CN103247199B - 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 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, for the position of motor vehicle on known place or road with attitude is carried out in real time, the method for accurately measurement.

Background technology

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

To take an examination and in subject three examination at subject two, have the examination of numerous items to relate to detection to the distance on motor vehicle whether touching lever, whether line ball, vehicle body whether outlet, vehicle body and road between stop line, the wheel whether project such as cake of press; Original subject two automatic examination system needs to bury underground large quantity sensor on test site and gathers the location status of vehicle, driving information, and subject three can only accomplish artificial examination; This makes the examination of motor vehicle driving technical ability be difficult to realize robotization, and it is low that project ratio is passed judgment in robotization, and test site construction cost is large, maintenance maintenance difficulty.

Summary of the invention

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

Technical scheme of the present invention is:

An accurate measurement method for motor vehicle shift position and attitude, specifically comprises the following steps:

(1) preparation before, measuring: the relative coordinate including and set up RTK GPS base station, set up wireless data communication link, draw test site or examination road electronic chart, install vehicle-mounted checkout equipment and measuring machine motor-car profile key point on motor vehicle;

A, set up RTK GPS base station: with RTK GPS base station for initial point establishes the three-dimensional coordinate system of whole test site or examination road, using East and West direction, north-south and height as X-axis, Y-axis, the Z axis 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, drafting test site or examination road electronic chart: hand-held RTK GPS movement station is positioned over the position residing for various marks, graticule and stationary body on test site or examination road, and surveyed and drawn by carrier phase information real time dynamic differential technology, obtain accurate coordinates value in the space coordinates of test site or examination road of various mark, graticule and stationary body or equation in coordinates, finally drawn test site or examination road electronic chart are stored in detection computations machine;

D, vehicle-mounted checkout equipment is installed on motor vehicle: carry a checkout equipment and comprise that two are installed on the vehicular RTK GPS movement station of body of motor vehicle outside, a wireless data accepts 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 is surveyed and drawn by carrier phase information real time dynamic differential technology, obtains the D coordinates value of each key point relative to two vehicular RTK GPS movement stations of motor vehicle profile;

(2), in real time measure: accurate three-dimensional position coordinates, attitude angle and the position relationship with other various mark, graticule and stationary body of survey calculation motor vehicle on test site or examination road electronic chart, specifically comprise the following steps:

A, first utilize two vehicular RTK GPS movement stations, the longitude of two vehicular RTK GPS movement stations on motor vehicle, latitude and altitude information can be obtained when motor vehicle moves, and these data are sent in detection computations machine, 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 the three-dimensional location coordinates of two vehicular RTK GPS movement stations and each key point of the motor vehicle profile three-dimensional coordinate Value Data relative to two vehicular RTK GPS movement stations, calculate the three-dimensional location coordinates of each key point of motor vehicle profile, namely obtain the exact outline location of motor vehicle in test site or examination road electronic chart;

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

Described carrier phase information real time dynamic differential technology comprises the following steps: first RTK GPS base station is sent to observed the carrier phase information obtained by gps satellite self on RTK GPS movement station, then RTK GPS movement station receives the carrier phase information that RTK GPS base station sends, the movement station own carrier phase information of RTK GPS movement station real-time reception gps satellite transmission simultaneously, finally resolve according to difference, obtain the coordinate figure of RTK GPS movement station in test site or examination road three-dimensional 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 large 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 motor vehicle four wheels.

Namely described wireless data communication link connects wireless data transmission radio station on RTK GPS base station, connects the wireless data coordinated with wireless data transmission radio station and accepts radio station, realize wireless information transfer by both transmitting-acceptance at RTK GPS movement station.

Two described vehicular RTK GPS movement stations are installed on the roof of motor vehicle, and are positioned on motor vehicle front-rear center line.

Each key point of described motor vehicle profile relative to the survey calculation method of the D coordinates value of two vehicular RTK GPS movement stations is: the D coordinates value of two the vehicular RTK GPS movement stations first obtained on 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 D coordinates value that Pi point is relative with two vehicular RTK GPS movement stations is respectively 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); The like, the relative dimensional coordinate figure of each key point of motor vehicle profile can be obtained.

Namely the calculating of the attitude angle of described motor vehicle adopt " two point location methods " to calculate, specifically comprise the following steps: on motor vehicle, the coordinate figure of two vehicular RTK GPS movement stations moves with motor vehicle and changes, 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 motion direction; The angle of motor vehicle and three coordinate surfaces 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 just; If x2<x1, θ x is negative;

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

If y2>y1, θ y is just; If y2<y1, θ y is negative;

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

If z2>z1, θ z is just; If z2<z1, θ z is 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 real-time coordinates value is:

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

Finally by the Pi (P obtained _ix, P _iy, P _iz) compare with test site or road electronic chart of taking an examination after, obtain motorcar body this test site or examination road on exact outline location.

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

1. the position relationship, 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 straight-line equation coefficient, and starting point and the end point of space line equation are respectively (x1, y1, z1), (x2, y2, z2)]; The then key point Pi (P of motorcar body profile _ix, P _iy, P _iz) to the distance d of this graticule 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 position relationship, between motor vehicle and " point-like " stationary body:

Side, four, motor vehicle front, rear, left and right describes with following four space plane equations respectively: { Aix+Biy+Ciz+Di=0, i=1,2,3,4}, wherein, i represents the definition of not 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), then motor vehicle four sides divide the distance di being clipped to " point-like " stationary body to be:

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

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

Stationary body in the electronic chart of test site or examination road with a region π { (X _wl, X _w2), (Y _w1, Y _w2), (Z _w1, Z _w2) represent, the position of motor vehicle four wheels is usually with its medial and lateral touchdown point Wi{Wi _x, Wi _y, Wi _z, i=1,2 determine, wherein, i represents the definition in outside in wheel, then looks for the real-time location coordinates Wi of car wheel whether to be positioned at stationary body region π to judge whether pressure rolling stationary body.

Advantage of the present invention:

(1), the present invention without the need to installing any vehicle position and posture detection device at test site or examination road, save a large amount of places checkout equipment and capital construction and drop into, small investment, short construction period;

(2), the present invention installs concentratedly in examining car for the vehicle-mounted checkout equipment of detection signal and computing, reduce operation cost when vehicle position and posture detection device use, owing to there is no equipment on test site and examination road, do not need plant maintenance, without accessory consumption, handling cost is low;

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

(4), invention increases motor vehicle driving examination of technical ability and training effectiveness, can dispatch a car uninterruptedly, multiple starting point and terminal can be selected, can take an examination and train and carry out simultaneously;

(5), use of the present invention, that can carry out various different automobile types in same examination hall or examination road examines instruction, save a large amount of land resource, greatly reduce the land development cost of Kao Xun center or school, meet the demand of social development to driving efficiency training and examination;

(6), invention increases the upgrading extended capability of driving efficiency automatic examination system, the amendment passing judgment on rule only needs upgrade software just can complete, and the increase and decrease of examination ability need revise test item quantity configuration file.

Accompanying drawing explanation

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

An accurate measurement method for motor vehicle shift position and attitude, specifically comprises the following steps:

(1) preparation before, measuring: the relative coordinate including and set up RTK GPS base station 2, set up wireless data communication link, draw test site or examination road electronic chart, install vehicle-mounted checkout equipment 4 and measuring machine motor-car profile key point on motor vehicle 3;

A, set up RTK GPS base station: with RTK GPS base station 2 for initial point establishes the three-dimensional coordinate system of whole test site or examination road, using East and West direction, north-south and height as X-axis, Y-axis, the Z axis 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; Namely wireless data communication link connects wireless data transmission radio station 5 on RTK GPS base station 2, connects the wireless data coordinated with wireless data transmission radio station 5 and accepts radio station, realize wireless information transfer by both transmitting-acceptance at RTK GPS movement station;

C, drafting test site or examination road electronic chart: hand-held RTK GPS movement station is positioned over the position residing for various marks, graticule and stationary body on test site or examination road, and surveyed and drawn by carrier phase information real time dynamic differential technology, obtain accurate coordinates value in the space coordinates of test site or examination road of various mark, graticule and stationary body or equation in coordinates, finally drawn test site or examination road electronic chart are stored in detection computations machine; Wherein, carrier phase information real time dynamic differential technology comprises the following steps: first RTK GPS base station 2 observes the carrier phase information obtained be sent on RTK GPS movement station by gps satellite 1 self, then RTK GPS movement station receives the carrier phase information that RTK GPS base station 2 sends, the movement station own carrier phase information of RTK GPS movement station real-time reception gps satellite 1 transmission simultaneously, finally resolve according to difference, obtain the coordinate figure of RTK GPS movement station in test site or examination road three-dimensional coordinate system;

D, vehicle-mounted checkout equipment is installed on motor vehicle: carry a checkout equipment 4 and comprise two and be installed on the roof of motor vehicle 3 and vehicular RTK GPS movement station 42, the wireless data be positioned on motor vehicle 3 front-rear center line accepts 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 profile and is surveyed and drawn 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 large ground level, motor vehicle is left, the protruding point on the right side, motor vehicle is left, the protruding point of right rear view mirror, in motor vehicle four wheels, outside touchdown point) relative to the D coordinates value of two vehicular RTKGPS movement stations 42, each key point of motor vehicle profile relative to the survey calculation method of the D coordinates value of two vehicular RTK GPS movement stations is: the D coordinates value of two the vehicular RTK GPS movement stations 42 first obtained on 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 D coordinates value that Pi point is relative with two vehicular RTK GPS movement stations 42 is respectively 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), the like, the relative dimensional coordinate figure of each key point of motor vehicle 3 profile can be obtained

(2), in real time measure: accurate three-dimensional position coordinates, attitude angle and the position relationship with other various mark, graticule and stationary body of survey calculation motor vehicle 3 on test site or examination road electronic chart, specifically comprise the following steps:

A, first utilize two vehicular RTK GPS movement stations 42, the longitude of two vehicular RTK GPS movement stations 42 on motor vehicle, latitude and altitude information can be obtained when motor vehicle 3 moves, and these data are sent in 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 the three-dimensional location coordinates of two vehicular RTK GPS movement stations 42 and each key point of the motor vehicle profile three-dimensional coordinate Value Data relative to two vehicular RTK GPS movement stations 42, calculate the three-dimensional location coordinates of each key point of motor vehicle 3 profile, namely obtain the exact outline location of motor vehicle 3 in test site or examination road electronic chart;

Namely the calculating of the attitude angle of above-mentioned motor vehicle 3 adopt " two point location methods " to calculate, specifically comprise the following steps: on motor vehicle, the coordinate figure of two vehicular RTK GPS movement stations moves with motor vehicle and changes, 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 motion direction; The angle of motor vehicle and three coordinate surfaces 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 just; If x2<x1, θ x is negative;

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

If y2>y1, θ y is just; If y2<y1, θ y is negative;

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

If z2>z1, θ z is just; If z2<z1, θ z is 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 real-time coordinates value is:

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

Finally by the Pi (P obtained _ix, P _iy, P _iz) compare with test site or road electronic chart of taking an examination after, obtain motorcar body this test site or examination road on exact outline location;

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

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

1. the position relationship, 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 straight-line equation coefficient, and starting point and the end point of space line equation are respectively (x1, y1, z1), (x2, y2, z2)]; The then key point Pi (P of motorcar body profile _ix, P _iy, P _iz) to the distance d of this graticule 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 position relationship, between motor vehicle and " point-like " stationary body:

Side, four, motor vehicle front, rear, left and right describes with following four space plane equations respectively: { Aix+Biy+Ciz+Di=0, i=1,2,3,4}, wherein, i represents the definition of not 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), then motor vehicle four sides divide the distance di being clipped to " point-like " stationary body to be:

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

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

Stationary body in the electronic chart of test site or examination road with a region π { (X _w1, X _w2), (Y _w1, Y _w2), (Z _w1, Z _w2) represent, the position of motor vehicle four wheels is usually with its medial and lateral touchdown point Wi{Wi _x, Wi _y, Wi _z, i=1,2 determine, wherein, i represents the definition in outside in wheel, then looks for the real-time location coordinates Wi of car wheel whether to be positioned at stationary body region π to judge whether pressure rolling stationary body.

Claims (8)

1. an accurate measurement method for motor vehicle shift position and attitude, is characterized in that: specifically comprise the following steps:

(1) preparation before, measuring: the relative coordinate including and set up RTK GPS base station, set up wireless data communication link, draw test site or examination road electronic chart, install vehicle-mounted checkout equipment and measuring machine motor-car profile key point on motor vehicle;

A, set up RTK GPS base station: with RTK GPS base station for initial point establishes the three-dimensional coordinate system of whole test site or examination road, using East and West direction, north-south and height as X-axis, Y-axis, the Z axis 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, drafting test site or examination road electronic chart: hand-held RTK GPS movement station is positioned over the position residing for various marks, graticule and stationary body on test site or examination road, and surveyed and drawn by carrier phase information real time dynamic differential technology, obtain accurate coordinates value in the space coordinates of test site or examination road of various mark, graticule and stationary body or equation in coordinates, finally drawn test site or examination road electronic chart are stored in detection computations machine;

D, vehicle-mounted checkout equipment is installed on motor vehicle: vehicle-mounted checkout equipment comprises that two are installed on the vehicular RTK GPS movement station of body of motor vehicle outside, a wireless data accepts 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 is surveyed and drawn by carrier phase information real time dynamic differential technology, obtains the D coordinates value of each key point relative to two vehicular RTK GPS movement stations of motor vehicle profile;

(2), in real time measure: accurate three-dimensional position coordinates, attitude angle and the position relationship with other various mark, graticule and stationary body of survey calculation motor vehicle on test site or examination road electronic chart, specifically comprise the following steps:

A, first utilize two vehicular RTK GPS movement stations, the longitude of two vehicular RTK GPS movement stations on motor vehicle, latitude and altitude information can be obtained when motor vehicle moves, and these data are sent in detection computations machine, 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 the three-dimensional location coordinates of two vehicular RTK GPS movement stations and each key point of the motor vehicle profile three-dimensional coordinate Value Data relative to two vehicular RTK GPS movement stations, calculate the three-dimensional location coordinates of each key point of motor vehicle profile, namely obtain the exact outline location of motor vehicle in test site or examination road electronic chart;

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

2. the accurate measurement method of motor vehicle shift position according to claim 1 and attitude, be it is characterized in that: described carrier phase information real time dynamic differential technology comprises the following steps: first RTK GPS base station is sent on RTK GPS movement station observed the carrier phase information obtained by gps satellite self, then RTK GPS movement station receives the carrier phase information that RTK GPS base station sends, the movement station own carrier phase information of RTK GPS movement station real-time reception gps satellite transmission simultaneously, finally resolve according to difference, obtain the coordinate figure of RTK GPS movement station in test site or examination road three-dimensional 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 large 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 motor vehicle four wheels.

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

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

6. the accurate measurement method of motor vehicle shift position according to claim 1 and attitude, is characterized in that: each key point of described motor vehicle profile relative to the survey calculation method of the D coordinates value of two vehicular RTK GPS movement stations is: the D coordinates value of two the vehicular RTK GPS movement stations first obtained on 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 D coordinates value that Pi point is relative with two vehicular RTK GPS movement stations is respectively 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); The like, the relative dimensional coordinate figure of each key point of motor vehicle profile can be obtained.

7. the accurate measurement method of motor vehicle shift position according to claim 1 and attitude, it is characterized in that: namely the calculating of the attitude angle of described motor vehicle adopt " two point location methods " to calculate, specifically comprise the following steps: on motor vehicle, the coordinate figure of two vehicular RTK GPS movement stations moves with motor vehicle and changes, 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 motion direction; The angle of motor vehicle and three coordinate surfaces YOZ, XOZ, XOY equals vector with angle theta x, θ y, the θ z of these three coordinate surfaces, wherein:

If x2>x1, θ x is just; If x2<x1, θ x is negative;

If y2>y1, θ y is just; If y2<y1, θ y is negative;

If z2>z1, θ z is just; If z2<z1, θ z is 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 real-time coordinates value is:

Finally by the Pi (P obtained _ix, P _iy, P _iz) compare with test site or road electronic chart of taking an examination after, obtain motorcar body this test site or examination road on exact outline location.

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

1. the position relationship, 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 straight-line equation coefficient, and starting point and the end point of space line equation are respectively (x1, y1, z1), (x2, y2, z2)]; The then key point Pi (P of motorcar body profile _ix, P _iy, P _iz) to the distance d of this graticule be:

Wherein: δ 1=A1P _ix+ B1P _iy+ C1P _iz+ D1, δ 2=A2P _ix+ B2P _iy+ C2P _iz+ D2,

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

Side, four, motor vehicle front, rear, left and right describes with following four space plane equations respectively: { Aix+Biy+Ciz+Di=0, i=1,2,3,4}, wherein, i represents the definition of not 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), then motor vehicle four sides divide the distance di being clipped to " point-like " stationary body to be:

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

Stationary body in the electronic chart of test site or examination road with a region π { (X _w1, X _w2), (Y _w1, Y _w2), (Z _w1, Z _w2) represent, the position of motor vehicle four wheels is usually with its medial and lateral touchdown point Wi{Wi _x, Wi _y, Wi _z, i=1,2 determine, wherein, i represents the definition in outside in wheel, then looks for the real-time location coordinates Wi of car wheel whether to be positioned at stationary body region π to judge whether pressure rolling stationary body.