CN103454660B - A kind of vehicle positioning method and device - Google Patents
A kind of vehicle positioning method and device Download PDFInfo
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- CN103454660B CN103454660B CN201210587403.1A CN201210587403A CN103454660B CN 103454660 B CN103454660 B CN 103454660B CN 201210587403 A CN201210587403 A CN 201210587403A CN 103454660 B CN103454660 B CN 103454660B
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Abstract
The invention discloses a kind of vehicle positioning method, comprise: obtain by positioned vehicle in the first locating information of synchronization and the second locating information, described first locating information is the locating information behind GPS location, and described second locating information is the locating information after dead reckoning; Described first locating information and described second locating information are carried out information fusion, to obtain final locating information; Described final locating information is mated with the road in pre-stored map, described by the particular location of positioned vehicle to determine in described pre-stored map.The invention also discloses a kind of vehicle locating device.
Description
Technical field
The present invention relates to field of locating technology, particularly relate 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, can provide the functions such as vehicle location, antitheft, anti-misfortune, travel route monitoring and calling commander.Round-the-clock, the high precision had due to GPS technology and automatically measuring, has 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 is used for urban road congestion charge, will significantly improve the efficiency of urban road operation and increase the security of driving.
Urban road Congestion Toll refers to collects certain expense in the congested in traffic period to subregion road user, it is a kind of economic means of Transportation Demand Management in essence, object is that exploitation value lattice mechanism is to limit the vehicle density of urban road peak period, reduce the traffic loading on peak hours/period and busy section road, improve the passage rate of road equipment, meet the requirement of road user to time and business efficiency; Simultaneously mode of transportation effectively can also be impelled shift to the public transit system of high power capacity, suppress the increase of car transportation amount, reach day of alleviation urban traffic congestion, improve the efficiency of operation of whole urban transportation.
In prior art, gps satellite location technology is applied to urban road Congestion Toll, to locate in real time vehicle, by the charging section that monitor vehicle travels, rate according to the charging section length travelled and correspondence is charged, but in the process that vehicle is positioned, described gps satellite location technology is restricted owing to being subject to the impact of surrounding environment, especially vehicle travel under high building, bridge, the section such as tunnel time, 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 the object improving vehicle location precision further.
For achieving the above object, the invention provides a kind of vehicle positioning method, comprising:
Obtain by positioned vehicle in the first locating information of synchronization and the second locating information, described first locating information is the locating information behind GPS location, and described second locating information is the locating information after dead reckoning;
Described first locating information and described second locating information are carried out information fusion, to obtain final locating information;
Described final locating information is mated with the road in pre-stored map, described by the particular location of positioned vehicle to determine in described pre-stored map.
Preferably, in the above-mentioned methods, described acquisition is comprised in the first locating information of synchronization and the second locating information by positioned vehicle:
With the continuous receiving satellite certificate of the first setpoint frequency, and determine by the first locating information of positioned vehicle according to the satellite data received;
If the first locating information of determining of current time is locating information first, then subsequent time start with described in the second setpoint frequency continuous acquisition by the data for dead reckoning of positioned vehicle, and the second moment corresponding when record often collects data; The data of described collection are utilized to carry out dead reckoning, to obtain by the second locating information of positioned vehicle;
Continue to determine the first locating information according to the satellite data received according to this with the continuous receiving satellite of described first setpoint frequency at described subsequent time, and record the first moment corresponding when often determining described first locating information;
When described first moment and described second moment are synchronization, obtain the first locating information and second locating information of described synchronization.
Preferably, in the above-mentioned methods, the described data for dead reckoning comprise: acceleration and angular speed;
The described data for dead reckoning by positioned vehicle of described collection comprise:
Three axis accelerometer is utilized to measure described by the three-dimensional acceleration of positioned vehicle;
Utilize three-axis gyroscope to measure described by the angular speed of positioned vehicle, described angular speed comprises roll angle, the angle of pitch and course angle.
Preferably, in the above-mentioned methods, described described first locating information and described second locating information are carried out information fusion, comprise to obtain final locating information:
Horizontal Dilution of Precision is extracted from described first locating information;
Default value scope belonging to described Horizontal Dilution of Precision determines the first weights, and described first weights are less than or equal to 1;
Using the difference of numerical value 1 and described first weights as the second weights;
Longitude and latitude in described first locating information and described first weights are multiplied by acquisition first product mutually, and the longitude and latitude of described second locating information and described second weights are multiplied by acquisition second product mutually;
Using described first product and described second product and as described by the final locating information of positioned vehicle.
Preferably, said method also comprises:
Utilize the second locating information being corrected described synchronization by the locator information of vehicle-carrying of positioned vehicle exported after map match.
Preferably, said method also comprises:
When being provided with roadside unit by the operation section of positioned vehicle, obtain the locating information that described roadside unit sends, and correct described final locating information according to the locating information of described transmission.
Preferably, in the above-mentioned methods, described first locating information comprises: described by the longitude and latitude of positioned vehicle, course and travelling speed; Described second locating information comprises by the longitude and latitude of positioned vehicle, course.
Present invention also offers a kind of vehicle locating device, comprising:
Acquisition module, for obtaining by positioned vehicle in the first locating information of synchronization and the second locating information, described first locating information is the locating information behind GPS location, and described second locating information is the locating information after dead reckoning;
Fusion Module, for carrying out information fusion, to obtain final locating information by described first locating information and described second locating information;
Matching module, for described final locating information is mated with the road in pre-stored map, described by the particular location of positioned vehicle to determine in described pre-stored map.
Preferably, in said apparatus, described acquisition module comprises:
Data receipt unit, for the continuous receiving satellite certificate of the first setpoint frequency;
Locating information determining unit, for determining by the first locating information of positioned vehicle according to the satellite data received;
Described data receipt unit, also in described locating information determining unit when the first locating information that current time is determined is for locating information first, continue at subsequent time with the continuous receiving satellite certificate of described first setpoint frequency;
Described locating information determining unit, the satellite data also for continuing according to receiving at described subsequent time is determined by the first locating information of positioned vehicle;
First record cell, for recording the first moment corresponding when described locating information determining unit often determines described first locating information;
Data acquisition unit, in described locating information determining unit when the first locating information that current time is determined is for locating information first, subsequent time start with described in the second setpoint frequency continuous acquisition by the data for dead reckoning of positioned vehicle;
Second record cell, for recording the second moment corresponding when described data acquisition unit often collects data;
Locating information acquiring unit, for utilizing the data of described data acquisition unit acquires to carry out dead reckoning, to obtain by the second locating information of positioned vehicle;
Information acquisition unit in the same time, for when the first moment of described first recording unit records and the second moment of described second recording unit records are synchronization, obtains the first locating information and second locating information of described synchronization.
Preferably, in said apparatus, the described data for dead reckoning comprise: acceleration and angular speed; Described data acquisition unit comprises:
First measuring unit, described by the three-dimensional acceleration of positioned vehicle for utilizing three axis accelerometer to measure;
Second measuring unit, described by the angular speed of positioned vehicle for utilizing three-axis gyroscope to measure, 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 first locating information;
First weights determining unit, determines the first weights for the default value scope belonging to described Horizontal Dilution of Precision, and described first weights are less than or equal to 1;
Second weights determining unit, for using the difference of numerical value 1 and described first weights as the second weights;
Multiplication unit, for the longitude and latitude in described first locating information and described first weights are multiplied by acquisition first product mutually, and is multiplied by acquisition second product mutually by the longitude and latitude of described second locating information and described second weights;
Locating information determining unit, for using described first product and described second product and as described by the final locating information of positioned vehicle.
Preferably, said apparatus also comprises:
First correction module, for utilizing the second locating information being corrected described synchronization by the locator information of vehicle-carrying of positioned vehicle exported after map match.
Preferably, said apparatus also comprises:
Second correction module, for when being provided with roadside unit by the operation section of positioned vehicle, obtains the locating information that described roadside unit sends, and corrects described final locating information according to the locating information of described transmission.
Vehicle positioning method of the present invention and device, by obtaining by positioned vehicle in first locating information behind GPS location of synchronization and the second locating information after dead reckoning, and described first locating information and described second locating information are carried out information fusion, by GPS location technology is combined with dead reckoning, the final locating information of the more high position precision after fusion can be obtained, thus using the final locating information after fusion as the positioning precision that be can further improve vehicle by the positioning result of positioned vehicle.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the schematic flow sheet of vehicle positioning method of the present invention;
Fig. 2 is the schematic flow sheet of the synchronous locating information acquisition methods of the present invention;
Fig. 3 is GPS/DR data syn-chronization schematic flow sheet of the present invention;
Fig. 4 is the structural representation of the embodiment 1 of vehicle locating device of the present invention;
Fig. 5 is the structural representation of acquisition module in vehicle locating device of the present invention;
Fig. 6 is the structural representation of Fusion Module in vehicle locating device of the present invention;
Fig. 7 is the structural representation of the embodiment 2 of vehicle locating device of the present invention.
Embodiment s
For making the object of the embodiment of the present invention, technical scheme and advantage clearly, 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, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
The object of the invention is design a kind of for urban road E-payment system (Electronic RoadPricing, be called for short ERP) vehicle positioning method, this ERP system can press the actual distance charge of vehicle traveling according to traffic congestion, this vehicle positioning method has merged gps satellite location and reckoning location, map match, the modes such as location enhancing/calibration, can solve vehicle travel under high building, bridge, the location such as tunnel, tree shade time, solve GPS positioning precision and greatly reduce or the problem of delocalization.
Shown in Figure 1, Fig. 1 is the schematic flow sheet of a kind of vehicle positioning method provided by the invention, and the step realizing the method is as follows:
S101: obtain by positioned vehicle in the first locating information of synchronization and the second locating information, described first locating information is the locating information behind GPS location, and described second locating information is the locating information after dead reckoning.
Described first locating information, that OBU vehicle positioning system utilizes the satellite-signal received to determine by the locating information of positioned vehicle by GPS locating module, mainly comprise by the longitude and latitude at positioned vehicle place, and by information such as the travel speed of positioned vehicle, courses.
Described second locating information, that OBU vehicle positioning system is measured by the acceleration of positioned vehicle and angular speed by inertial measurement component, dead reckoning is carried out to utilize described acceleration and angular speed, thus determine, by the locating information of positioned vehicle, mainly to comprise by information such as the longitude and latitude at positioned vehicle place and courses thereof.Wherein, described dead reckoning is under the condition knowing current time position, by measuring the distance and bearing of movement, calculates the method for subsequent time position.
This step mainly realizes the data syn-chronization of the first locating information and the second locating information, namely be go up synchronous with the second locating information that inertial measurement component exports for the first locating information of GPS locating module output in OBU vehicle positioning system at one time, to obtain the first locating information and second locating information of synchronization.
S102: described first locating information and described second locating information are carried out information fusion, to obtain final locating information.Described final locating information comprises: by the longitude and latitude of positioned vehicle, course and travelling speed.
Be restricted because gps satellite location technology is subject to the impact of surrounding environment, especially vehicle travel under high building, bridge, the position such as tunnel time, GPS positioning precision will greatly reduce or delocalization.And dead reckoning is under the condition knowing current time position, by measuring the distance and bearing of movement, calculate the method for subsequent time position, it has the high feature of autonomous location, in short-term precision.The fundamental purpose of this step is: locating information different for the first locating information obtained and the second locating information obtained after dead reckoning these two kinds behind GPS location is carried out information fusion, the final locating information that positioning precision is higher can be obtained, and then using the final locating information of described acquisition as this positioning result.
S103: described final locating information is mated with the road in pre-stored map, described by the particular location of positioned vehicle to determine in described pre-stored map.
Map match be exactly utilize map-matching algorithm to be travelled by vehicle path matching to road, and utilize electronic chart to be presented in the LCD screen of described OBU vehicle positioning system, perpendicular to the positioning error of road when map match can eliminate vehicle location.
In addition, said method also comprises: utilize the second locating information being corrected described synchronization by the locator information of vehicle-carrying of positioned vehicle exported after map match.
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 derives with position before, the error amount in reckoning process can be added up gradually, and therefore its error rate can be grown up along with the time.Therefore, the present invention to need after map match each time the second locating information obtained after to DR dead reckoning to carry out real-time calibration, so that subsequent time utilizes the second locating information and the first locating information more accurately to carry out information fusion, thus real-time ensuring positioning precision.
In addition, when being provided with RSU roadside unit by the operation section of positioned vehicle, obtain the locating information that described RSU roadside unit sends, and correct described final locating information according to the locating information of described transmission.Specifically, utilize the DSRC communication module of the RSU roadside unit (about being about 4-7 rice apart from floor level) be arranged on the lamppost of roadside to communicate with the DSRC communication module of OBU vehicle positioning system, to make RSU roadside unit send the locating information (longitude and latitude/course) of its storage inside to OBU vehicle positioning system, thus this accurate locating information is utilized to correct described final locating information.Wherein, the locating information that this RSU roadside unit sends is that RSU roadside unit calculates according to by the communication distance between positioned vehicle and described RSU roadside unit.
Illustrate, sail the section of the locating effect differences such as tunnel into when vehicle before, the accurate locating information that the RSU roadside unit in roadside provides can be utilized, correct the final locating information of current time, the locating information accurately provided with roadside unit after subsequent time vehicle enters tunnel is for benchmark, and recycling inertance element carries out DR dead reckoning and can obtain locating information more accurately.When vehicle can not distinguish whether on bridge or under bridge, main road or bypass time, the DSRC between OBU vehicle positioning system with RSU roadside unit can be utilized to communicate distinguish, such as, when RSU roadside unit is arranged under bridge, if described OBU vehicle positioning system receives the DSRC signal that the RSU roadside unit under bridge sends, then show that vehicle is under bridge, in like manner, the position that RSU roadside unit can also be utilized to install and built-in locating information are distinguished by the main and side road at positioned vehicle place.
Following method can be adopted to realize above-mentioned steps S101, and shown in Figure 2, Fig. 2 is the schematic flow sheet of 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 by the first locating information of positioned vehicle according to the satellite data of described reception.
After entering charging section, continuous receiving satellite certificate at a certain time interval, and resolve the satellite data of current time reception, thus determine by fixed by the first locating information of positioned vehicle.
S202: if the first locating information of determining of current time is locating information first, then subsequent time start with described in the second setpoint frequency continuous acquisition by the DR data for dead reckoning of positioned vehicle, and the second moment corresponding when record often collects data.
S203: utilize the DR data of described collection to carry out dead reckoning, to obtain by the second locating information of positioned vehicle.
S204: if the first locating information of determining of current time is locating information first, then 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 first setpoint frequency at described subsequent time, and record the first moment corresponding when often determining described first locating information.
Only after satnav first, start dead reckoning location, carry out satnav all the time at positioning stage, the frequency collection simultaneously set separately with two kinds of different locator meamss also processes data, to obtain respective locating information.
S205: when described first moment and described second moment are synchronization, obtain the first locating information and second locating information of described synchronization.
The described DR data for dead reckoning comprise: acceleration and angular speed; The three axis accelerometer in inertial measurement component is utilized to measure described by the three-dimensional acceleration of positioned vehicle; Utilize the three-axis gyroscope in inertial measurement component to measure described by the angular speed of positioned vehicle, described angular rate information comprises roll angle, the angle of pitch and course angle.
Just above-mentioned information synchronization method is specifically introduced below:
The present invention includes two independently threads, be respectively GPS thread and DR thread, described GPS thread is for obtaining the first moment of the first locating information and correspondence thereof, and described DR thread is for obtaining the second moment of the second locating information and correspondence thereof.Can utilize these two independently thread obtain the first locating information of synchronization and the second locating information, these two kinds different locating information are carried out information fusion, thus realize the accurate location of vehicle further, so need the data syn-chronization realizing two cross-threads.In the present invention, the sample frequency that first given different threads is corresponding, obtains satellite data with the sample frequency of the first setpoint frequency 1Hz, obtains the DR data being used for dead reckoning with the sample frequency of the second setpoint frequency 100Hz.
GPS/DR data syn-chronization schematic flow sheet shown in Figure 3, lower mask body is specifically introduced with regard to the data syn-chronization flow process of these two threads:
First A:OBU vehicle positioning system starts GPS thread, and starts with described first setpoint frequency receiving satellite certificate.
B: judge whether successfully to receive and resolve described reception satellite data (namely obtain through GPS location the first locating information), if so, then illustrate locate successfully, execution step C; If not, then step A is continued with receiving satellite certificate.
C: obtain the first locating information through GPS location and the record UTC time (world's unified time) this moment, define the UTC time GPS_Time of the first locating information now got, then can process as the warning of Congestion Pricing or information (such as: further process can be done to described first locating information to this first locating information, namely calculate the mileage of current location apart from charging section outlet according to the first locating information, be supplied to user etc. as information).
D: judge whether current positioning action is that GPS locates first, if locate first, then starts DR thread and continues to start with the DR data of the second setpoint frequency collection for dead reckoning data, and still with described first setpoint frequency receiving satellite certificate; If not locating first, then illustrating that DR thread starts, continuing with the continuous receiving satellite certificate of described first setpoint frequency, with the second setpoint frequency continuous acquisition DR data.When starting DR thread, two threads carry out next sampling instant respectively, make DR_Time=DR_Time+1.
It should be noted that, if described first setpoint frequency is 1Hz, then illustrate that sampling time interval is 1 second, when if the moment of GPS location is the 1st second first, then the 2nd second time, obtain the 2nd group of GPS locator data, the 3rd group of GPS locator data is obtained the 3rd second time, the like, until location, this section is terminated; Unlike, only need satnav first that is the 1st second time start DR thread.
After starting DR thread, start to gather DR data, and extract the UTC time DR_Time gathering DR data, if described second setpoint frequency is 100Hz, then illustrate that sampling time interval is 0.01 second, so, when every continuous acquisition is to 100 groups of DR data, receive 1 group of satellite data (such as: the Current GPS location moment is the 6th second, it is the 7th second that next GPS locates the moment, and between the 6th second and the 7th second, need collection 100 groups of DR data, the moment of locating with GPS when the 7th second when arbitrary group of D R data of acquisition the 1st group to the 99th group is not identical, the DR data obtaining the 100th group are identical with the moment that GPS when the 7th second locates).
E: when often collecting one group of DR data, just judge that whether Current GPS location is successful, if success, then judge that whether whether the UTC time (GPS_Time) that Current GPS is located identical with the lock in time that current DR locates (DR_Time), if identical, then obtain through the first locating information of GPS location and the second locating information through dead reckoning, and continue to gather next group DR data; If Current GPS the location unsuccessful or current location successful moment is different with the current moment collecting DR data, then equally continues to gather next and organize DR data.In addition, after often collecting one group of DR data, all carry out dead reckoning process, to calculate the second locating information of subsequent time.
Following method can be adopted to realize above-mentioned steps S102, shown in Figure 3, specifically comprise:
First from described first locating information, Horizontal Dilution of Precision is extracted; Default value scope again belonging to described Horizontal Dilution of Precision determines the first weights, and described first weights are less than or equal to 1, and using the difference of numerical value 1 and described first weights as the second weights; Then, the longitude and latitude in described first locating information and described first weights are multiplied by acquisition first product mutually, and the longitude and latitude of described second locating information and described second weights are multiplied by acquisition second product mutually; Finally, using described first product and described second product and as described by the final locating information of positioned vehicle.
Specifically in the following manner described first locating information and described second locating information can be carried out 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 unsuccessful, give tacit consent to the first weights β 1=0; When GP S locates successfully, determine the size of the Horizontal Dilution of Precision HDOP of this time location, below according to following formulae discovery first weights β 1:
When HDOP≤1.5, β 1=0.9
As 1.5 < HDOP < 5, β 1=1.5/HODP;
As 5≤HDOP < 10, β 1=0.75/HODP;
As 10≤HDOP, β 1=0.75/2*HODP.
When getting fixed first weights β 1, using β 2=1-β 1 as described second weights.
So, by locating information c (i.e. this locator value of system) final described in following formulae discovery:
c＝β1＊a+β2＊b
Wherein, a is the longitude and latitude of the first locating information, and b is the longitude and latitude of the second locating information.
Vehicle positioning method of the present invention, by obtaining by positioned vehicle in first locating information behind GPS location of synchronization and the second locating information after dead reckoning, and described first locating information and described second locating information are carried out information fusion, by GPS location technology is combined with dead reckoning, the final locating information of the more high position precision after fusion can be obtained, thus using the final locating information after fusion as the positioning precision that be can further improve vehicle by the positioning result of positioned vehicle.
In addition, after the final locating information obtained after GPS location technology being combined with DR dead reckoning carries out map match, and utilize the locating information after map match to calibrate described second locating information, and the final locating information after utilizing RSU roadside unit control information to merge, not only further increase by the accurate location of positioned vehicle, and efficiently solve the low or problem of delocalization of vehicle positioning precision under tunnel, bridge, under tree shade, the environment such as built-up CBD central business district.
Shown in Figure 4, Fig. 4 is the structural representation of the embodiment 1 of 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 by positioned vehicle in the first locating information of synchronization and the second locating information, described first locating information is the locating information behind GPS location, and described second locating information is the locating information after dead reckoning; Fusion Module 2, for carrying out information fusion, to obtain final locating information by described first locating information and described second locating information; Matching module 3, for described final locating information is mated with the road in pre-stored map, described by the particular location of positioned vehicle to determine in described pre-stored map.
Shown in Figure 5, Fig. 5 is the structural representation of acquisition module in vehicle locating device of the present invention, and described acquisition module 1 comprises:
Data receipt unit 11, for the continuous receiving satellite certificate of the first setpoint frequency; Locating information determining unit 12, for determining by the first locating information of positioned vehicle according to the satellite data of described reception; Described data receipt unit 11, also in described locating information determining unit 12 when the first locating information that current time is determined is for locating information first, continue at subsequent time with the continuous receiving satellite certificate of described first setpoint frequency; Described locating information determining unit 12, the satellite data also for continuing according to receiving at described subsequent time is determined by the first locating information of positioned vehicle; First record cell 13, for recording the first moment corresponding when described locating information determining unit 12 often determines described first locating information; Data acquisition unit 14, for in described locating information determining unit 12 when the first locating information that current time is determined is for locating information first, subsequent time start with described in the second setpoint frequency continuous acquisition by the data for dead reckoning of positioned vehicle; Second record cell 15, for recording the second moment corresponding when described data acquisition unit 14 often collects data; Locating information acquiring unit 16, carries out dead reckoning for the data utilizing described data acquisition unit 14 to gather, to obtain by the second locating information of positioned vehicle; Information acquisition unit 17 in the same time, for when the first moment that described first record cell 13 records and the second moment that described second record cell 15 records are synchronization, obtains 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, described by the three-dimensional acceleration of positioned vehicle for utilizing three axis accelerometer to measure; Second measuring unit 142, described by the angular speed of positioned vehicle for utilizing three-axis gyroscope to measure, described angular speed comprises roll angle, the angle of pitch and course angle.
Shown in Figure 6, Fig. 6 is the structural representation of Fusion Module in vehicle locating device of the present invention, and described Fusion Module 2 comprises:
Factor extraction unit 21, for extracting Horizontal Dilution of Precision from described first locating information; First weights determining unit 22, determines the first weights for the default value scope belonging to described Horizontal Dilution of Precision, and described first weights are less than or equal to 1; Second weights determining unit 23, for using the difference of numerical value 1 and described first weights as the second weights; Multiplication unit 24, for the longitude and latitude in described first locating information and described first weights are multiplied by acquisition first product mutually, and is multiplied by acquisition second product mutually by the longitude and latitude of described second locating information and described second weights; Locating information determining unit 25, for using described first product and described second product and as described by the final locating information of positioned vehicle.
Shown in Figure 7, Fig. 7 is the structural representation of the embodiment 2 of a kind of vehicle locating device provided by the invention, and this embodiment, except all modules comprised in above-described embodiment 1, also comprises:
First correction module 4, for utilizing the second locating information being corrected described synchronization by the locator information of vehicle-carrying of positioned vehicle exported after map match; Second correction module 5, for when being provided with RSU roadside unit by the operation section of positioned vehicle, obtains the locating information that described RSU roadside unit sends, and corrects described final locating information according to the locating information of described transmission.
Vehicle locating device of the present invention, by obtaining by positioned vehicle in first locating information behind GPS location of synchronization and the second locating information after dead reckoning, and described first locating information and described second locating information are carried out information fusion, by GPS location technology is combined with dead reckoning, the final locating information of the more high position precision after fusion can be obtained, thus using the final locating information after fusion as the positioning precision that be can further improve vehicle by the positioning result of positioned vehicle.
In addition, after the final locating information obtained after GPS location technology being combined with DR dead reckoning carries out map match, and utilize the locating information after map match to calibrate described second locating information, and the final locating information after utilizing RSU roadside unit control information to merge, not only further increase by the accurate location of positioned vehicle, and efficiently solve the low or problem of delocalization of vehicle positioning precision under tunnel, bridge, under tree shade, the environment such as built-up CBD central business district.
Also it should be noted that, in this article, the such as relational terms of first and second grades and so on is only used for an entity or operation to separate with another entity or operational zone, and not necessarily requires or imply the relation that there is any this reality between these entities or operation or sequentially.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, article or equipment and not only comprise those key elements, but also comprise other key elements clearly do not listed, or also comprise by the intrinsic key element of this process, method, article or equipment.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment comprising described key element and also there is other identical element.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (9)
1. a vehicle positioning method, is characterized in that, comprising:
Obtain by positioned vehicle in the first locating information of synchronization and the second locating information, described first locating information is the locating information behind GPS location, and described second locating information is the locating information after dead reckoning;
Described first locating information and described second locating information are carried out information fusion, to obtain final locating information;
Described final locating information is mated with the road in pre-stored map, described by the particular location of positioned vehicle to determine in described pre-stored map;
Described acquisition is comprised in the first locating information of synchronization and the second locating information by positioned vehicle:
With the continuous receiving satellite certificate of the first setpoint frequency, and determine by the first locating information of positioned vehicle according to the satellite data received;
If the first locating information of determining of current time is locating information first, then subsequent time start with described in the second setpoint frequency continuous acquisition by the data for dead reckoning of positioned vehicle, and the second moment corresponding when record often collects data; The data of described collection are utilized to carry out dead reckoning, to obtain by the second locating information of positioned vehicle;
Continue to determine the first locating information according to the satellite data received according to this with the continuous receiving satellite of described first setpoint frequency at described subsequent time, and record the first moment corresponding when often determining described first locating information;
When described first moment and described second moment are synchronization, obtain the first locating information and second locating information of described synchronization;
The described data for dead reckoning comprise: acceleration and angular speed;
The described data for dead reckoning by positioned vehicle of described collection comprise:
Three axis accelerometer is utilized to measure described by the three-dimensional acceleration of positioned vehicle;
Utilize three-axis gyroscope to measure described by the angular speed of positioned vehicle, described angular speed comprises roll angle, the angle of pitch and course angle.
2. method according to claim 1, is characterized in that, described described first locating information and described second locating information is carried out information fusion, comprises to obtain final locating information:
Horizontal Dilution of Precision is extracted from described first locating information;
Default value scope belonging to described Horizontal Dilution of Precision determines the first weights, and described first weights are less than or equal to 1;
Using the difference of numerical value 1 and described first weights as the second weights;
Longitude and latitude in described first locating information and described first weights are multiplied by acquisition first product mutually, and the longitude and latitude of described second locating information and described second weights are multiplied by acquisition second product mutually;
Using described first product and described second product and as described by the final locating information of positioned vehicle.
3. method according to claim 1, is characterized in that, described method also comprises:
Utilize the second locating information being corrected described synchronization by the locator information of vehicle-carrying of positioned vehicle exported after map match.
4. method according to claim 1, is characterized in that, described method also comprises:
When being provided with roadside unit by the operation section of positioned vehicle, obtain the locating information that described roadside unit sends, and correct described final locating information according to the locating information of described transmission.
5. the method according to any one of Claims 1-4, is characterized in that, described first locating information comprises: described by the longitude and latitude of positioned vehicle, course and travelling speed; Described second locating information comprises by the longitude and latitude of positioned vehicle, course.
6. a vehicle locating device, is characterized in that, comprising:
Acquisition module, for obtaining by positioned vehicle in the first locating information of synchronization and the second locating information, described first locating information is the locating information behind GPS location, and described second locating information is the locating information after dead reckoning;
Fusion Module, for carrying out information fusion, to obtain final locating information by described first locating information and described second locating information;
Matching module, for described final locating information is mated with the road in pre-stored map, described by the particular location of positioned vehicle to determine in described pre-stored map;
Described acquisition module comprises:
Data receipt unit, for the continuous receiving satellite certificate of the first setpoint frequency;
Locating information determining unit, for determining by the first locating information of positioned vehicle according to the satellite data received;
Described data receipt unit, also in described locating information determining unit when the first locating information that current time is determined is for locating information first, continue at subsequent time with the continuous receiving satellite certificate of described first setpoint frequency;
Described locating information determining unit, the satellite data also for continuing according to receiving at described subsequent time is determined by the first locating information of positioned vehicle;
First record cell, for recording the first moment corresponding when described locating information determining unit often determines described first locating information;
Data acquisition unit, in described locating information determining unit when the first locating information that current time is determined is for locating information first, subsequent time start with described in the second setpoint frequency continuous acquisition by the data for dead reckoning of positioned vehicle;
Second record cell, for recording the second moment corresponding when described data acquisition unit often collects data;
Locating information acquiring unit, for utilizing the data of described data acquisition unit acquires to carry out dead reckoning, to obtain by the second locating information of positioned vehicle;
Information acquisition unit in the same time, for when the first moment of described first recording unit records and the second moment of described second recording unit records are synchronization, obtains the first locating information and second locating information of described synchronization;
The described data for dead reckoning comprise: acceleration and angular speed; Described data acquisition unit comprises:
First measuring unit, described by the three-dimensional acceleration of positioned vehicle for utilizing three axis accelerometer to measure;
Second measuring unit, described by the angular speed of positioned vehicle for utilizing three-axis gyroscope to measure, described angular speed comprises roll angle, the angle of pitch and course angle.
7. device according to claim 6, is characterized in that, described Fusion Module comprises:
Factor extraction unit, for extracting Horizontal Dilution of Precision from described first locating information;
First weights determining unit, determines the first weights for the default value scope belonging to described Horizontal Dilution of Precision, and described first weights are less than or equal to 1;
Second weights determining unit, for using the difference of numerical value 1 and described first weights as the second weights;
Multiplication unit, for the longitude and latitude in described first locating information and described first weights are multiplied by acquisition first product mutually, and is multiplied by acquisition second product mutually by the longitude and latitude of described second locating information and described second weights;
Locating information determining unit, for using described first product and described second product and as described by the final locating information of positioned vehicle.
8. device according to claim 6, is characterized in that, described device also comprises:
First correction module, for utilizing the second locating information being corrected described synchronization by the locator information of vehicle-carrying of positioned vehicle exported after map match.
9. device according to claim 6, is characterized in that, described device also comprises:
Second correction module, for when being provided with roadside unit by the operation section of positioned vehicle, obtains the locating information that described roadside unit sends, and corrects described final locating information according to the locating information of described transmission.
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| CN201210587403.1A CN103454660B (en) | 2012-12-28 | 2012-12-28 | A kind of vehicle positioning method and device |
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