t is less, and this threshold value arranges less, and final result of calculation is more accurate.

Preferably, step S 3further comprising the steps of: to set up a reference frame, and in this reference frame, the movement locus of this vehicle is drawn according to the variable quantity of the direction of motion of this vehicle, the movement velocity of this vehicle, the acceleration of this vehicle and this direction of motion.In order to obtain estimated position information more accurately, the movement state information of this vehicle (direction of motion of this vehicle, the movement velocity of this vehicle, the acceleration of this vehicle and the variable quantity of this direction of motion) can also be combined with this movement locus when calculating.In addition, this movement locus can also be shown to user to show the motion state of vehicle more intuitively.This estimated position information can be latitude and longitude information.

Preferably, step S 1further comprising the steps of: the variable quantity detecting sea level elevation and/or sea level elevation residing for this vehicle;

Step S 3further comprising the steps of: the variable quantity in conjunction with this sea level elevation and/or sea level elevation calculates the estimated position information of this vehicle.Such as, adopt an altitude gauge as this height detection module, this altitude gauge is for gathering the atmospheric pressure of environment residing for this vehicle, as a reference point with sea level, the accurate sea level elevation of vehicle present position is calculated according to the atmospheric pressure detected and the relation of height, simultaneously also learn that this vehicle is perpendicular to the motion state on the direction of surface level by the variable quantity of atmospheric pressure in a period of time, such as vehicle is climbed etc.Obviously, now this estimated position information is except the latitude and longitude information of two dimension, also comprises elevation information.

Preferably, step S 1in to be detected by sensor subsystem as above and record the acceleration of this vehicle, detection record the variable quantity of the direction of motion of this vehicle and determine the direction of motion of geographical south poles direction and this vehicle.

More preferably, this acceleration transducer is two axle acceleration sensors or 3-axis acceleration sensor, and the acceleration detected is the acceleration in this acceleration transducer on each test axle; And/or, this gyroscope is rate gyroscope or free gyroscope, for Three Degree Of Freedom (X-axis, Y-axis and Z axis) gyroscope, gyrostatic armature spindle (axis of rotation of armature spindle and gyro) provides the assigned direction of inertial space, if armature spindle horizontal positioned when starting is also consistent with the car body direction of vehicle, then when vehicle is around this gyrostatic vertical axle steer, gyroscope rotates relative to this armature spindle by measuring this vertical axle, thus can provide the angle and direction instruction of turn inside diameter.

Preferably, step S 3further comprising the steps of afterwards:

Step S 4, this estimated position information is sent to a server and/or a mobile terminal, such as send this estimated position information by mobile communications network, such user can learn position and the motion state of vehicle in time.

That is, the assisted location method of this vehicle is in the stronger region of satellite-signal, the location that traditional approach (such as a GPS module) realizes vehicle can be passed through, and when traditional locator meams cannot be adopted to learn the positional information of vehicle (such as after this GPS module losing lock), by gathering and recording the estimated position information of the movement state information calculating vehicle of this vehicle and be supplied to user, make user still can learn vehicle location comparatively accurately when traditional locator meams loses efficacy, serve the effect of auxiliary positioning.

Preferably, the assisted location method of this vehicle adopts above-mentioned auxiliary vehicle positioning system to realize.

Positive progressive effect of the present invention is: pass through multiple sensors, timely detection the real time kinematics state of registration of vehicle, and the movement locus of vehicle is drawn according to these motion states gathered, when GPS module losing lock, the latitude and longitude information of locating for the last time in conjunction with GPS module according to the motion state of above-mentioned vehicle can estimate the current location of vehicle, compensate for the deficiency of the GPS module location that places one's entire reliance upon to a certain extent, play the effect of auxiliary positioning.

Accompanying drawing explanation

Fig. 1 is the structured flowchart of the auxiliary vehicle positioning system of one embodiment of the invention.

Fig. 2 is the process flow diagram of the assisted location method of the vehicle of one embodiment of the invention.

Fig. 3 is the movement locus schematic diagram of the vehicle of one embodiment of the invention.

Embodiment

Present pre-ferred embodiments is provided, to describe technical scheme of the present invention in detail below in conjunction with accompanying drawing.

With reference to figure 1, introduce the auxiliary vehicle positioning system of one embodiment of the invention, this auxiliary vehicle positioning system comprises GPS module 2 and a wireless communication module 1, this wireless communication module 1 is sent to a server and/or a mobile terminal (not shown) for the latitude and longitude information this GPS module 2 obtained by wireless network, this auxiliary vehicle positioning system is located in a vehicle, in addition, this auxiliary vehicle positioning system also comprises a sensor subsystem, and this sensor subsystem comprises:

One velocity measuring module 3, for detecting and recording the movement velocity of this vehicle;

One acceleration detection module 4, for detecting and recording the acceleration of this vehicle;

One angle sensor module 5, for detecting and recording the variable quantity of the direction of motion of this vehicle;

One magnetic force induction module 6, for determining the direction of motion in geographical south poles direction and this vehicle;

Wherein, this velocity measuring module 3, this acceleration detection module 4, this angle sensor module 5 and this magnetic force induction module 6 pass through I 2c bus (Inter-IntegratedCircuit bus, the twin wire universal serial bus developed by PHILIPS company) interface and this wireless communication module 1 complete data and transmit, and this wireless communication module 1 is also for according to this GPS module 2, the latitude and longitude information of location, this velocity measuring module, this acceleration detection module and the testing result of this angle sensor module, the direction of motion of this vehicle calculate the estimated position information of this vehicle for the last time.Can find out, when GPS module 2 normally works, this vehicle is located by this GPS module 2, and positioning result is sent to the server of user preset and/or mobile terminal with the position making user learn vehicle at any time by this wireless communication module 1.And when GPS module 2 cannot work, then by the movement state information of above-mentioned sensing module collection vehicle, calculated the estimated position information of vehicle in conjunction with the latitude and longitude information that this GPS module 2 is located for the last time by this movement state information.In the present embodiment, this acceleration detection module is an acceleration transducer, and this angle sensor module is a gyroscope, and this magnetic force induction module is a magnetometer.Here only illustrate, above-mentioned velocity measuring module, acceleration detection module, angle sensor module and magnetic force induction module also can adopt other known modules to realize.More specifically, in the present embodiment, this acceleration transducer is 3-axis acceleration sensor, and this gyroscope is free gyroscope.

Because the actual motion process of vehicle may be very complicated, and not necessarily do rectilinear motion, in the section of some road conditions complexity, the motion state of vehicle is often difficult to describe with single rectilinear motion or curvilinear motion, but can consider the thought of the differential method, and the whole movement locus of vehicle is divided into multiple segment, in each segment, vehicle is with rectilinear motion, the segment of segmentation is more, and the result of calculation finally obtained is also more accurate, so just more adequately can estimate the position of vehicle.Specifically, within a time period, this wireless communication module 1 is also for judging whether the variable quantity of this direction of motion reaches a threshold value, if so, this wireless communication module 1 is also for the direction of motion of this vehicle of the start time according to this time period, in this time period, the testing result of this velocity measuring module 3, this acceleration detection module 4 to calculate the estimated position information of this vehicle according to rectilinear motion; If not, this wireless communication module 1 is also for the direction of motion of this vehicle of the finish time according to this time period, in this time period, the testing result of this velocity measuring module 3, this acceleration detection module 4 to calculate the estimated position information of this vehicle according to rectilinear motion.

In addition, this magnetic force induction module 6 also for setting up a reference frame, and draws the movement locus of this vehicle in this reference frame according to the testing result of the direction of motion of this vehicle, this velocity measuring module 3, this acceleration detection module 4 and this angle sensor module 5 when this GPS module 2 cannot be located.

This auxiliary vehicle positioning system is except can according to vehicle except the estimated position information that the motion state in two dimensional surface calculates this vehicle, the motion state of this vehicle at solid space can also be known, now, this auxiliary vehicle positioning system also comprises one for detecting the height detection module 7 of the variable quantity of sea level elevation and/or sea level elevation residing for this vehicle, and this wireless communication module 1 is also for calculating the estimated position information of this vehicle in conjunction with the testing result of this height detection module 7.In the present embodiment, adopt an altitude gauge as this height detection module 7.The elevation information of this vehicle can be obtained to the detection of atmospheric pressure by this altitude gauge, and such as, by learning that vehicle is perpendicular to the motion state on the direction of surface level, climbs to the detection of the variable quantity of atmospheric pressure.

Certainly, after obtaining this estimated position information, this wireless communication module 1 also for this estimated position information is sent to this server and/or this mobile terminal by such as mobile communications network, even like this when GPS module 2 losing lock user also can obtain the positional information of vehicle comparatively accurately in time.

With reference to figure 2, introduce the assisted location method of the vehicle of one embodiment of the invention, comprise the following steps:

Step S 1, locate this vehicle to obtain the latitude and longitude information of this vehicle position, detect and record the movement velocity of this vehicle, the acceleration of this vehicle, the direction of motion of this vehicle variable quantity and determine the direction of motion of geographical south poles direction and this vehicle, specifically, detected by an acceleration detection module and record the acceleration of this vehicle; Detected by an angle sensor module and record the variable quantity of the direction of motion of this vehicle; The direction of motion of geographical south poles direction and this vehicle is determined by a magnetic force induction module;

Step S 2, judge whether can successfully obtain this latitude and longitude information, if so, again perform step S 1; If not, step S is entered 3;

Step S 3, movement velocity, the acceleration of this vehicle, the variable quantity of the direction of motion of this vehicle and the direction of motion of this vehicle according to the latitude and longitude information of last location, this vehicle calculates the estimated position information of this vehicle.

Step S 4, this estimated position information is sent to a server and/or a mobile terminal.

Specifically, step S 3comprise the following steps:

Within a time period, judge whether the variable quantity of this direction of motion reaches a threshold value, if so, according to the direction of motion of this vehicle of the start time of this time period, in this time period, the movement velocity of this vehicle, the acceleration of this vehicle to calculate the estimated position information of this vehicle according to rectilinear motion; If not, according to the direction of motion of this vehicle of the finish time of this time period, in this time period, the movement velocity of this vehicle, the acceleration of this vehicle to calculate the estimated position information of this vehicle according to rectilinear motion.

In order to the motion state enabling user know vehicle more intuitively, step S 3further comprising the steps of: to set up a reference frame, and in this reference frame, the movement locus of this vehicle is drawn according to the variable quantity of the direction of motion of this vehicle, the movement velocity of this vehicle, the acceleration of this vehicle and this direction of motion.

Except learning that this vehicle is except the motion state in two dimensional surface (such as representing the estimated position information of vehicle with latitude and longitude information), step S 1further comprising the steps of: the variable quantity detecting sea level elevation and/or sea level elevation residing for this vehicle, the variable quantity of sea level elevation and/or sea level elevation is such as detected by an altitude gauge, altitude gauge institute direct-detection is the atmospheric pressure of residing environment, and being converted by atmospheric pressure and relation highly draws the sea level elevation of vehicle present position.

Now, step S 3further comprising the steps of: the variable quantity in conjunction with this sea level elevation and/or sea level elevation calculates the estimated position information of this vehicle.

Certainly, the assisted location method of this vehicle can adopt above-mentioned auxiliary vehicle positioning system to realize.

Below with reference to Fig. 3, for an application example, the assisted location method of auxiliary vehicle positioning system of the present invention and vehicle is further illustrated.Wherein, gyroscope adopts the L3G4200D of ST, and acceleration transducer meter adopts the LIS3DH of ST, and this magnetometer adopts the MAG3100 of Freescale, and this altitude gauge adopts the MPL3115A2 of Freescale.Wireless communication module and GPS module adopt the 3G platform QSC6290 of high pass.

The real-time status of the continuous collection vehicle of each sensor, passes through I 2c interface reports wireless communication module, by the motion state of wireless communication module analytical calculation vehicle, and in conjunction with GPS locating information, calculates the position of Current vehicle, is sent on a mobile terminal.

Shown in Fig. 3, S represents vehicle, and this vehicle is from starting point a setting in motion, and O point GPS module " losing lock ", b point GPS module is reworked.The south poles of the foundation reference magnetometer mark of coordinate system, position O is initial point, and the scale of X-axis represents geographic longitude, and the scale of Y-axis represents geographic latitude, and concrete scale does not show in figure 3.Located to obtain latitude and longitude information by GPS module before the O of position, the movement locus of vehicle S is in figure 3 by thicker entity line mark, when O point because GPS module cannot normally work, there is position excursion or enter " losing lock " state in vehicle S, the actual motion track between O point and b point cannot be obtained, for convenience of description, the actual motion track broken line representation of this vehicle S is supposed.The direction of arrow of S point is vehicle S transient motion direction, i.e. car body direction.

First consider the motion state before O point, can directly Negotiation speed detection module acquisition vehicle actual motion speed and calculate the mean value of movement velocity, or utilize known moving track calculation to go out the average velocity of vehicle S before O point.Such as, due to vehicle S irregular movement, that gets in this known movement locus is a bit of, as in Fig. 3 between position d and position e, can be similar to and think rectilinear motion, by the actual range between the known positional information calculation out position d located by GPS module and position e, and the mistiming is known, so can calculate the movement velocity of vehicle S.Can repeat to get multistage can think and calculate the movement locus of near linear the movement velocity of vehicle S as above-mentioned, all speed calculated averaged, then can draw vehicle S average velocity v in a long time.

Next, the motion state of this vehicle S after considering O point, this motion state is by above-mentioned multiple sensors collection.Magnetometer needs before use through calibration, and make this magnetometer original position consistent with car body in the present embodiment, when changing in car body direction, magnetometer can draw the angle information of car body traffic direction and geographical south poles, and sets up coordinate reference system thus.As Fig. 3, O point rear vehicle S does approximate straight line motion along OA direction, the angle being read this vehicle and X-axis this moment by magnetometer is angle n1, in this motion process, and the v drawn by above-mentioned steps, again by counting instrument error Δ v, the movement velocity of reckoning can be counted v ± Δ v, the movement velocity of this reckoning is multiplied by run duration and just can obtain actual motion distance, in conjunction with latitude and longitude information during known O point " losing lock ", there is known above-mentioned condition, the real-time latitude and longitude information of vehicle S can be calculated.The basis for estimation of approximate straight line motion is provided jointly by gyroscope and magnetometer, in this motion process, gyroscope constantly detect vehicle S and former direction of motion OA deflection (such as with the angle of the direction of motion of vehicle S and X-axis to represent direction of motion so that calculate the variable quantity of direction of motion, from Fig. 3, vehicle is when O point, the direction of motion of vehicle S is OA, the angle of straight line OA and X-axis is n1), the threshold value of the variable quantity of one angle is such as set, this threshold value is set to 10 °, when vehicle S is greater than (n1+10) ° in the direction of motion of certain point and the angle of X-axis, can think that vehicle S no longer does approximate straight line motion, now need the motion state calculating vehicle according to new direction of motion.As Fig. 3, when moving to critical localisation f, the direction of motion of vehicle S is straight line fB, now the angle of straight line fB and X-axis is n2, and n2-n1=15 ° is greater than above-mentioned threshold value, that is, between O point and f point, calculate the estimated position information of vehicle with the motion state of the vehicle of Real-time Collection according to rectilinear motion, then need after f point to carry out next step reckoning, until next critical localisation point according to the real time kinematics direction of vehicle S according to above-mentioned principle.

In brief, be exactly with the movement locus of rectilinear motion simulating vehicle, advantageously, be divided into several identical time period Δ t the time period between O point and b point, the motion considered as straight lines motion in each time period is calculated the positional information of vehicle.

Except plane motion, in order to obtain solid space information, the atmospheric pressure of residing environment can be gathered by altitude gauge, as a reference point with sea level, calculate actual sea level elevation.Can be used to the real-time sea level elevation and the traffic information that judge vehicle S present position.

To sum up can obtain the longitude and latitude of vehicle S and the solid space information of height.

The car status information that the assisted location method of auxiliary vehicle positioning system of the present invention and vehicle is gathered by a kind of simple and practical computing method comprehensive descision sensor thus realize the less location of error, has good application direction and meaning.

Although the foregoing describe the specific embodiment of the present invention, it will be understood by those of skill in the art that these only illustrate, protection scope of the present invention is defined by the appended claims.Those skilled in the art, under the prerequisite not deviating from principle of the present invention and essence, can make various changes or modifications to these embodiments, but these change and amendment all falls into protection scope of the present invention.

Claims (11)

1. an auxiliary vehicle positioning system, it comprises a GPS module and a wireless communication module, the latitude and longitude information that this wireless communication module is used for this GPS module to obtain is sent to a server and/or a mobile terminal by wireless network, this auxiliary vehicle positioning system is located in a vehicle, it is characterized in that, this auxiliary vehicle positioning system also comprises a sensor subsystem, and this sensor subsystem comprises:
One velocity measuring module, for detecting and recording the movement velocity of this vehicle;
One acceleration detection module, for detecting and recording the acceleration of this vehicle;
One angle sensor module, for detecting and recording the variable quantity of the direction of motion of this vehicle;
One magnetic force induction module, for determining the direction of motion in geographical south poles direction and this vehicle;
Latitude and longitude information, this velocity measuring module, this acceleration detection module and the testing result of this angle sensor module, the direction of motion of this vehicle of this wireless communication module also for locating for the last time according to this GPS module calculate the estimated position information of this vehicle;
Within a time period, this wireless communication module is also for judging whether the variable quantity of this direction of motion reaches a threshold value, if so, this wireless communication module is also for the direction of motion of this vehicle of the start time according to this time period, in this time period, the testing result of this velocity measuring module, this acceleration detection module to calculate the estimated position information of this vehicle according to rectilinear motion; If not, this wireless communication module is also for the direction of motion of this vehicle of the finish time according to this time period, in this time period, the testing result of this velocity measuring module, this acceleration detection module to calculate the estimated position information of this vehicle according to rectilinear motion.
2. auxiliary vehicle positioning system as claimed in claim 1, it is characterized in that, this magnetic force induction module also for setting up a reference frame, and draws the movement locus of this vehicle in this reference frame according to the testing result of the direction of motion of this vehicle, this velocity measuring module, this acceleration detection module and this angle sensor module when this GPS module cannot be located.
3. as the auxiliary vehicle positioning system in claim 1-2 as described in any one, it is characterized in that, this auxiliary vehicle positioning system also comprises one for detecting the height detection module of the variable quantity of sea level elevation and/or sea level elevation residing for this vehicle, and this wireless communication module is also for calculating the estimated position information of this vehicle in conjunction with the testing result of this height detection module.
4. as the auxiliary vehicle positioning system in claim 1-2 as described in any one, it is characterized in that, this sensor subsystem is selected from one or more of following scheme:
Scheme 1: this acceleration detection module is an acceleration transducer;
Scheme 2: this angle sensor module is a gyroscope;
Scheme 3: this magnetic force induction module is a magnetometer.
5. auxiliary vehicle positioning system as claimed in claim 4, it is characterized in that, this acceleration transducer is two axle acceleration sensors or 3-axis acceleration sensor; And/or this gyroscope is rate gyroscope or free gyroscope.
6. as the auxiliary vehicle positioning system in claim 1-2 as described in any one, it is characterized in that, this wireless communication module is also for being sent to this server and/or this mobile terminal by this estimated position information.
7. an assisted location method for vehicle, is characterized in that, comprises the following steps:
Step S 1, locate this vehicle to obtain the latitude and longitude information of this vehicle position, detect and record the movement velocity of this vehicle, the acceleration of this vehicle, the direction of motion of this vehicle variable quantity and determine the direction of motion of geographical south poles direction and this vehicle;
Step S 2, judge whether can successfully obtain this latitude and longitude information, if so, again perform step S 1; If not, step S is entered 3;
Step S 3, movement velocity, the acceleration of this vehicle, the variable quantity of the direction of motion of this vehicle and the direction of motion of this vehicle according to the latitude and longitude information of last location, this vehicle calculates the estimated position information of this vehicle;
Step S 3comprise the following steps:
Within a time period, judge whether the variable quantity of this direction of motion reaches a threshold value, if so, according to the direction of motion of this vehicle of the start time of this time period, in this time period, the movement velocity of this vehicle, the acceleration of this vehicle to calculate the estimated position information of this vehicle according to rectilinear motion; If not, according to the direction of motion of this vehicle of the finish time of this time period, in this time period, the movement velocity of this vehicle, the acceleration of this vehicle to calculate the estimated position information of this vehicle according to rectilinear motion.
8. the assisted location method of vehicle as claimed in claim 7, is characterized in that, step S 3further comprising the steps of: to set up a reference frame, and in this reference frame, the movement locus of this vehicle is drawn according to the variable quantity of the direction of motion of this vehicle, the movement velocity of this vehicle, the acceleration of this vehicle and this direction of motion.
9. as the assisted location method of the vehicle in claim 7-8 as described in any one, it is characterized in that, step S 1further comprising the steps of: the variable quantity detecting sea level elevation and/or sea level elevation residing for this vehicle;
Step S 3further comprising the steps of: the variable quantity in conjunction with this sea level elevation and/or sea level elevation calculates the estimated position information of this vehicle.
10. as the assisted location method of the vehicle in claim 7-8 as described in any one, it is characterized in that, step S 1in by detecting as the sensor subsystem in claim 1-5 as described in any one and recording the acceleration of this vehicle, detection record the variable quantity of the direction of motion of this vehicle and determine the direction of motion of geographical south poles direction and this vehicle.
11., as the assisted location method of the vehicle in claim 7-8 as described in any one, is characterized in that, step S 3further comprising the steps of afterwards:
Step S 4, this estimated position information is sent to a server and/or a mobile terminal.
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