CN103454660A - Vehicle locating method and device - Google Patents
Vehicle locating method and device Download PDFInfo
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- CN103454660A CN103454660A CN2012105874031A CN201210587403A CN103454660A CN 103454660 A CN103454660 A CN 103454660A CN 2012105874031 A CN2012105874031 A CN 2012105874031A CN 201210587403 A CN201210587403 A CN 201210587403A CN 103454660 A CN103454660 A CN 103454660A
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Abstract
The invention discloses a vehicle locating method. The method includes the steps of obtaining first locating information of a located vehicle and second locating information of the located vehicle at the same moment, conducting information fusion on the first locating information and the second locating information to obtain final locating information, and matching the final locating information with roads in a pre-stored map to determine the specific position of the located vehicle in the pre-stored map, wherein the first locating information is the locating information obtained after GPS locating is conducted, and the second locating information is the locating information obtained after dead reckoning is conducted. The invention further discloses a vehicle locating device.
Description
Technical field
The present invention relates to field of locating technology, relate in particular to a kind of vehicle positioning method and device.
Background technology
GPS (Global Positioning System is called for short GPS) provides real-time, round-the-clock and global navigation Service, and the functions such as vehicle location, antitheft, anti-misfortune, travel route monitoring and calling commander can be provided.Round-the-clock, the high precision had due to the GPS technology and automatically measuring, incorporated each application of the development of the national economy, national defense construction and social development.Along with the sharply increase of city vehicle recoverable amount, urban road is crowded to capacity, and traffic hazard occurs again and again, and GPS, for the urban road congestion charge, will be significantly improved to the efficiency of urban road operation and the security of increase driving.
The urban road Congestion Toll referred in the congested in traffic period collects certain expense to the subregion road user, it is a kind of economic means of Transportation Demand Management in essence, purpose is the vehicle density that the exploitation value lattice mechanism limits the urban road peak period, reduce the traffic loading on peak hours/period and busy highway section road, improve the passage rate of road equipment, meet the requirement of road user to time and business efficiency; Can also effectively impel mode of transportation to shift to the public transit system of high power capacity simultaneously, suppress the increase of car transportation amount, reach day of alleviating urban traffic congestion, improve the efficiency of operation of whole urban transportation.
In prior art, the gps satellite location technology is applied to the urban road Congestion Toll, so that vehicle is located in real time, the charging section travelled by monitor vehicle, according to the charging section length of travelling and corresponding rate, charged, but in the process that vehicle is positioned, described gps satellite location technology is because the impact that is subject to surrounding environment is restricted, especially at Vehicle Driving Cycle to high building, bridge, during the highway section such as tunnel, positioning precision will greatly reduce or delocalization.
Summary of the invention
In view of this, fundamental purpose of the present invention is to provide a kind of vehicle positioning method and device, to realize further improving the purpose of vehicle location precision.
For achieving the above object, the invention provides a kind of vehicle positioning method, comprising:
Obtain the vehicle that is positioned in the first locating information and second locating information of synchronization, described the first locating information is the locating information behind the GPS location, and described the second locating information is the locating information after dead reckoning;
Described the first locating information and described the second locating information are carried out to information fusion, to obtain final locating information;
Described final locating information and the road in the map that prestores are mated, to determine the particular location of the described vehicle that is positioned in the described map that prestores.
Preferably, in said method, the described vehicle that is positioned that obtains comprises in the first locating information and second locating information of synchronization:
With the continuous receiving satellite certificate of the first setpoint frequency, and determine the first locating information of the vehicle that is positioned according to the satellite data received;
If the first locating information that current time is determined is locating information first, at next, constantly start the data for dead reckoning with the described vehicle that is positioned of the second setpoint frequency continuous acquisition, and record corresponding second moment while often collecting data; Utilize the data of described collection to carry out dead reckoning, to obtain the second locating information of the vehicle that is positioned;
Described next constantly continue to determine the first locating information according to the satellite data received according to this with the continuous receiving satellite of described the first setpoint frequency, and record while often determining described the first locating information corresponding first constantly;
When described first constantly is synchronization with described second constantly, obtain the first locating information and second locating information of described synchronization.
Preferably, in said method, the described data for dead reckoning comprise: acceleration and angular speed;
The data for dead reckoning of the described vehicle that is positioned of described collection comprise:
Utilize three axis accelerometer to measure the three-dimensional acceleration of the described vehicle that is positioned;
Utilize three-axis gyroscope to measure the angular speed of the described vehicle that is positioned, described angular speed comprises roll angle, the angle of pitch and course angle.
Preferably, in said method, described described the first locating information and described the second locating information are carried out to information fusion, comprise to obtain final locating information:
Extract Horizontal Dilution of Precision from described the first locating information;
Determine the first weights according to the default value scope under described Horizontal Dilution of Precision, described the first weights are less than or equal to 1;
Using the difference of numerical value 1 and described the first weights as the second weights;
Longitude and latitude in described the first locating information is multiplied by mutually and obtains the first product with described the first weights, and the longitude and latitude of described the second locating information is multiplied by mutually and obtains the second product with described the second weights;
Using described the first product and described the second product and as the final locating information of the described vehicle that is positioned.
Preferably, said method also comprises:
The locator information of vehicle-carrying of the vehicle that is positioned that utilization is exported after map match is proofreaied and correct the second locating information of described synchronization.
Preferably, said method also comprises:
When the operation highway section of the vehicle that is positioned is provided with roadside unit, obtains the locating information that described roadside unit sends, and proofread and correct described final locating information according to the locating information of described transmission.
Preferably, in said method, described the first locating information comprises: the longitude and latitude of the described vehicle that is positioned, course and travelling speed; Described the second locating information comprises longitude and latitude, the course of the vehicle that is positioned.
The present invention also provides a kind of vehicle locating device, comprising:
Acquisition module, for obtaining the vehicle that is positioned in the first locating information and second locating information of synchronization, described the first locating information is the locating information behind the GPS location, described the second locating information is the locating information after dead reckoning;
Fusion Module, for described the first locating information and described the second locating information are carried out to information fusion, to obtain final locating information;
Matching module, for described final locating information and the road of the map that prestores are mated, to determine the particular location of the described vehicle that is positioned in the described map that prestores.
Preferably, in said apparatus, described acquisition module comprises:
The data receiver unit, for the continuous receiving satellite certificate of the first setpoint frequency;
The locating information determining unit, for the first locating information of the definite vehicle that is positioned of the satellite data according to receiving;
Described data receiver unit, also, continue with the continuous receiving satellite certificate of described the first setpoint frequency at next during for locating information first constantly for the first locating information of determining at current time in described locating information determining unit;
Described locating information determining unit, also for described next constantly continue to determine according to the satellite data received the first locating information of the vehicle that is positioned;
The first record cell, while for recording described locating information determining unit, often determining described the first locating information, corresponding first constantly;
Data acquisition unit, during for locating information first, constantly start data for dead reckoning with second setpoint frequency continuous acquisition described be positioned vehicle at next for the first locating information of determining at current time in described locating information determining unit;
The second record cell, while for recording described data acquisition unit, often collecting data, corresponding second constantly;
The locating information acquiring unit, carry out dead reckoning for the data of utilizing described data acquisition unit collection, to obtain the second locating information of the vehicle that is positioned;
Information acquisition unit, for when first of described the first recording unit records constantly is synchronization with second of described the second recording unit records constantly, obtain the first locating information and second locating information of described synchronization in the same time.
Preferably, in said apparatus, the described data for dead reckoning comprise: acceleration and angular speed; Described data acquisition unit comprises:
The first measuring unit, measure the three-dimensional acceleration of the described vehicle that is positioned for utilizing three axis accelerometer;
The second measuring unit, measure the angular speed of the described vehicle that is positioned for utilizing three-axis gyroscope, and described angular speed comprises roll angle, the angle of pitch and course angle.
Preferably, in said apparatus, described Fusion Module comprises:
Factor extraction unit, for extracting Horizontal Dilution of Precision from described the first locating information;
The first weights determining unit, determine the first weights for the default value scope according under described Horizontal Dilution of Precision, and described the first weights are less than or equal to 1;
The second weights determining unit, for the difference using numerical value 1 and described the first weights as the second weights;
Multiplication unit, be multiplied by mutually and obtain the first product with described the first weights for the longitude and latitude by described the first locating information, and the longitude and latitude of described the second locating information is multiplied by mutually and obtains the second product with described the second weights;
The locating information determining unit, for using described the first product and described the second product and as the final locating information of the described vehicle that is positioned.
Preferably, said apparatus also comprises:
The first correction module, second locating information of for the locator information of vehicle-carrying that utilizes the vehicle that is positioned of exporting after map match, proofreading and correct described synchronization.
Preferably, said apparatus also comprises:
The second correction module, while for the operation highway section when the vehicle that is positioned, being provided with roadside unit, obtain the locating information that described roadside unit sends, and proofread and correct described final locating information according to the locating information of described transmission.
Vehicle positioning method of the present invention and device, by obtaining the vehicle that is positioned in first locating information behind the GPS location of synchronization and the second locating information after dead reckoning, and described the first locating information and described the second locating information are carried out to information fusion, by the GPS location technology is combined with dead reckoning, can obtain the final locating information of the more high position precision after fusion, thereby the final locating information after merging can further improve the positioning precision of vehicle as the positioning result of the vehicle that is positioned.
The accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, below will the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described, apparently, accompanying drawing in the following describes is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
The schematic flow sheet that Fig. 1 is vehicle positioning method of the present invention;
The schematic flow sheet that Fig. 2 is the synchronous locating information acquisition methods of the present invention;
Fig. 3 is the synchronous schematic flow sheets of GPS/DR data of the present invention;
The structural representation of the embodiment 1 that Fig. 4 is vehicle locating device of the present invention;
The structural representation that Fig. 5 is acquisition module in vehicle locating device of the present invention;
The structural representation that Fig. 6 is Fusion Module in vehicle locating device of the present invention;
The structural representation of the embodiment 2 that Fig. 7 is vehicle locating device of the present invention.
Embodiment s
For the purpose, technical scheme and the advantage that make the embodiment of the present invention clearer, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is the present invention's part embodiment, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making under the creative work prerequisite the every other embodiment obtained, belong to the scope of protection of the invention.
The objective of the invention is to design a kind of for urban road E-payment system (Electronic RoadPricing, abbreviation ERP) vehicle positioning method, this ERP system can be pressed according to the traffic congestion situation actual distance charge of Vehicle Driving Cycle, this vehicle positioning method has merged gps satellite location and reckoning location, map match, the modes such as location enhancing/calibration, can solve Vehicle Driving Cycle to high building, bridge, during the location such as tunnel, tree shade, solve that the GPS positioning precision greatly reduces or the problem of delocalization.
Schematic flow sheet shown in Figure 1, that Fig. 1 is a kind of vehicle positioning method provided by the invention, realize that the step of the method is as follows:
S101: obtain the vehicle that is positioned in the first locating information and second locating information of synchronization, described the first locating information is the locating information behind the GPS location, and described the second locating information is the locating information after dead reckoning.
Described the first locating information, that the OBU vehicle positioning system is determined the locating information of the vehicle that is positioned by the satellite-signal of GPS locating module utilization reception, mainly comprise the longitude and latitude at vehicle place that is positioned, and the information such as travel speed of the vehicle that is positioned, course.
Described the second locating information, the OBU vehicle positioning system by inertial measurement component measurement be positioned acceleration and the angular speed of vehicle, to utilize described acceleration and angular speed to carry out dead reckoning, thereby determine the locating information of the vehicle that is positioned, mainly comprise the information such as the longitude and latitude at the vehicle place that is positioned and course thereof.Wherein, described dead reckoning is under the condition of knowing the current time position, by measuring mobile distance and bearing, calculates next method of position constantly.
This step is mainly to realize that the first locating information synchronizes with the data of the second locating information, be that the first locating information of GPS locating module output in the OBU vehicle positioning system is synchronizeed and gone up at one time with the second locating information of inertial measurement component output, with the first locating information and the second locating information of obtaining synchronization.
S102: described the first locating information and described the second locating information are carried out to information fusion, to obtain final locating information.Described final locating information comprises: the longitude and latitude of the vehicle that is positioned, course and travelling speed.
The impact that is subject to surrounding environment due to the gps satellite location technology is restricted, especially at Vehicle Driving Cycle to high building, bridge, during the position such as tunnel, the GPS positioning precision will greatly reduce or delocalization.And dead reckoning is under the condition of knowing the current time position, by measuring mobile distance and bearing, calculate next constantly method of position, it has autonomous location, high characteristics of precision in short-term.The fundamental purpose of this step is: will behind the GPS location, these two kinds different locating information of the first locating information obtained and the second locating information obtained carry out information fusion after dead reckoning, can obtain the final locating information that positioning precision is higher, and then using the described final locating information of obtaining as this positioning result.
S103: described final locating information and the road in the map that prestores are mated, to determine the particular location of the described vehicle that is positioned in the described map that prestores.
Map match be exactly utilize map-matching algorithm by the path matching of Vehicle Driving Cycle to road, and utilize electronic chart to be presented on the LCD screen of described OBU vehicle positioning system, when map match can be eliminated vehicle location perpendicular to the positioning error of road.
In addition, said method also comprises: the second locating information that the locator information of vehicle-carrying of the vehicle that is positioned that utilization is exported after map match is proofreaied and correct described synchronization.
Locator information of vehicle-carrying after map match comprises: longitude and latitude, course and speed etc.Because the new vehicle location obtained through dead reckoning is to derive with previous position, the error amount in the reckoning process can be added up gradually, so its error rate can be grown up along with the time.Therefore, the second locating information that the present invention need to be after map match each time obtains after to the DR dead reckoning is carried out real-time calibration, so that next utilizes the second locating information and the first locating information more accurately to carry out information fusion constantly, thereby real-time ensuring positioning precision.
In addition, when the operation highway section of the vehicle that is positioned is provided with the RSU roadside unit, obtain the locating information that described RSU roadside unit sends, and proofread and correct described final locating information according to the locating information of described transmission.Specifically, to utilize the DSRC communication module of the RSU roadside unit (apart from the about 4-7 rice of floor level left and right) be arranged on the lamppost of roadside and the DSRC communication module of OBU vehicle positioning system to communicate, so that the RSU roadside unit sends the locating information (longitude and latitude/course) of its storage inside to the OBU vehicle positioning system, thereby utilize this accurate locating information to proofread and correct described final locating information.Wherein, the locating information that this RSU roadside unit sends is that the RSU roadside unit calculates according to the communication distance be positioned between vehicle and described RSU roadside unit.
Illustrate, sail the poor highway section of the locating effects such as tunnel into when vehicle before, the accurate locating information that can utilize the RSU roadside unit in roadside to provide, proofread and correct the final locating information of current time, the locating information accurately that the roadside unit of take after next moment, vehicle entered tunnel provides is benchmark, and the recycling inertance element carries out the DR dead reckoning and can obtain locating information more accurately.When whether vehicle can not be distinguished on bridge or under bridge, when main road or bypass, can utilize the OBU vehicle positioning system to communicate by letter to be distinguished with the DSRC between the RSU roadside unit, for example, when the RSU roadside unit is arranged on bridge lower time, if described OBU vehicle positioning system receives the DSRC signal that the RSU roadside unit under bridge sends, show that vehicle is under bridge, in like manner, can also utilize the position of RSU roadside unit installation and the main and side road that built-in locating information is distinguished the vehicle place that is positioned.
Can adopt following method to realize above-mentioned steps S101, shown in Figure 2, the schematic flow sheet that Fig. 2 is synchronous locating information acquisition methods provided by the invention comprises the following steps:
S201: with the continuous receiving satellite certificate of the first setpoint frequency, and determine the first locating information of the vehicle that is positioned according to the satellite data of described reception.
After entering charging section, the satellite data that the current time of continuous receiving satellite certificate, and parsing at a certain time interval receives, thus determine by the first locating information of the vehicle that surely is positioned.
S202: if the first locating information that current time is determined is locating information first, at next, constantly start the data of the DR for dead reckoning with the described vehicle that is positioned of the second setpoint frequency continuous acquisition, and record second moment corresponding while often collecting data.
S203: utilize the DR data of described collection to carry out dead reckoning, to obtain the second locating information of the vehicle that is positioned.
S204: if the first locating information that current time is determined is locating information first, described next constantly continue to determine the first locating information according to the satellite data of described reception according to this with the continuous receiving satellite of described the first setpoint frequency, and record while often determining described the first locating information corresponding first constantly.
Only, after satnav first, start the dead reckoning location, at positioning stage, carry out all the time satnav, frequency collection the deal with data with two kinds of different locator meamss, set separately, to obtain locating information separately simultaneously.
S205: when described first constantly is synchronization with described second constantly, obtain the first locating information and second locating information of described synchronization.
The described data of the DR for dead reckoning comprise: acceleration and angular speed; Utilize the three-dimensional acceleration of the described vehicle that is positioned of three axis accelerometer measurement in inertial measurement component; Utilize the angular speed of the described vehicle that is positioned of three-axis gyroscope measurement in inertial measurement component, described angular speed information comprises roll angle, the angle of pitch and course angle.
Below with regard to above-mentioned information synchronization method, be specifically introduced:
The present invention includes two independently threads, be respectively GPS thread and DR thread, described GPS thread is used for obtaining the first locating information and the first corresponding moment thereof, and described DR thread is for obtaining the second locating information and the second corresponding moment thereof.Can utilize these two independently thread obtain the first locating information and second locating information of synchronization, in order to these two kinds of different locating information are carried out to information fusion, thereby further realize the accurate location of vehicle, so need to realize that the data of two cross-threads are synchronous.In the present invention, sample frequency corresponding at first given different threads, obtain satellite data with the sample frequency of the first setpoint frequency 1Hz, with the sample frequency of the second setpoint frequency 100Hz, obtains the DR data for dead reckoning.
The synchronous schematic flow sheet of GPS/DR data shown in Figure 3, lower mask body is specifically introduced with regard to the synchronous flow process of the data of these two threads:
At first the A:OBU vehicle positioning system starts the GPS thread, and starts with described the first setpoint frequency receiving satellite certificate.
B: judge whether successfully to receive and resolve the satellite data (obtaining the first locating information through the GPS location) of described reception, if so, explanation is located successfully, execution step C; If not, continue the A step with the receiving satellite certificate.
C: obtain the first locating information record UTC time (world's unified time) this moment through the GPS location, the UTC time GPS_Time of the first locating information that definition now gets, then can as the warning of Congestion Pricing or information (for example: can do further processing to described the first locating information be processed this first locating information, calculate the mileage of current location apart from the charging section outlet according to the first locating information, offer user etc. as information).
D: judge whether current positioning action is that GPS locates first, if locate first, start the DR thread and also continue to start with the second setpoint frequency collection the DR data for the dead reckoning data, and still with described the first setpoint frequency receiving satellite certificate; If not locating first, illustrate that the DR thread starts, continue with the continuous receiving satellite certificate of described the first setpoint frequency, get final product with the second setpoint frequency continuous acquisition DR data.When starting the DR thread, two threads carry out respectively next sampling instant, make DR_Time=DR_Time+ 1.
It should be noted that, if described the first setpoint frequency is 1Hz, illustrate that sampling time interval is 1 second, when if the moment of GPS location is the 1st second first, in the time of the 2nd second, obtain the 2nd group of GPS locator data, obtained the 3rd group of GPS locator data in the time of the 3rd second, the like, until finish this location, highway section; Different, only need to start the DR thread in the time of the 1st second at satnav first.
After starting the DR thread, start to gather the DR data, and extraction gathers the UTC time D R_Time of DR data, if described the second setpoint frequency is 100Hz, illustrate that sampling time interval is 0.01 second, so, every continuous acquisition is during to 100 groups of DR data, (for example: the Current GPS location is the 6th second constantly to receive 1 group of satellite data, next GPS location is the 7th second constantly, and needed to gather 100 groups of DR data between the 6th second and the 7th second, when arbitrary group of D R data obtaining the 1st group to the 99th group, the moment of GPS location is not identical during with the 7th second, while obtaining the DR data of the 100th group with the 7th second, the moment of GPS location is identical).
E: while often collecting one group of DR data, just judge that whether the Current GPS location is successful, if success, whether whether the UTC time (GPS_Time) that judges the Current GPS location identical with the lock in time (DR_Time) of current DR location, if identical, obtain through the first locating information of GPS location with through the second locating information of dead reckoning, and continue to gather next group DR data; If Current GPS location success or successful moment of current location different from the current moment that collects the DR data, continue to gather next group DR data equally.In addition, after often collecting one group of DR data, all carry out the dead reckoning processing, to calculate next second locating information constantly.
Can adopt following method to realize above-mentioned steps S102, shown in Figure 3, specifically comprise:
At first extract Horizontal Dilution of Precision from described the first locating information; Determine the first weights according to the default value scope under described Horizontal Dilution of Precision again, described the first weights are less than or equal to 1, and using the difference of numerical value 1 and described the first weights as the second weights; Then, the longitude and latitude in described the first locating information is multiplied by mutually and obtains the first product with described the first weights, and the longitude and latitude of described the second locating information is multiplied by mutually and obtains the second product with described the second weights; Finally, using described the first product and described the second product and as the final locating information of the described vehicle that is positioned.
Specifically can in the following manner described the first locating information and described the second locating information be carried out to information fusion:
Be that the first locating information configures the first weights β 1, and be that the second locating information configures the second weights β 2.
When GP S locates when unsuccessful, give tacit consent to the first weights β 1=0; When GP S locates successfully, determine this time size of the Horizontal Dilution of Precision HDOP of location, below according to following formula, calculate the first weights β 1:
When HDOP≤1.5, β 1=0.9
When 1.5<HDOP<5, β 1=1.5/HODP;
When 5≤HDOP<10, β 1=0.75/HODP;
When 10≤HDOP, β 1=0.75/2*HODP.
When getting fixed the first weights β 1, using β 2=1-β 1 as described the second weights.
So, calculate described final locating information c (being this locator value of system) by following formula:
c＝β1＊a+β2＊b
Wherein, the longitude and latitude that a is the first locating information, the longitude and latitude that b is the second locating information.
Vehicle positioning method of the present invention, by obtaining the vehicle that is positioned in first locating information behind the GPS location of synchronization and the second locating information after dead reckoning, and described the first locating information and described the second locating information are carried out to information fusion, by the GPS location technology is combined with dead reckoning, can obtain the final locating information of the more high position precision after fusion, thereby the final locating information after merging can further improve the positioning precision of vehicle as the positioning result of the vehicle that is positioned.
In addition, by the GPS location technology with after the final locating information obtained after the DR dead reckoning combines is carried out map match, and utilize the locating information after map match to be calibrated described the second locating information, and the final locating information after utilizing RSU roadside unit control information to merge, not only further improve the accurate location of the vehicle that is positioned, and efficiently solved the low or problem of delocalization of vehicle positioning precision under tunnel, bridge, under the environment such as tree shade, built-up CBD central business district.
Shown in Figure 4, the structural representation of the embodiment 1 that Fig. 4 is a kind of vehicle locating device provided by the invention, this vehicle locating device is the device corresponding with above-mentioned vehicle positioning method, this device comprises: acquisition module 1, for obtaining first locating information and second locating information of vehicle at synchronization that be positioned, described the first locating information is the locating information behind the GPS location, and described the second locating information is the locating information after dead reckoning; Fusion Module 2, for described the first locating information and described the second locating information are carried out to information fusion, to obtain final locating information; Matching module 3, for described final locating information and the road of the map that prestores are mated, to determine the particular location of the described vehicle that is positioned in the described map that prestores.
Structural representation shown in Figure 5, that Fig. 5 is acquisition module in vehicle locating device of the present invention, described acquisition module 1 comprises:
Data receiver unit 11, for the continuous receiving satellite certificate of the first setpoint frequency; Locating information determining unit 12, for the first locating information of the definite vehicle that is positioned of the satellite data according to described reception; Described data receiver unit 11, also, continue with the continuous receiving satellite certificate of described the first setpoint frequency at next during for locating information first constantly for the first locating information of determining at current time in described locating information determining unit 12; Described locating information determining unit 12, also for described next constantly continue to determine according to the satellite data received the first locating information of the vehicle that is positioned; The first record cell 13, while for recording described locating information determining unit 12, often determining described the first locating information, corresponding first constantly; Data acquisition unit 14, during for locating information first, at next, constantly start the data for dead reckoning with the described vehicle that is positioned of the second setpoint frequency continuous acquisition for the first locating information of determining at current time in described locating information determining unit 12; The second record cell 15, while for recording described data acquisition unit 14, often collecting data, corresponding second constantly; Locating information acquiring unit 16, carry out dead reckoning for the data of utilizing described data acquisition unit 14 to gather, to obtain the second locating information of the vehicle that is positioned; Information acquisition unit 17 in the same time, for when first of described the first record cell 13 records constantly are synchronization with second of described the second record cell 15 records constantly, obtain the first locating information and second locating information of described synchronization.
Wherein, the described data for dead reckoning comprise: acceleration and angular speed; Described data acquisition unit 14 comprises: the first measuring unit 141, measure the three-dimensional acceleration of the described vehicle that is positioned for utilizing three axis accelerometer; The second measuring unit 142, measure the angular speed of the described vehicle that is positioned for utilizing three-axis gyroscope, and described angular speed comprises roll angle, the angle of pitch and course angle.
Structural representation shown in Figure 6, that Fig. 6 is Fusion Module in vehicle locating device of the present invention, described Fusion Module 2 comprises:
Shown in Figure 7, the structural representation of the embodiment 2 that Fig. 7 is a kind of vehicle locating device provided by the invention, all modules of this embodiment in comprising above-described embodiment 1, also comprises:
The first correction module 4, second locating information of for the locator information of vehicle-carrying that utilizes the vehicle that is positioned of exporting after map match, proofreading and correct described synchronization; The second correction module 5, while for the operation highway section when the vehicle that is positioned, being provided with the RSU roadside unit, obtain the locating information that described RSU roadside unit sends, and proofread and correct described final locating information according to the locating information of described transmission.
Vehicle locating device of the present invention, by obtaining the vehicle that is positioned in first locating information behind the GPS location of synchronization and the second locating information after dead reckoning, and described the first locating information and described the second locating information are carried out to information fusion, by the GPS location technology is combined with dead reckoning, can obtain the final locating information of the more high position precision after fusion, thereby the final locating information after merging can further improve the positioning precision of vehicle as the positioning result of the vehicle that is positioned.
In addition, by the GPS location technology with after the final locating information obtained after the DR dead reckoning combines is carried out map match, and utilize the locating information after map match to be calibrated described the second locating information, and the final locating information after utilizing RSU roadside unit control information to merge, not only further improve the accurate location of the vehicle that is positioned, and efficiently solved the low or problem of delocalization of vehicle positioning precision under tunnel, bridge, under the environment such as tree shade, built-up CBD central business district.
Also it should be noted that, in this article, relational terms such as the first and second grades only is used for an entity or operation are separated with another entity or operational zone, and not necessarily requires or imply between these entities or operation the relation of any this reality or sequentially of existing.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thereby make the process, method, article or the equipment that comprise a series of key elements not only comprise those key elements, but also comprise other key elements of clearly not listing, or also be included as the intrinsic key element of this process, method, article or equipment.In the situation that not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment that comprises described key element and also have other identical element.
To the above-mentioned explanation of the disclosed embodiments, make professional and technical personnel in the field can realize or use the present invention.Multiple modification to these embodiment will be apparent for those skilled in the art, and General Principle as defined herein can be in the situation that do not break away from the spirit or scope of the present invention, realization in other embodiments.Therefore, the present invention will can not be restricted to these embodiment shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (13)
1. a vehicle positioning method, is characterized in that, comprising:
Obtain the vehicle that is positioned in the first locating information and second locating information of synchronization, described the first locating information is the locating information behind the GPS location, and described the second locating information is the locating information after dead reckoning;
Described the first locating information and described the second locating information are carried out to information fusion, to obtain final locating information;
Described final locating information and the road in the map that prestores are mated, to determine the particular location of the described vehicle that is positioned in the described map that prestores.
2. method according to claim 1, is characterized in that, the described vehicle that is positioned that obtains comprises in the first locating information and second locating information of synchronization:
With the continuous receiving satellite certificate of the first setpoint frequency, and determine the first locating information of the vehicle that is positioned according to the satellite data received;
If the first locating information that current time is determined is locating information first, at next, constantly start the data for dead reckoning with the described vehicle that is positioned of the second setpoint frequency continuous acquisition, and record corresponding second moment while often collecting data; Utilize the data of described collection to carry out dead reckoning, to obtain the second locating information of the vehicle that is positioned;
Described next constantly continue to determine the first locating information according to the satellite data received according to this with the continuous receiving satellite of described the first setpoint frequency, and record while often determining described the first locating information corresponding first constantly;
When described first constantly is synchronization with described second constantly, obtain the first locating information and second locating information of described synchronization.
3. method according to claim 2, is characterized in that, the described data for dead reckoning comprise: acceleration and angular speed;
The data for dead reckoning of the described vehicle that is positioned of described collection comprise:
Utilize three axis accelerometer to measure the three-dimensional acceleration of the described vehicle that is positioned;
Utilize three-axis gyroscope to measure the angular speed of the described vehicle that is positioned, described angular speed comprises roll angle, the angle of pitch and course angle.
4. method according to claim 1, is characterized in that, described described the first locating information and described the second locating information carried out to information fusion, to obtain final locating information, comprises:
Extract Horizontal Dilution of Precision from described the first locating information;
Determine the first weights according to the default value scope under described Horizontal Dilution of Precision, described the first weights are less than or equal to 1;
Using the difference of numerical value 1 and described the first weights as the second weights;
Longitude and latitude in described the first locating information is multiplied by mutually and obtains the first product with described the first weights, and the longitude and latitude of described the second locating information is multiplied by mutually and obtains the second product with described the second weights;
Using described the first product and described the second product and as the final locating information of the described vehicle that is positioned.
5. method according to claim 1, is characterized in that, described method also comprises:
The locator information of vehicle-carrying of the vehicle that is positioned that utilization is exported after map match is proofreaied and correct the second locating information of described synchronization.
6. method according to claim 1, is characterized in that, described method also comprises:
When the operation highway section of the vehicle that is positioned is provided with roadside unit, obtains the locating information that described roadside unit sends, and proofread and correct described final locating information according to the locating information of described transmission.
7. according to the described method of claim 1 to 6 any one, it is characterized in that, described the first locating information comprises: the longitude and latitude of the described vehicle that is positioned, course and travelling speed; Described the second locating information comprises longitude and latitude, the course of the vehicle that is positioned.
8. a vehicle locating device, is characterized in that, comprising:
Acquisition module, for obtaining the vehicle that is positioned in the first locating information and second locating information of synchronization, described the first locating information is the locating information behind the GPS location, described the second locating information is the locating information after dead reckoning;
Fusion Module, for described the first locating information and described the second locating information are carried out to information fusion, to obtain final locating information;
Matching module, for described final locating information and the road of the map that prestores are mated, to determine the particular location of the described vehicle that is positioned in the described map that prestores.
9. device according to claim 8, is characterized in that, described acquisition module comprises:
The data receiver unit, for the continuous receiving satellite certificate of the first setpoint frequency;
The locating information determining unit, for the first locating information of the definite vehicle that is positioned of the satellite data according to receiving;
Described data receiver unit, also, continue with the continuous receiving satellite certificate of described the first setpoint frequency at next during for locating information first constantly for the first locating information of determining at current time in described locating information determining unit;
Described locating information determining unit, also for described next constantly continue to determine according to the satellite data received the first locating information of the vehicle that is positioned;
The first record cell, while for recording described locating information determining unit, often determining described the first locating information, corresponding first constantly;
Data acquisition unit, during for locating information first, constantly start data for dead reckoning with second setpoint frequency continuous acquisition described be positioned vehicle at next for the first locating information of determining at current time in described locating information determining unit;
The second record cell, while for recording described data acquisition unit, often collecting data, corresponding second constantly;
The locating information acquiring unit, carry out dead reckoning for the data of utilizing described data acquisition unit collection, to obtain the second locating information of the vehicle that is positioned;
Information acquisition unit, for when first of described the first recording unit records constantly is synchronization with second of described the second recording unit records constantly, obtain the first locating information and second locating information of described synchronization in the same time.
10. device according to claim 9, is characterized in that, the described data for dead reckoning comprise: acceleration and angular speed; Described data acquisition unit comprises:
The first measuring unit, measure the three-dimensional acceleration of the described vehicle that is positioned for utilizing three axis accelerometer;
The second measuring unit, measure the angular speed of the described vehicle that is positioned for utilizing three-axis gyroscope, and described angular speed comprises roll angle, the angle of pitch and course angle.
11. device according to claim 8, is characterized in that, described Fusion Module comprises:
Factor extraction unit, for extracting Horizontal Dilution of Precision from described the first locating information;
The first weights determining unit, determine the first weights for the default value scope according under described Horizontal Dilution of Precision, and described the first weights are less than or equal to 1;
The second weights determining unit, for the difference using numerical value 1 and described the first weights as the second weights;
Multiplication unit, be multiplied by mutually and obtain the first product with described the first weights for the longitude and latitude by described the first locating information, and the longitude and latitude of described the second locating information is multiplied by mutually and obtains the second product with described the second weights;
The locating information determining unit, for using described the first product and described the second product and as the final locating information of the described vehicle that is positioned.
12. device according to claim 8, is characterized in that, described device also comprises:
The first correction module, second locating information of for the locator information of vehicle-carrying that utilizes the vehicle that is positioned of exporting after map match, proofreading and correct described synchronization.
13. device according to claim 8, is characterized in that, described device also comprises:
The second correction module, while for the operation highway section when the vehicle that is positioned, being provided with roadside unit, obtain the locating information that described roadside unit sends, and proofread and correct described final locating information according to the locating information of described transmission.
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