CN103247199A - Precise measuring method for moving position and moving gesture of motor vehicle - Google Patents

Abstract

The invention discloses a precise measuring method for a moving position and a moving gesture of a motor vehicle. The method comprises the following steps of a preparation step before the measurement and a real-time measurement step, wherein the preparation step before the measurement comprises the steps of establishing an RTKGPS (real-time kinetic global positioning system) base station, establishing a wireless data communication link, drawing an examination field or a examination road electronic map, installing a car-mounted detection device on the motor vehicle and measuring a relative coordinate of key points of the motor vehicle outline; and the real-time measurement step comprises the steps of measuring and calculating a precise three-dimensional position coordinate and a gesture angle as well as a position relation among different signs, marked lines and static objects of the motor vehicle in the examination field or the examination road electronic map. Due to the adoption of the precise measuring method, the measurement equipment is unnecessary to set on the examination field or the examination road, the detection can be realized by directly adopting the communication between the car-mounted detection device and the base station in the measurement, and the operation cost of the position and gesture detection equipment of the motor vehicle can be reduced when in use; and the detection way is simple, convenience in operation can be realized, continuity in detection can be realized, and the measurement precision is high.

Description

The accurate measurement method of a kind of motor vehicle shift position and attitude

Technical field

The present invention relates to motor vehicle driving technical ability Automatic Measurement Technique field, specifically be a kind of that realize based on carrier phase real time dynamic differential technology (RTK), global satellite positioning (GPS), Geographic Information System treatment technology (GIS), wireless data communication technology and computer technology, be used for to position and the attitude of motor vehicle on known place or the road carry out in real time, the accurate method of measurement.

Background technology

The driver needs the examination by place driving efficiency and driving path technical ability before obtaining motor vehicle driving license, " subject two examinations " that namely are commonly called as and " subject three examinations "; The former is used for examination driver ability of controlling to motor vehicle under common road, common traffic environment, common weather conditions and burst traffic, and to the processing power of traffic events; The latter be used for the examination driver when real road is driven motor vehicle to the ability of controlling of motor vehicle, to the identification of traffic law and the ability of observing, to processing power and the civilization of road traffic condition drive, the consciousness of safe driving.

In subject two examination and subject three are taken an examination, there is the examination of numerous items to relate to the whether whether detection of project such as cake of press of the distance between the stop line on touching lever, whether whether outlet of line ball, vehicle body, vehicle body and the road, wheel of motor vehicle; Original subject two automatic examination systems need bury big quantity sensor underground in the examination place and come location status, driving information to vehicle to gather, and subject three can only be accomplished artificial examination; This makes the examination of motor vehicle driving technical ability be difficult to realize robotization, and it is low that the project ratio is passed judgment in robotization, and examination place construction cost is big, the maintenance maintenance difficulty.

Summary of the invention

The technical problem to be solved in the present invention provides the accurate measurement method of a kind of motor vehicle shift position and attitude, can carry out accurate detection the in real time to vehicle position and attitude, and then realize the robotization of motor vehicle driving examination of technical ability.

Technical scheme of the present invention is:

The accurate measurement method of a kind of motor vehicle shift position and attitude specifically may further comprise the steps:

(1), the preparation before measuring: include and set up RTK GPS base station, set up wireless data communication link, draw examination place or examination road electronic chart, the relative coordinate of vehicle-mounted checkout equipment and measuring machine motor-car profile key point is installed at motor vehicle;

A, set up RTK GPS base station: be the three dimensional space coordinate system that initial point is established whole examination place or examination road with RTK GPS base station, with East and West direction, north-south with highly respectively as X-axis, Y-axis, the Z axle of three-dimensional system of coordinate;

B, set up wireless data communication link: between RTK GPS base station and RTK GPS movement station, set up wireless data communication link;

C, draw examination place or examination road electronic chart: hand-held RTK GPS movement station is positioned over the residing position of various signs, graticule and stationary body on examination place or the examination road, and survey and draw by carrier phase information real time dynamic differential technology, obtain various signs, graticule and stationary body accurate coordinates value or the equation in coordinates in the space coordinates of examination place or examination road, will draw examination place or the examination road electronic chart of getting well at last and be stored in the detection computations machine;

D, at motor vehicle vehicle-mounted checkout equipment is installed: carry a checkout equipment comprise two be installed on the vehicular RTK GPS movement station of body of motor vehicle outside, a wireless data is accepted radio station and a detection computations machine;

The relative coordinate of e, measuring machine motor-car profile key point: hand-held RTK GPS movement station is positioned over each key point position of motor vehicle profile and surveys and draws by carrier phase information real time dynamic differential technology, obtain each key point of motor vehicle profile with respect to the D coordinates value of two vehicular RTK GPS movement stations;

(2), measure in real time: the accurate three-dimensional position coordinates of metering computer motor-car on examination place or examination road electronic chart, attitude angle and with the position relation of other various signs, graticule and stationary body, specifically may further comprise the steps:

A, at first utilize two vehicular RTK GPS movement stations, when moving, motor vehicle can obtain longitude, latitude and the altitude information of two vehicular RTK GPS movement stations on the motor vehicle, and these data are sent in the detection computations machine, the detection computations machine is through coordinate transform, obtain the three-dimensional location coordinates of two vehicular RTK GPS movement stations, and by calculating the attitude angle of motor vehicle;

B, detection computations machine are according to each key point of the three-dimensional location coordinates of two vehicular RTK GPS movement stations and motor vehicle profile three-dimensional coordinate Value Data with respect to two vehicular RTK GPS movement stations, calculate the three-dimensional location coordinates of each key point of motor vehicle profile, namely obtain the accurate outline position of motor vehicle in examination place or examination road electronic chart;

C, detection computations machine are according to the three-dimensional location coordinates of each key point of motor vehicle profile and various signs, graticule and stationary body accurate coordinates value or the equation in coordinates distance that calculates the relative various signs of motor vehicle, graticule and stationary body in the space coordinates of examination place or examination road.

Described carrier phase information real time dynamic differential technology may further comprise the steps: at first RTK GPS base station is sent to the carrier phase information that obtains by gps satellite self observation on the RTK GPS movement station, RTK GPS movement station receives the carrier phase information that RTK GPS base station sends then, RTK GPS movement station receives movement station self carrier phase information that gps satellite sends in real time simultaneously, resolve according to difference at last, obtain the coordinate figure of RTK GPS movement station in examination place or examination road three dimensional space coordinate system.

The key point of described motor vehicle profile includes the protruding point of forward and backward bumper, motor vehicle is projected in four end points of big ground level, the protruding point that motor vehicle is left and right, the protruding point of the left and right rearview mirror of motor vehicle, the medial and lateral touchdown point of four wheels of motor vehicle.

Described wireless data communication link namely connects the wireless data transmission radio station at RTK GPS base station, connects the wireless data that cooperates with the wireless data transmission radio station at RTK GPS movement station and accepts the radio station, by both emission-acceptance realization wireless messages transmission.

Described two vehicular RTK GPS movement stations are installed on the roof of motor vehicle, and are positioned on the line of centres of motor vehicle front and back.

Each key point of described motor vehicle profile with respect to the measurement computing method of the D coordinates value of two vehicular RTK GPS movement stations is: at first the D coordinates value that obtains two vehicular RTK GPS movement stations on the static motor vehicle by carrier phase information real time dynamic differential technology is respectively S10 (x ₁₀, y ₁₀, z ₁₀), S20 (x ₂₀, y ₂₀, z ₂₀), and be Pi0 (P by the D coordinates value that carrier phase information real time dynamic differential technology obtains a certain key point Pi of certain motor vehicle profile _Ix0, P _Iy0, P _Iz0), then the Pi point respectively the D coordinates value relative with two vehicular RTK GPS movement stations be PiS1 (P _Ix0-x ₁₀, P _Iy0-y ₁₀, P _Iz0-z ₁₀), PiS2 (P _Ix0-x ₂₀, P _Iy0-y ₂₀, P _Iz0-z ₂₀); And the like, can obtain the relative D coordinates value of each key point of motor vehicle profile.

The calculating of the attitude angle of described motor vehicle namely adopts " two point location methods " to calculate, specifically may further comprise the steps: the coordinate figure of two vehicular RTK GPS movement stations moves with motor vehicle and changes on the motor vehicle, and its coordinate figure is measured as S1 (x in real time by carrier phase information real time dynamic differential technology ₁, y ₁, z ₁), S2 (x ₂, y ₂, z ₂), and the vector of S1, S2 point composition

Consistent with motor vehicle direction of motion; The angle of motor vehicle and three coordinate surface YOZ, XOZ, XOY equals vector

With angle theta x, θ y, the θ z of these three coordinate surfaces, wherein:

${\mathrm{\θ}}_x=\arcsin \frac{|x2-x1|}{\sqrt{{(x2-x1)}^2+{(y2-y1)}^2+{(z2-z1)}^2}},$

If x2〉x1, θ x is for just; If x2＜x1, θ x is for negative;

${\mathrm{\θ}}_y=\arcsin \frac{|y2-y1|}{\sqrt{{(x2-x1)}^2+{(y2-y1)}^2+{(z2-z1)}^2}},$

If y2〉y1, θ y is for just; If y2＜y1, θ y is for negative;

${\mathrm{\&theta;}}_z=\arcsin \frac{|z2-\mathrm{<figure-callout\; id="1"\; label="z"\; filenames="130515083322.png"\; state="\{\{state\}\}">z</figure-callout>}1|}{\sqrt{{(x2-x1)}^2+{(y2-y1)}^2+{(z2-z1)}^2}},$

If z2〉z1, θ z is for just; If z2＜z1, θ z is for negative;

The three-dimensional location coordinates of described motor vehicle profile key point is defined as Pi (P _Ix, P _Iy, P _Iz), its three-dimensional coordinate figure in real time is:

$P{\left[\begin{array}{c}{P}_{\mathrm{ix}}\\ P_{\mathrm{iy}}\\ P_{\mathrm{iz}}\end{array}\right]}_i=\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos {\mathrm{\&theta;}}_x& -\sin \\ 0& \sin {\mathrm{\&theta;}}_x& \cos {\mathrm{\&theta;}}_x\end{array},{\mathrm{\&theta;}}_x\right]\left[\begin{array}{ccc}\cos {\mathrm{\&theta;}}_y& 0& -\sin {\mathrm{\&theta;}}_y\\ 0& 1& 0\\ \sin {\mathrm{\&theta;}}_y& 0& \cos {\mathrm{\&theta;}}_y\end{array}\right]\left[\begin{array}{ccc}\cos {\mathrm{\&theta;}}_z& -\sin {\mathrm{\&theta;}}_z& 0\\ \sin {\mathrm{\&theta;}}_z& \cos {\mathrm{\&theta;}}_z& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{c}x10\\ y10\\ z10\end{array}\right]+\left[\begin{array}{c}{P}_{\mathrm{ix}0}-x10\\ P_{\mathrm{iy}0}-y10\\ P_{\mathrm{iz}0}-z10\end{array}\right];$

Pi (P by obtaining at last _Ix, P _Iy, P _Iz) with examination place or examination road electronic chart relatively after, obtain the accurate outline position of motorcar body on this examination place or the road of taking an examination.

The distance of the various relatively signs of described motor vehicle, graticule and stationary body specifically adopts following steps to calculate:

1., the relation of the position between motor vehicle and graticule:

The space line equation of graticule adopts following formula to represent: { A1x+B1y+C1z+D1=0, A2x+B2y+C2z+D2=0}, wherein, A1, B1, C1, D1, A2, B2, C2, D2 are the straight-line equation coefficient, and starting point and the end point of space line equation are respectively (x1, y1, z1), (x2, y2, z2)]; Key point Pi (the P of motorcar body profile then _Ix, P _Iy, P _Iz) to this graticule apart from d be:

$d=\frac{|\mathrm{\&delta;}1\stackrel{\&RightArrow;}{\mathrm{<figure-callout\; id="2"\; label="n"\; filenames="130515083322.png"\; state="\{\{state\}\}">n</figure-callout>}2}-\mathrm{\&delta;}2\stackrel{\&RightArrow;}{\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="130515083322.png"\; state="\{\{state\}\}">n</figure-callout>}1}|}{|\stackrel{\&RightArrow;}{\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="130515083322.png"\; state="\{\{state\}\}">n</figure-callout>}1}\&times;\stackrel{\&RightArrow;}{\mathrm{<figure-callout\; id="2"\; label="n"\; filenames="130515083322.png"\; state="\{\{state\}\}">n</figure-callout>}2}|};$

Wherein: δ 1=A1P _Ix+ B1P _Iy+ C1P _Iz+ D1, δ 2=A2P _Ix+ B2P _Iy+ C2P _Iz+ D2, $\stackrel{\&RightArrow;}{\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="130515083322.png"\; state="\{\{state\}\}">n</figure-callout>}1}=\{A1,\mathrm{<figure-callout\; id="1"\; label="B"\; filenames="130515083322.png"\; state="\{\{state\}\}">B</figure-callout>}1,C1\},$ $\stackrel{\&RightArrow;}{\mathrm{<figure-callout\; id="2"\; label="n"\; filenames="130515083322.png"\; state="\{\{state\}\}">n</figure-callout>}2}=\{A2,\mathrm{<figure-callout\; id="2"\; label="B"\; filenames="130515083322.png"\; state="\{\{state\}\}">B</figure-callout>}2,C2\};$

2., the relation of the position between motor vehicle and " point-like " stationary body:

Four sides, motor vehicle front, rear, left and right are described with following four space plane equations respectively: { Aix+Biy+Ciz+Di=0, i=1,2,3,4}, wherein, i represents the not definition of ipsilateral, and Ai, Bi, Ci, Di are equation coefficient, and the three-dimensional coordinate of " point-like " stationary body is S (S _x, S _y, S _z), what then four side branches of motor vehicle were clipped to " point-like " stationary body apart from di is:

$\mathrm{di}=\frac{|\mathrm{Ai}{S}_x+\mathrm{Bi}{S}_y+\mathrm{Ci}{S}_z+\mathrm{Di}|}{\sqrt{{\mathrm{Ai}}^2+{\mathrm{Bi}}^2+{\mathrm{<figure-callout\; id="2"\; label="Ci"\; filenames="130515083322.png"\; state="\{\{state\}\}">Ci</figure-callout>}}^2}},i=\mathrm{1,2,3,4};$

3., the relation of the position between motor vehicle and stationary body:

Stationary body in the electronic chart of examination place or examination road with a regional π { (X _Wl, X _W2), (Y _W1, Y _W2), (Z _W1, Z _W2) represent that the position of four wheels of motor vehicle is used its medial and lateral touchdown point Wi{Wi usually _x, Wi _y, Wi _z, i=1,2 determine, wherein, i represent the definition in the outside in the wheel, looks for the real time position coordinate Wi of car wheel whether to be positioned at the regional π of stationary body then and judges whether the pressure rolling stationary body.

Advantage of the present invention:

(1), the present invention need not in the examination place or the examination road is installed any vehicle position and attitude detection equipment, saves a large amount of places checkout equipment and capital construction input, small investment, short construction period;

(2), the present invention installs concentratedly in examining on the car for detection of the vehicle-mounted checkout equipment of signal and computing, operation cost when having reduced the use of vehicle position and attitude detection equipment, owing to do not have equipment in examination place and examination road, do not need plant maintenance, no accessory consumption, handling cost is low;

(3), the present invention uses in motor vehicle driving examination of technical ability system, can improve the robotization detection ratio of test item, improves standardization, robotization, the intelligent degree of motor vehicle driving examination of technical ability system greatly;

(4), the present invention improved motor vehicle driving examination of technical ability and training effectiveness, can dispatch a car uninterruptedly, can select a plurality of starting points and terminal point, can take an examination and train simultaneously and carry out;

(5), use of the present invention, can be in same examination hall or the examination road carry out the instruction of examining of various different automobile types, save a large amount of land resources, reduce greatly and examine the land development cost of instruction center or school, satisfy social development to the demand of driving efficiency training and examination;

(6), the present invention improved the upgrading extended capability of driving efficiency automatic examination system, the modification of passing judgment on rule only needs upgrade software just can finish, the increase and decrease of examination ability only needs modification test item quantity configuration file to get final product.

Description of drawings

Fig. 1 is structural representation of the present invention.

Fig. 2 is the fundamental diagram of RTK GPS base station of the present invention.

Fig. 3 is the fundamental diagram of the vehicle-mounted checkout equipment of the present invention.

Embodiment

The accurate measurement method of a kind of motor vehicle shift position and attitude specifically may further comprise the steps:

(1), the preparation before measuring: include and set up RTK GPS base station 2, set up wireless data communication link, draw examination place or examination road electronic chart, the relative coordinate of vehicle-mounted checkout equipments 4 and measuring machine motor-car profile key point is installed at motor vehicle 3;

A, set up RTK GPS base station: be the three dimensional space coordinate system that initial point is established whole examination place or examination road with RTK GPS base station 2, with East and West direction, north-south with highly respectively as X-axis, Y-axis, the Z axle of three-dimensional system of coordinate;

B, set up wireless data communication link: between RTK GPS base station 2 and RTK GPS movement station, set up wireless data communication link; Wireless data communication link namely connects wireless data transmission radio station 5 at RTK GPS base station 2, connects the wireless data that cooperates with wireless data transmission radio station 5 at RTK GPS movement station and accepts the radio station, by both emission-acceptance realization wireless messages transmission;

C, draw examination place or examination road electronic chart: hand-held RTK GPS movement station is positioned over the residing position of various signs, graticule and stationary body on examination place or the examination road, and survey and draw by carrier phase information real time dynamic differential technology, obtain various signs, graticule and stationary body accurate coordinates value or the equation in coordinates in the space coordinates of examination place or examination road, will draw examination place or the examination road electronic chart of getting well at last and be stored in the detection computations machine; Wherein, carrier phase information real time dynamic differential technology may further comprise the steps: at first RTK GPS base station 2 is self observing the carrier phase information that obtains be sent on the RTK GPS movement station by gps satellite 1, RTK GPS movement station receives the carrier phase information that RTK GPS base station 2 sends then, RTK GPS movement station receives movement station self carrier phase information that gps satellite 1 sends in real time simultaneously, resolve according to difference at last, obtain the coordinate figure of RTK GPS movement station in examination place or examination road three dimensional space coordinate system;

D, at motor vehicle vehicle-mounted checkout equipment is installed: carry a checkout equipment 4 comprise two be installed on the roof of motor vehicle 3 and be positioned at the vehicular RTK GPS movement station 42 on the motor vehicle 3 front and back lines of centres, a wireless data is accepted radio station 41 and a detection computations machine 43;

E, the relative coordinate of measuring machine motor-car profile key point: hand-held RTK GPS movement station is positioned over each key point position of motor vehicle 3 profiles and surveys and draws by carrier phase information real time dynamic differential technology, obtain each key point of motor vehicle profile (before the key point of motor vehicle profile includes, the protruding point of rear bumper, motor vehicle is projected in four end points of big ground level, a motor vehicle left side, the protruding point on the right side, a motor vehicle left side, the protruding point of right back visor is in four wheels of motor vehicle, outside touchdown point) with respect to the D coordinates value of two vehicular RTKGPS movement stations 42; Each key point of motor vehicle profile with respect to the measurement computing method of the D coordinates value of two vehicular RTK GPS movement stations is: at first the D coordinates value that obtains two vehicular RTK GPS movement stations 42 on the static motor vehicle by carrier phase information real time dynamic differential technology is respectively S10 (x ₁₀, y ₁₀, z ₁₀), S20 (x ₂₀, y ₂₀, z ₂₀), and be Pi0 (P by the D coordinates value that carrier phase information real time dynamic differential technology obtains a certain key point Pi of certain motor vehicle 3 profile _Ix0, P _Iy0, P _Iz0), then the Pi point respectively the D coordinates value relative with two vehicular RTK GPS movement stations 42 be PiS1 (P _Ix0-x ₁₀, P _Iy0-y ₁₀, P _Iz0-z ₁₀), PiS2 (P _Ix0-x ₂₀, P _Iy0-y ₂₀, P _Iz0-z ₂₀); And the like, can obtain the relative D coordinates value of each key point of motor vehicle 3 profiles

(2), measure in real time: the accurate three-dimensional position coordinates of metering computer motor-car 3 on examination place or examination road electronic chart, attitude angle and with the position relation of other various signs, graticule and stationary body, specifically may further comprise the steps:

A, at first utilize two vehicular RTK GPS movement stations 42, when moving, motor vehicle 3 can obtain longitude, latitude and the altitude information of two vehicular RTK GPS movement stations 42 on the motor vehicle, and these data are sent in the detection computations machine 43, detection computations machine 43 is through coordinate transform, obtain the three-dimensional location coordinates of two vehicular RTK GPS movement stations 42, and by calculating the attitude angle of motor vehicle;

B, detection computations machine 43 are according to each key point of the three-dimensional location coordinates of two vehicular RTK GPS movement stations 42 and motor vehicle profile three-dimensional coordinate Value Data with respect to two vehicular RTK GPS movement stations 42, calculate the three-dimensional location coordinates of motor vehicle 3 each key point of profile, namely obtain the accurate outline position of motor vehicle 3 in examination place or examination road electronic chart;

The calculating of the attitude angle of above-mentioned motor vehicle 3 namely adopts " two point location methods " to calculate, specifically may further comprise the steps: the coordinate figure of two vehicular RTK GPS movement stations moves with motor vehicle and changes on the motor vehicle, and its coordinate figure is measured as S1 (x in real time by carrier phase information real time dynamic differential technology ₁, y ₁, z ₁), S2 (x ₂, y ₂, z ₂), and the vector of S1, S2 point composition

Consistent with motor vehicle direction of motion; The angle of motor vehicle and three coordinate surface YOZ, XOZ, XOY equals vector

With angle theta x, θ y, the θ z of these three coordinate surfaces, wherein:

${\mathrm{\&theta;}}_x=\arcsin \frac{|x2-x1|}{\sqrt{{(x2-x1)}^2+{(y2-y1)}^2+{(z2-z1)}^2}},$

If x2〉x1, θ x is for just; If x2＜x1, θ x is for negative;

${\mathrm{\&theta;}}_y=\arcsin \frac{|y2-\mathrm{<figure-callout\; id="1"\; label="y"\; filenames="130515083322.png"\; state="\{\{state\}\}">y</figure-callout>}1|}{\sqrt{{(x2-x1)}^2+{(y2-y1)}^2+{(z2-z1)}^2}},$

If y2〉y1, θ y is for just; If y2＜y1, θ y is for negative;

${\mathrm{\&theta;}}_z=\arcsin \frac{|z2-\mathrm{<figure-callout\; id="1"\; label="z"\; filenames="130515083322.png"\; state="\{\{state\}\}">z</figure-callout>}1|}{\sqrt{{(x2-x1)}^2+{(y2-y1)}^2+{(z2-z1)}^2}},$

If z2〉z1, θ z is for just; If z2＜z1, θ z is for negative;

The three-dimensional location coordinates of described motor vehicle profile key point is defined as Pi (P _Ix, P _Iy, P _Iz), its three-dimensional coordinate figure in real time is:

$P{\left[\begin{array}{c}{P}_{\mathrm{ix}}\\ P_{\mathrm{iy}}\\ P_{\mathrm{iz}}\end{array}\right]}_i=\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos {\mathrm{\&theta;}}_x& -\sin \\ 0& \sin {\mathrm{\&theta;}}_x& \cos {\mathrm{\&theta;}}_x\end{array},{\mathrm{\&theta;}}_x\right]\left[\begin{array}{ccc}\cos {\mathrm{\&theta;}}_y& 0& -\sin {\mathrm{\&theta;}}_y\\ 0& 1& 0\\ \sin {\mathrm{\&theta;}}_y& 0& \cos {\mathrm{\&theta;}}_y\end{array}\right]\left[\begin{array}{ccc}\cos {\mathrm{\&theta;}}_z& -\sin {\mathrm{\&theta;}}_z& 0\\ \sin {\mathrm{\&theta;}}_z& \cos {\mathrm{\&theta;}}_z& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{c}x10\\ y10\\ z10\end{array}\right]+\left[\begin{array}{c}{P}_{\mathrm{ix}0}-x10\\ P_{\mathrm{iy}0}-y10\\ P_{\mathrm{iz}0}-z10\end{array}\right];$

Pi (P by obtaining at last _Ix, P _Iy, P _Iz) with examination place or examination road electronic chart relatively after, obtain the accurate outline position of motorcar body on this examination place or the road of taking an examination;

C, detection computations machine are according to the three-dimensional location coordinates of each key point of motor vehicle profile and various signs, graticule and stationary body accurate coordinates value or the equation in coordinates distance that calculates the relative various signs of motor vehicle, graticule and stationary body in the space coordinates of examination place or examination road;

The distance of the various relatively signs of motor vehicle, graticule and stationary body specifically adopts following steps to calculate:

1., the relation of the position between motor vehicle and graticule:

The space line equation of graticule adopts following formula to represent: { A1x+B1y+C1z+D1=0, A2x+B2y+C2z+D2=0}, wherein, Al, Bl, Cl, D1, A2, B2, C2, D2 are the straight-line equation coefficient, and starting point and the end point of space line equation are respectively (x1, y1, z1), (x2, y2, z2)]; Key point Pi (the P of motorcar body profile then _Ix, P _Iy, P _Iz) to this graticule apart from d be:

$d=\frac{|\mathrm{\&delta;}1\stackrel{\&RightArrow;}{\mathrm{<figure-callout\; id="2"\; label="n"\; filenames="130515083322.png"\; state="\{\{state\}\}">n</figure-callout>}2}-\mathrm{\&delta;}2\stackrel{\&RightArrow;}{\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="130515083322.png"\; state="\{\{state\}\}">n</figure-callout>}1}|}{|\stackrel{\&RightArrow;}{\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="130515083322.png"\; state="\{\{state\}\}">n</figure-callout>}1}\&times;\stackrel{\&RightArrow;}{\mathrm{<figure-callout\; id="2"\; label="n"\; filenames="130515083322.png"\; state="\{\{state\}\}">n</figure-callout>}2}|};$

Wherein: δ 1=A1P _Ix+ B1P _Iy+ C1P _Iz+ D1, δ 2=A2P _Ix+ B2P _Iy+ C2P _Iz+ D2, $\stackrel{\&RightArrow;}{\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="130515083322.png"\; state="\{\{state\}\}">n</figure-callout>}1}=\{A1,\mathrm{<figure-callout\; id="1"\; label="B"\; filenames="130515083322.png"\; state="\{\{state\}\}">B</figure-callout>}1,C1\},$ $\stackrel{\&RightArrow;}{\mathrm{<figure-callout\; id="2"\; label="n"\; filenames="130515083322.png"\; state="\{\{state\}\}">n</figure-callout>}2}=\{A2,\mathrm{<figure-callout\; id="2"\; label="B"\; filenames="130515083322.png"\; state="\{\{state\}\}">B</figure-callout>}2,C2\};$

2., the relation of the position between motor vehicle and " point-like " stationary body:

Four sides, motor vehicle front, rear, left and right are described with following four space plane equations respectively: { Aix+Biy+Ciz+Di=0, i=1,2,3,4}, wherein, i represents the not definition of ipsilateral, and Ai, Bi, Ci, Di are equation coefficient, and the three-dimensional coordinate of " point-like " stationary body is S (S _x, S _y, S _z), what then four side branches of motor vehicle were clipped to " point-like " stationary body apart from di is:

$\mathrm{di}=\frac{|\mathrm{Ai}{S}_x+\mathrm{Bi}{S}_y+\mathrm{Ci}{S}_z+\mathrm{Di}|}{\sqrt{{\mathrm{<figure-callout\; id="2"\; label="Ai"\; filenames="130515083322.png"\; state="\{\{state\}\}">Ai</figure-callout>}}^2+{\mathrm{<figure-callout\; id="2"\; label="Bi"\; filenames="130515083322.png"\; state="\{\{state\}\}">Bi</figure-callout>}}^2+{\mathrm{<figure-callout\; id="2"\; label="Ci"\; filenames="130515083322.png"\; state="\{\{state\}\}">Ci</figure-callout>}}^2}},i=\mathrm{1,2,3,4};$

3., the relation of the position between motor vehicle and stationary body:

Stationary body in the electronic chart of examination place or examination road with a regional π { (X _W1, X _W2), (Y _W1, Y _W2), (Z _W1, Z _W2) represent that the position of four wheels of motor vehicle is used its medial and lateral touchdown point Wi{Wi usually _x, Wi _y, Wi _z, i=1,2 determine, wherein, i represent the definition in the outside in the wheel, looks for the real time position coordinate Wi of car wheel whether to be positioned at the regional π of stationary body then and judges whether the pressure rolling stationary body.

Claims (8)

1. the accurate measurement method of a motor vehicle shift position and attitude is characterized in that: specifically may further comprise the steps:

(1), the preparation before measuring: include and set up RTK GPS base station, set up wireless data communication link, draw examination place or examination road electronic chart, the relative coordinate of vehicle-mounted checkout equipment and measuring machine motor-car profile key point is installed at motor vehicle;

A, set up RTK GPS base station: be the three dimensional space coordinate system that initial point is established whole examination place or examination road with RTK GPS base station, with East and West direction, north-south with highly respectively as X-axis, Y-axis, the Z axle of three-dimensional system of coordinate;

B, set up wireless data communication link: between RTK GPS base station and RTK GPS movement station, set up wireless data communication link;

C, draw examination place or examination road electronic chart: hand-held RTK GPS movement station is positioned over the residing position of various signs, graticule and stationary body on examination place or the examination road, and survey and draw by carrier phase information real time dynamic differential technology, obtain various signs, graticule and stationary body accurate coordinates value or the equation in coordinates in the space coordinates of examination place or examination road, will draw examination place or the examination road electronic chart of getting well at last and be stored in the detection computations machine;

D, at motor vehicle vehicle-mounted checkout equipment is installed: carry a checkout equipment comprise two be installed on the vehicular RTK GPS movement station of body of motor vehicle outside, a wireless data is accepted radio station and a detection computations machine;

The relative coordinate of e, measuring machine motor-car profile key point: hand-held RTK GPS movement station is positioned over each key point position of motor vehicle profile and surveys and draws by carrier phase information real time dynamic differential technology, obtain each key point of motor vehicle profile with respect to the D coordinates value of two vehicular RTK GPS movement stations;

(2), measure in real time: the accurate three-dimensional position coordinates of metering computer motor-car on examination place or examination road electronic chart, attitude angle and with the position relation of other various signs, graticule and stationary body, specifically may further comprise the steps:

A, at first utilize two vehicular RTK GPS movement stations, when moving, motor vehicle can obtain longitude, latitude and the altitude information of two vehicular RTK GPS movement stations on the motor vehicle, and these data are sent in the detection computations machine, the detection computations machine is through coordinate transform, obtain the three-dimensional location coordinates of two vehicular RTK GPS movement stations, and by calculating the attitude angle of motor vehicle;

B, detection computations machine are according to each key point of the three-dimensional location coordinates of two vehicular RTK GPS movement stations and motor vehicle profile three-dimensional coordinate Value Data with respect to two vehicular RTK GPS movement stations, calculate the three-dimensional location coordinates of each key point of motor vehicle profile, namely obtain the accurate outline position of motor vehicle in examination place or examination road electronic chart;

C, detection computations machine are according to the three-dimensional location coordinates of each key point of motor vehicle profile and various signs, graticule and stationary body accurate coordinates value or the equation in coordinates distance that calculates the relative various signs of motor vehicle, graticule and stationary body in the space coordinates of examination place or examination road.

2. the accurate measurement method of motor vehicle shift position according to claim 1 and attitude, it is characterized in that: described carrier phase information real time dynamic differential technology may further comprise the steps: at first RTK GPS base station is sent to the carrier phase information that obtains by gps satellite self observation on the RTK GPS movement station, RTK GPS movement station receives the carrier phase information that RTK GPS base station sends then, RTK GPS movement station receives movement station self carrier phase information that gps satellite sends in real time simultaneously, resolve according to difference at last, obtain the coordinate figure of RTK GPS movement station in examination place or examination road three dimensional space coordinate system.

3. the accurate measurement method of motor vehicle shift position according to claim 1 and attitude, it is characterized in that: the key point of described motor vehicle profile includes the protruding point of forward and backward bumper, motor vehicle is projected in four end points of big ground level, the protruding point that motor vehicle is left and right, the protruding point of the left and right rearview mirror of motor vehicle, the medial and lateral touchdown point of four wheels of motor vehicle.

4. the accurate measurement method of motor vehicle shift position according to claim 1 and attitude, it is characterized in that: described wireless data communication link namely connects the wireless data transmission radio station at RTK GPS base station, connect the wireless data that cooperates with the wireless data transmission radio station at RTK GPS movement station and accept the radio station, by both emission-acceptance realization wireless messages transmission.

5. the accurate measurement method of motor vehicle shift position according to claim 1 and attitude, it is characterized in that: described two vehicular RTK GPS movement stations are installed on the roof of motor vehicle, and are positioned at before and after the motor vehicle on the line of centres.

6. the accurate measurement method of motor vehicle shift position according to claim 1 and attitude, it is characterized in that: each key point of described motor vehicle profile with respect to the measurement computing method of the D coordinates value of two vehicular RTK GPS movement stations is: at first the D coordinates value that obtains two vehicular RTK GPS movement stations on the static motor vehicle by carrier phase information real time dynamic differential technology is respectively S10 (x ₁₀, y ₁₀, z ₁₀), S20 (x ₂₀, y ₂₀, z ₂₀), and be Pi0 (P by the D coordinates value that carrier phase information real time dynamic differential technology obtains a certain key point Pi of certain motor vehicle profile _Ix0, P _Iy0, P _Iz0), then the Pi point respectively the D coordinates value relative with two vehicular RTK GPS movement stations be PiS1 (P _Ix0-x ₁₀, P _Iy0-y ₁₀, P _Iz0-z ₁₀), PiS2 (P _Ix0-x ₂₀, P _Iy0-y ₂₀, P _Iz0-z ₂₀); And the like, can obtain the relative D coordinates value of each key point of motor vehicle profile.

7. the accurate measurement method of motor vehicle shift position according to claim 1 and attitude, it is characterized in that: the calculating of the attitude angle of described motor vehicle namely adopts " two point location methods " to calculate, specifically may further comprise the steps: the coordinate figure of two vehicular RTK GPS movement stations moves with motor vehicle and changes on the motor vehicle, and its coordinate figure is measured as S1 (x in real time by carrier phase information real time dynamic differential technology ₁, y ₁, z ₁), S2 (x ₂, y ₂, z ₂), and the vector of S1, S2 point composition

Consistent with motor vehicle direction of motion; The angle of motor vehicle and three coordinate surface YOZ, XOZ, XOY equals vector

With angle theta x, θ y, the θ z of these three coordinate surfaces, wherein:

${\mathrm{\&theta;}}_x=\arcsin \frac{|x2-x1|}{\sqrt{{(x2-x1)}^2+{(y2-y1)}^2+{(z2-z1)}^2}},$

If x2〉x1, θ x is for just; If x2＜x1, θ x is for negative;

${\mathrm{\&theta;}}_y=\arcsin \frac{|y2-y1|}{\sqrt{{(x2-x1)}^2+{(y2-y1)}^2+{(z2-z1)}^2}},$

If y2〉y1, θ y is for just; If y2＜y1, θ y is for negative;

${\mathrm{\&theta;}}_z=\arcsin \frac{|z2-z1|}{\sqrt{{(x2-x1)}^2+{(y2-y1)}^2+{(z2-z1)}^2}},$

If z2〉z1, θ z is for just; If z2＜z1, θ z is for negative;

The three-dimensional location coordinates of described motor vehicle profile key point is defined as Pi (P _Ix, P _Iy, P _Iz), its three-dimensional coordinate figure in real time is:

$P{\left[\begin{array}{c}{P}_{\mathrm{ix}}\\ P_{\mathrm{iy}}\\ P_{\mathrm{iz}}\end{array}\right]}_i=\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos {\mathrm{\&theta;}}_x& -\sin \\ 0& \sin {\mathrm{\&theta;}}_x& \cos {\mathrm{\&theta;}}_x\end{array},{\mathrm{\&theta;}}_x\right]\left[\begin{array}{ccc}\cos {\mathrm{\&theta;}}_y& 0& -\sin {\mathrm{\&theta;}}_y\\ 0& 1& 0\\ \sin {\mathrm{\&theta;}}_y& 0& \cos {\mathrm{\&theta;}}_y\end{array}\right]\left[\begin{array}{ccc}\cos {\mathrm{\&theta;}}_z& -\sin {\mathrm{\&theta;}}_z& 0\\ \sin {\mathrm{\&theta;}}_z& \cos {\mathrm{\&theta;}}_z& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{c}x10\\ y10\\ z10\end{array}\right]+\left[\begin{array}{c}{P}_{\mathrm{ix}0}-x10\\ P_{\mathrm{iy}0}-y10\\ P_{\mathrm{iz}0}-z10\end{array}\right];$

Pi (P by obtaining at last _Ix, P _Iy, P _Iz) with examination place or examination road electronic chart relatively after, obtain the accurate outline position of motorcar body on this examination place or the road of taking an examination.

8. the accurate measurement method of motor vehicle shift position according to claim 1 and attitude, it is characterized in that: the distance of the various relatively signs of described motor vehicle, graticule and stationary body specifically adopts following steps to calculate:

1., the relation of the position between motor vehicle and graticule:

The space line equation of graticule adopts following formula to represent: { A1x+B1y+C1z+D1=0, A2x+B2y+C2z+D2=0}, wherein, Al, Bl, Cl, D1, A2, B2, C2, D2 are the straight-line equation coefficient, and starting point and the end point of space line equation are respectively (x1, y1, z1), (x2, y2, z2)]; Key point Pi (the P of motorcar body profile then _Ix, P _Iy, P _Iz) to this graticule apart from d be:

$d=\frac{|\mathrm{\&delta;}1\stackrel{\&RightArrow;}{n2}-\mathrm{\&delta;}2\stackrel{\&RightArrow;}{n1}|}{|\stackrel{\&RightArrow;}{n1}\&times;\stackrel{\&RightArrow;}{n2}|};$

Wherein: δ 1=A1P _Ix+ B1P _Iy+ C1P _Iz+ D1, δ 2=A2P _Ix+ B2P _Iy+ C2P _Iz+ D2, $\stackrel{\&RightArrow;}{n1}=\{A1,B1,C1\},$ $\stackrel{\&RightArrow;}{n2}=\{A2,B2,C2\};$

2., the relation of the position between motor vehicle and " point-like " stationary body:

Four sides, motor vehicle front, rear, left and right are described with following four space plane equations respectively: { Aix+Biy+Ciz+Di=0, i=1,2,3,4}, wherein, i represents the not definition of ipsilateral, and Ai, Bi, Ci, Di are equation coefficient, and the three-dimensional coordinate of " point-like " stationary body is S (S _x, S _y, S _z), what then four side branches of motor vehicle were clipped to " point-like " stationary body apart from di is:

$\mathrm{di}=\frac{|\mathrm{Ai}{S}_x+\mathrm{Bi}{S}_y+\mathrm{Ci}{S}_z+\mathrm{Di}|}{\sqrt{{\mathrm{Ai}}^2+{\mathrm{Bi}}^2+{\mathrm{Ci}}^2}},i=\mathrm{1,2,3,4};$

3., the relation of the position between motor vehicle and stationary body:

Stationary body in the electronic chart of examination place or examination road with a regional π { (X _W1, X _W2), (Y _W1, Y _W2), (Z _W1, Z _W2) represent that the position of four wheels of motor vehicle is used its medial and lateral touchdown point Wi{Wi usually _x, Wi _y, Wi _z, i=1,2 determine, wherein, i represent the definition in the outside in the wheel, looks for the real time position coordinate Wi of car wheel whether to be positioned at the regional π of stationary body then and judges whether the pressure rolling stationary body.

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