CN103728588B - Baseline direction-finding method, device, processor and drive test unit - Google Patents

Baseline direction-finding method, device, processor and drive test unit Download PDF

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Publication number
CN103728588B
CN103728588B CN201310263343.2A CN201310263343A CN103728588B CN 103728588 B CN103728588 B CN 103728588B CN 201310263343 A CN201310263343 A CN 201310263343A CN 103728588 B CN103728588 B CN 103728588B
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baseline
angle
fixed setting
direction finding
bar
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CN103728588A (en
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杨耿
黄日文
张学诚
俞明良
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Shenzhen Genvict Technology Co Ltd
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Shenzhen Genvict Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/14—Systems for determining direction or deviation from predetermined direction
    • G01S3/143—Systems for determining direction or deviation from predetermined direction by vectorial combination of signals derived from differently oriented antennae

Abstract

The present invention relates to intelligent transportation field, disclose a kind of baseline direction-finding method, device, processor and drive test unit, first the method determines fixed setting, and obtains direction finding parameter; Again according to each bar base line projection of direction finding parameter acquiring to the phase differential on fixed setting and length, and according to the phase differential on described fixed setting and length, obtain the baseline angle measurement of described each bar baseline; Fusion is weighted to each baseline angle measurement got, and the incident angle in itself and direction finding parameter is compared, obtain weight required in Weighted Fusion according to comparing result, according to the direction finding angle of described Weight Acquisition electromagnetic wave signal on described fixed setting, realize the direction finding to vehicle.The method, by the baseline of different directions, projects on required fixed setting, and according to the phase differential after projection and length, obtains the baseline angle measurement of described each bar baseline, thus when carrying out direction finding, utilization be the baseline of different directions, improve direction finding precision.

Description

Baseline direction-finding method, device, processor and drive test unit
Technical field
The present invention relates to intelligent transportation field, particularly relate to a kind of baseline direction-finding method, device, processor and drive test unit.
Background technology
At ETC(ElectronicTollCollection, intelligent transportation) field, often need to carry out direction finding to vehicle, to carry out location to the position of vehicle.
In ETC system, the device for direction finding comprises: OBU(OnboardUnit, mobile unit), aerial array and background controller.In aerial array, any two bays form a baseline, when carrying out direction finding, to be generated electromagnetic waves signal by OBU, each array element in aerial array receives described electromagnetic wave signal, and described background controller obtains each baseline on same direction, the phase differential produced after receiving described electromagnetic wave signal, and carry out weighted mean, thus obtaining on same direction, the phase information that multiple baseline is average, realizes the location to vehicle location.
But inventor finds in the research process of the application, the direction-finding method of prior art, only carry out direction finding with unidirectional baseline, be subject to the impact of external environment, direction finding precision is low.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of baseline direction-finding method, device, processor and drive test unit, with the problem that the direction finding precision solving prior art existence is low, specific embodiments is as follows:
A kind of baseline direction-finding method, comprising:
Determine that any one direction is fixed setting, and obtain direction finding parameter, described direction finding parameter comprises: the length of the angle of each bar baseline and described fixed setting, the phase differential that two bays forming every bar baseline produce when obtaining electromagnetic wave signal, each bar baseline and mobile unit OBU when diverse location, the incident angle that each bar baseline gets;
According to length and the phase differential of described angle, each bar baseline, obtain described each bar base line projection to the phase differential on described fixed setting and length, and according to the phase differential on described fixed setting and length, obtain the baseline angle measurement of described each bar baseline;
Each baseline angle measurement described is weighted fusion, and the incident angle corresponding to described each bar baseline compares, obtain the value of the weight parameter needed for Weighted Fusion, and obtain the direction finding angle of electromagnetic wave signal on described fixed setting according to the value of described weight parameter, realize the direction finding to vehicle.
Preferably, described baseline direction finding direction also comprises: the value storing described weight parameter, so that when carrying out baseline direction finding afterwards, according to the value of the direction finding parameter again received and described weight parameter, obtain the direction finding angle of electromagnetic wave signal on described fixed setting, realize the direction finding to vehicle.
Preferably, according to length and the phase differential of the angle in described direction finding parameter, each bar baseline, obtaining described each bar base line projection to the phase differential algorithm on described fixed setting is:
φ xi=φ icosθ i；
Wherein, φ ifor forming the phase differential of two bays of i-th baseline; θ iit is the angle of i-th baseline and described fixed setting; φ xifor this base line projection is to the phase differential on described fixed setting;
According to length and the phase differential of the angle in described direction finding parameter, each bar baseline, obtaining described each bar base line projection to the algorithm of the length on described fixed setting is:
d xi=d icosθ i；
Wherein, d ibe the length of i-th baseline; θ iit is the angle of i-th baseline and described fixed setting; d xifor this base line projection is to the length on described fixed setting.
Preferably, according to the phase differential of described each bar baseline on described fixed setting and length, the algorithm obtaining the baseline angle measurement of described each bar baseline is:
sin α xi = φ xi λ 2 π d xi
Wherein, φ xibe that i-th base line projection is to the phase differential on described fixed setting; d xibe that i-th base line projection is to the length on described fixed setting; λ is the wavelength of electromagnetic wave signal; α xifor the baseline angle measurement of this baseline on described fixed setting.
Preferably, described each baseline angle measurement described is weighted fusion, and the incident angle corresponding to each bar baseline compares, obtain the value of the weight parameter needed for Weighted Fusion, and obtain the direction finding angle of electromagnetic wave signal on described fixed setting according to the value of described weight parameter, comprising:
For each baseline angle measurement described sets a weight parameter respectively, according to described weight parameter, fusion is weighted to baseline angle measurement described in each;
Obtain the fusion results of described baseline angle measurement and total square error of described incident angle, and obtain when described total square error is minimum, the value of each weight parameter described;
According to the value of each weight parameter described, obtain the value of described fusion results, and obtain the direction finding angle of described electromagnetic wave signal on described fixed setting according to the value of described fusion results.
Preferably, described acquisition is when described total square error is minimum, and the value of each weight parameter described, comprising:
According to obtain the fusion results of described baseline angle measurement and total square error of described incident angle;
Wherein, β jrefer to OBU when diverse location, the incident angle that electromagnetic wave signal is corresponding to each bar baseline; for carrying out merging the fusion results obtained to each baseline angle measurement on fixed setting; w ifor weight parameter; α ijwhat represent be incident angle is β jtime, i-th the baseline angle measurement of baseline on fixed setting; E is the square error of described fusion results and described incident angle;
Obtain the partial derivative of each weight parameter in described total square error formula, and set to 0, obtain following system of equations:
∂ E ∂ w 1 = Σ j 2 ( sin β j - Σ i w i sin α ij ) sin α 1 j = 0
…
∂ E ∂ w k = Σ j 2 ( sin β j - Σ i w i sin α ij ) sin α kj = 0
According to above-mentioned system of equations, obtain w 1, w 2..., w kvalue, described w 1, w 2..., w kbe corresponding weight parameter.
Accordingly, the invention also discloses a kind of baseline direction-finding device, comprising:
Direction finding parameter acquisition module, for determining that any one direction is fixed setting, and obtain direction finding parameter, described direction finding parameter comprises: the length of the angle of each bar baseline and described fixed setting, the phase differential that two bays forming every bar baseline produce when obtaining electromagnetic wave signal, each bar baseline and mobile unit OBU when diverse location, the incident angle that each bar baseline gets;
Baseline angle measurement acquisition module, for according to the length of described angle, each bar baseline and phase differential, obtain described each bar base line projection to the phase differential on described fixed setting and length, and according to the phase differential on described fixed setting and length, obtain the baseline angle measurement of described each bar baseline;
Direction finding angle acquisition module, for each baseline angle measurement described is weighted fusion, and the incident angle corresponding to described each bar baseline compares, obtain the value of the weight parameter needed for Weighted Fusion, and obtain the direction finding angle of electromagnetic wave signal on described fixed setting according to the value of described weight parameter, realize the direction finding to vehicle.
Preferably, described baseline direction-finding device also comprises:
Memory module, for storing the value of described weight parameter, so that when carrying out baseline direction finding afterwards, according to the value of the direction finding parameter again received and described weight parameter, obtaining the direction finding angle of electromagnetic wave signal on described fixed setting, realizing the direction finding to vehicle.
Preferably, described direction finding angle acquisition module comprises:
Integrated unit, for setting a weight parameter respectively for each baseline angle measurement described, is weighted fusion according to described weight parameter to baseline angle measurement described in each;
Weight parameter acquiring unit, for total square error of the fusion results and described incident angle that obtain described baseline angle measurement, and obtains when described total square error is minimum, the value of each weight parameter described;
Direction finding angle acquiring unit, for the value according to each weight parameter described, obtains the value of described fusion results, and obtains the direction finding angle of described electromagnetic wave signal on described fixed setting according to the value of described fusion results.
Accordingly, the invention also discloses a kind of processor, the chip of described processor is integrated with above-mentioned baseline direction-finding device.
Accordingly, the invention also discloses a kind of drive test unit, described drive test unit comprises background controller, is provided with processor as above in described background controller.
Baseline direction-finding method disclosed in this invention, first determines that the direction at any baseline place is fixed setting, and obtains direction finding parameter; Then, according in described direction finding parameter, the phase differential of two bays in the angle of each baseline and fixed setting, the length of each bar baseline and each baseline, obtain each bar base line projection to the phase differential on fixed setting and length, and according to the phase differential on described fixed setting and length, obtain the baseline angle measurement of described each bar baseline; Fusion is weighted to each baseline angle measurement got, and the incident angle in itself and direction finding parameter is compared, obtain weight required in Weighted Fusion according to comparing result, according to the direction finding angle of described Weight Acquisition electromagnetic wave signal on described fixed setting, realize the direction finding to vehicle.
In baseline direction-finding method disclosed in this invention, by the baseline of different directions, project on required fixed setting, and according to the phase differential after projection and length, obtain the baseline angle measurement of described each bar baseline, thus when carrying out direction finding, what utilize is the baseline of different directions, with unidirectional baseline can only be utilized in prior art to compare, be not vulnerable to the interference of external environment, improve direction finding precision.
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 only 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.
The workflow schematic diagram of Fig. 1 a kind of baseline direction-finding method disclosed in the embodiment of the present invention;
Fig. 2 is antenna array structure schematic diagram disclosed in the embodiment of the present invention;
In Fig. 3 a kind of baseline direction-finding method disclosed in the embodiment of the present invention, obtain the schematic diagram of incident wave;
In Fig. 4 a kind of baseline direction-finding method disclosed in the embodiment of the present invention, obtain the workflow schematic diagram of baseline angle measurement;
Fig. 5 is a kind of baseline direction finding message Fusion Model disclosed in the embodiment of the present invention;
The structural representation of Fig. 6 a kind of baseline direction-finding device disclosed in the embodiment of the present invention;
In Fig. 7 a kind of baseline direction-finding device disclosed in the embodiment of the present invention, the structural representation of direction finding angle acquisition module.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only 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 invention discloses a kind of baseline direction-finding method, when carrying out baseline direction finding to solve in prior art, the problem that the direction finding precision of existence is low.Workflow schematic diagram shown in Figure 1, described baseline direction-finding method comprises:
Step S11, determine that any one direction is fixed setting, and obtain direction finding parameter, described direction finding parameter comprises: the length of the angle of each bar baseline and described fixed setting, the phase differential that two bays forming every bar baseline produce when obtaining electromagnetic wave signal, each bar baseline and mobile unit OBU when diverse location, the incident angle that each bar baseline gets.
Every bar baseline is made up of two bays.Wherein said fixed setting is the direction chosen arbitrarily, during practical operation, the direction at any baseline place can be selected to be fixed setting, usually can be referred to as X-direction.The structural representation of aerial array shown in Figure 2, when the direction at the baseline place that selected array element 1 and array element 2 form is fixed setting, then the angle of the baseline that forms of array element 2 and array element 3 and fixed setting is 30 °, and the angle of the baseline that array element 2 and array element 4 form and fixed setting is 90 °.According to the structure of aerial array, user can get the angle of each bar baseline and fixed setting in advance, and the length of each bar baseline, and by the length transmission of described angle and each bar baseline to the processor performing baseline direction finding.
Form two bays of every bar baseline, after the electromagnetic wave signal receiving OBU transmission, corresponding phase differential can be produced.Under normal circumstances, be connected by phase detector with described bay, after receiving electromagnetic wave signal, phase detector produces described phase differential, and transmits it to the processor performing baseline direction finding.
In addition, incident wave schematic diagram shown in Figure 3, OBU generates electromagnetic waves after signal, every bar baseline receives described electromagnetic wave signal, described electromagnetic wave signal is equivalent to the incident wave of baseline, by OBU parallel surface to baseline, the angle of itself and baseline is exactly incident angle, and every bar baseline is by acquisition corresponding incident angle.When changing the position of OBU, then there is corresponding change in incident angle.User obtains OBU in advance when diverse location, the corresponding incident angle of each baseline, and described incident angle is transferred to the processor performing baseline direction finding, so that described processor is according to the incident angle received and other direction finding parameters, carries out baseline direction finding.
Step S12, according to the length of described angle, each bar baseline and phase differential, obtain described each bar base line projection to the phase differential on described fixed setting and length, and according to the phase differential on described fixed setting and length, obtain the baseline angle measurement of described each bar baseline.
The mode that this step mainly utilizes vector to decompose, projects to required direction by the baseline phase of different directions difference and length, then according to the phase differential of each bar baseline on fixed setting and the angle measurement of length acquisition baseline.
Each baseline angle measurement described is weighted fusion by step S13, and the incident angle corresponding to described each bar baseline compares, obtain the value of the weight parameter needed for Weighted Fusion, and obtain the direction finding angle of electromagnetic wave signal on described fixed setting according to the value of described weight parameter, realize the direction finding to vehicle.
When the position of described incident angle residing for known OBU, the incident angle that each baseline gets.Merge mutually each baseline angle measurement described, what get is according to the determined weighted value of the baseline of different directions.The two is contrasted, actual direction finding angle can be obtained.
Baseline direction-finding method disclosed in this invention, first determines that the direction at any baseline place is fixed setting, and obtains direction finding parameter; Then, according in described direction finding parameter, the phase differential of two bays in the angle of each baseline and fixed setting, the length of each bar baseline and each baseline, obtain each bar base line projection to the phase differential on fixed setting and length, and according to the phase differential on described fixed setting and length, obtain the baseline angle measurement of described each bar baseline; Fusion is weighted to each baseline angle measurement got, and the incident angle in itself and direction finding parameter is compared, according to comparing result, obtain the value of weight parameter required in Weighted Fusion, and according to the value of described weight parameter, obtain the direction finding angle of electromagnetic wave signal on described fixed setting, realize the direction finding to vehicle.
In baseline direction-finding method disclosed in this invention, by the baseline of different directions, project on required fixed setting, and according to the phase differential after projection and length, obtain the baseline angle measurement of described each bar baseline, thus when carrying out direction finding, what utilize is the baseline of different directions, with unidirectional baseline can only be utilized in prior art to compare, be not vulnerable to the interference of external environment, improve direction finding precision.
Further, in step s 13, obtain the value of the weight parameter needed for Weighted Fusion, and after obtaining the direction finding angle of electromagnetic wave signal on fixed setting according to the value of described weight parameter, also comprise:
Store the value of described weight parameter, so that when carrying out baseline direction finding afterwards, according to the value of the direction finding parameter again received and described weight parameter, obtain the direction finding angle of electromagnetic wave signal on described fixed setting, realize the direction finding to vehicle.
The value of wherein said weight parameter is solidificated in software or hardware, by the value of the weight parameter of storage, and the direction finding parameter again received, can according to the above-mentioned scheme provided, obtain the direction finding angle of electromagnetic wave signal on described fixed setting, realize the direction finding to vehicle, and do not need to calculate again, to obtain the value of weight parameter, thus accelerate the speed of direction finding.
Wherein, in step s 12, according to length and the phase differential of the angle in described direction finding parameter, each bar baseline, obtaining described each bar base line projection to the phase differential algorithm on described fixed setting is:
φ xi=φ icosθ i；
Wherein, φ ifor forming the phase differential of two bays of i-th baseline; θ ifor the angle of described i-th baseline and described fixed setting; φ xifor this base line projection is to the phase differential on described fixed setting.In the direction finding parameter received, comprise the angle theta of each bar baseline and described fixed setting i, and the phase difference that two bays forming every bar baseline produce when obtaining electromagnetic wave signal i, the phase differential in each base line projection to described fixed setting can be obtained according to described direction finding parameter.
According to said method, project on fixed setting by the phase differential of two bays of a composition baseline, can obtain the phase differential group of many baselines on fixed setting is: φ x1, φ x2, φ x3..., φ xi...
Wherein, fixed setting is the direction chosen arbitrarily, and the direction usually choosing any baseline place is fixed setting, and described fixed setting is called x direction.Schematic diagram shown in Figure 2, when the direction at the baseline place that selected array element 1 and array element 2 form is fixed setting, namely during x direction, the angle of the baseline that array element 2 and array element 4 form and fixed setting is 90 °, then the direction at baseline place that array element 2 and array element 4 form is y direction.
According to length and the phase differential of the angle in described direction finding parameter, each bar baseline, obtaining described each bar base line projection to the algorithm of the length on described fixed setting is:
d xi=d icosθ i；
Wherein, d ibe the length of i-th baseline; θ iit is the angle of i-th baseline and described fixed setting; d xifor this base line projection is to the length on described fixed setting.According to direction finding parameter, the angle theta of each bar baseline and described fixed setting can be obtained i, and the length of every bar baseline, the length of described every bar baseline is the distance between two bays of this baseline of composition.
By said method, the mode baseline of different directions can decomposed through vector, projects to required direction by the baseline phase of different directions difference and length.
Further, according to the phase differential of described each bar baseline on described fixed setting and length, the algorithm obtaining the baseline angle measurement of described each bar baseline on described fixed setting is:
sin α xi = φ xi λ 2 π d xi
Wherein, φ xibe that i-th base line projection is to the phase differential on described fixed setting; d xibe that i-th base line projection is to the length on described fixed setting; λ is the wavelength of electromagnetic wave signal; α xifor the baseline angle measurement of this baseline on described fixed setting.
Wavelength X=the C/F of electromagnetism wave-wave signal, wherein C is the light velocity, F is the frequency of electromagnetic wave signal, as in ETC system, the frequency of GB signal is generally 5.8GHZ, after determining the frequency of electromagnetic wave signal, the wavelength of described electromagnetic wave signal can either be determined, in advance the wavelength value of described electromagnetic wave signal is stored in processor, according to the phase differential of each bar baseline on fixed setting and length, the baseline angle measurement of described each bar baseline on described fixed setting can be obtained.Through said method, the sine value that can obtain baseline angle measurement corresponding to each bar baseline is: sin α x1, sin α x2..., sin α xi
In the schematic diagram disclosed in Fig. 2, to determine that y direction is fixed setting, then by obtain the baseline angle measurement of each bar baseline on described fixed setting.
Further, workflow schematic diagram shown in Figure 4, in step s 13, each baseline angle measurement described is weighted fusion, and the incident angle corresponding to described each bar baseline compares, obtain the value of weight parameter needed for Weighted Fusion, and according to the value of described weight parameter, obtain the direction finding angle of electromagnetic wave signal on described fixed setting, comprising:
Step S131, for each baseline angle measurement described sets a weight parameter respectively, according to described weight parameter, fusion is weighted to baseline angle measurement described in each.
The weight parameter setting each baseline angle measurement corresponding is respectively w 1, w 2..., w k, then the fusion results that Weighted Fusion obtains is: wherein, the sum of what k represented is baseline.
Step S132, obtain the fusion results of described baseline angle measurement and total square error of described incident angle, and obtain when described total square error is minimum, the value of each weight parameter described.
First, according to obtain the fusion results of described baseline angle measurement and total square error of described incident angle.Wherein, β jrefer to signal emitting-source, namely OBU is when diverse location, the incident angle that electromagnetic wave signal is corresponding to each bar baseline.When fixing the position residing for OBU, every bar baseline will obtain a corresponding incident angle, and when changing the position of OBU, then corresponding change occurs incident angle.J refers to the number of times changing OBU position, and when the position of each OBU changes, each bar baseline all can obtain corresponding incident angle.Bay shown in Figure 3 receives the schematic diagram of incident wave signal, and by OBU parallel surface to baseline, the angle of itself and baseline is exactly incident angle; during for merging each baseline angle measurement on fixed setting, the fusion results of acquisition; w ifor weight parameter; α ijwhat represent be incident angle is β jtime, i-th the baseline angle measurement of baseline on fixed setting; E is the square error of described fusion results and described incident angle.
Then, obtain the partial derivative of each weight parameter in described total square error formula, and set to 0, obtain following system of equations:
∂ E ∂ w 1 = Σ j 2 ( sin β j - Σ i w i sin α ij ) sin α 1 j = 0
…
∂ E ∂ w k = Σ j 2 ( sin β j - Σ i w i sin α ij ) sin α kj = 0
Finally, according to above-mentioned system of equations, obtain the value of weight parameter, wherein, described w 1, w 2..., w kbe the weight parameter that the angle measurement of each bar baseline is corresponding.Wherein, w kwhat represent is the weight parameter that kth bar baseline is corresponding, and the number of weight parameter is identical with the number of baseline.
When obtaining the value of weight parameter according to above-mentioned system of equations, adopting the method that in linear algebra, " Gaussian elimination method " solves an equation, the value of each weight parameter can be solved.Such as, if baseline adds up to I, I I unit linear function group can be obtained:
w 1∑ jsin 2α 1j+w 2∑ jsinα 1jsinα 2j+...+w k∑ jsinα 1jsinα kj-I∑ jsinβ jsinα 1j=0
w 1∑ jsinα 1jsinα 2j+w 2∑ jsin 2α 2j+...+w k∑ jsinα kjsinα 2j-I∑ jsinβ jsinα 2j=0
…
w 1∑ jsinα 1jsinα kj+w 2∑ jsinα 2jsinα kj+...+w k∑ jsin 2α kj-I∑ jsinβ jsinα kj=0
Separate above-mentioned system of equations, can obtain when total square error is minimum, the value of each weight parameter.
The method of above-mentioned acquisition weight parameter, mainly based on least square method.Fusion is weighted to the direction finding message of many baselines, and by least square method, the direction finding message that error is little, precision is high can be obtained.
Step S133, value according to each weight parameter described, obtain the value of described fusion results, and obtain described direction finding angle according to the value of described fusion results.
According to said method, after obtaining the value of each weight parameter, substituted into obtain the value of fusion results, such as, setting direction finding angle is α, then each weight parameter substituted into, then can try to achieve the value of sin α, carry out inverse sine to it, then can obtain the value of ε, wherein ε is the direction finding angle of electromagnetic wave signal on described fixed setting.
According to the direction finding angle [alpha] obtained, the position residing for OBU can be determined, realize the direction finding to vehicle.
In addition, if in step S132, fail to solve the value of weight parameter, then direct by all baselines according to weight averages such as corresponding sine values, obtain corresponding direction finding angle.
The structural representation of bay shown in Figure 2, if the direction at setting baseline 1-2 place is fixed setting, namely during x direction, when direction finding, needs the phase differential of baseline 2-3 and baseline 2-4 and base length to project to x direction.The phase differential of setting baseline 1-2 is A, the phase differential of baseline 2-3 is B, then, after B is projected to x direction, the phase differential on its fixed setting is B*cos30 °, the length of setting baseline 2-3 is d (2-3), then the length on its fixed setting is d (2-3) * cos30 °.
The sine value of baseline 1-2 incident angle is sina 1=A* wavelength/{ 2*PI*d (1-2) }, the baseline 1-2 incident angle sine value obtained by B is sina2=B*cos30* wavelength/{ 2*PI*d (2-3) * cos30 ° }, and the angle of baseline 2-4 and 1-2 is 90 degree, cos90 °=0, after d (2-4) and phase differential project to 1-2, value is 0, so temporarily do not consider the component of baseline 2-4 on 1-2, then weighted mean is W1*sina1+W2*sina2 is the incident angle sine value of electromagnetic wave in baseline 1-2 direction, is the sine value of the direction finding angle of electromagnetic wave signal on fixed setting.
Baseline direction-finding method disclosed in this invention, first determines that the direction at any baseline place is fixed setting, and obtains direction finding parameter; Then, according in described direction finding parameter, the phase differential of two bays in the angle of each baseline and fixed setting, the length of each bar baseline and each baseline, obtain each bar base line projection to the phase differential on fixed setting and length, and according to the phase differential on described fixed setting and length, obtain the baseline angle measurement of described each bar baseline; Fusion is weighted to each baseline angle measurement got, and the incident angle in itself and direction finding parameter is compared, obtain the direction finding angle of electromagnetic wave signal on described fixed setting, realize the direction finding to vehicle.
Obtaining the phase differential of each bar baseline on fixed setting and length, utilize the mode that vector decomposes, by the base line projection of different directions on required fixed setting, thus make the result of baseline angle measurement Weighted Fusion relevant to the baseline of different directions, compare with unidirectional baseline can only be utilized in prior art, more baseline information merges by the method disclosed in the present mutually, be not vulnerable to the interference of external environment, avoid in prior art, when indivedual baselines under same direction are made mistakes, the problem of maximum error can be produced, improve direction finding precision.
In addition, in order to the workflow of baseline direction-finding method clearly disclosed in the present application, the invention discloses a kind of baseline direction finding message Fusion Model, see the baseline direction finding message Fusion Model disclosed in Fig. 5, in this Fusion Model, extremely for each baseline is after reception electromagnetic wave signal, the original measurement phase differential of generation, θ 1 to θ k is the angle of each baseline and fixed setting; After vector projection, acquisition extremely for the phase differential that each baseline projects on fixed setting; After getting the phase differential that fixed setting projects, through corresponding calculating, obtain baseline angle measurement α 1 to α k; After obtaining baseline angle measurement, be weighted on average to each baseline information, the direction finding angle [alpha] of final acquisition electromagnetic wave signal on fixed setting.According to this direction finding angle [alpha], the position residing for OBU can be obtained, and then realize the direction finding to automobile.
Accordingly, the invention also discloses a kind of baseline direction-finding device, structural representation shown in Figure 6, described baseline direction-finding device comprises: direction finding parameter acquisition module 11, baseline angle measurement acquisition module 12 and direction finding angle acquisition module 13, wherein,
Described direction finding parameter acquisition module 11, for determining that any one direction is fixed setting, and obtain direction finding parameter, described direction finding parameter comprises: the length of the angle of each bar baseline and described fixed setting, the phase differential that two bays forming every bar baseline produce when obtaining electromagnetic wave signal, each bar baseline and mobile unit OBU when diverse location, the incident angle that each bar baseline gets;
Described baseline angle measurement acquisition module 12, for according to the length of described angle, each bar baseline and phase differential, obtain described each bar base line projection to the phase differential on described fixed setting and length, and according to the phase differential on described fixed setting and length, obtain the baseline angle measurement of described each bar baseline;
Described direction finding angle acquisition module 13, for each baseline angle measurement described is weighted fusion, and the incident angle corresponding to described each bar baseline compares, obtain the value of the weight parameter needed for Weighted Fusion, and obtain the direction finding angle of electromagnetic wave signal on described fixed setting according to the value of described weight parameter, realize the direction finding to vehicle.
Further, baseline direction-finding device disclosed in this invention also comprises:
Memory module, described memory module for storing the value of described weight parameter so that when carrying out baseline direction finding afterwards, according to the value of the direction finding parameter again received and described weight parameter, obtain the direction finding angle of electromagnetic wave signal on described fixed setting, realize the direction finding to vehicle.
Further, structural representation shown in Figure 7, described direction finding angle acquisition module 13 comprises: integrated unit 131, weight parameter acquiring unit 132 and direction finding angle acquiring unit 133, wherein,
Described integrated unit 131, for setting a weight parameter respectively for each baseline angle measurement described, is weighted fusion according to described weight parameter to baseline angle measurement described in each;
Described weight parameter acquiring unit 132, for total square error of the fusion results and described incident angle that obtain described baseline angle measurement, and obtains when described total square error is minimum, the value of each weight parameter described;
Described direction finding angle acquiring unit 133, for the value according to each weight parameter described, obtains the value of described fusion results, and obtains the direction finding angle of described electromagnetic wave signal on described fixed setting according to the value of described fusion results.
By direction finding parameter acquisition module, baseline direction-finding device disclosed in this invention, first determines that the direction at any baseline place is fixed setting, and obtains direction finding parameter; Then by baseline angle measurement acquisition module, according in described direction finding parameter, the phase differential of two bays in the angle of each baseline and fixed setting, the length of each bar baseline and each baseline, obtain each bar base line projection to the phase differential on fixed setting and length, and according to the phase differential on described fixed setting and length, obtain the baseline angle measurement of described each bar baseline; Finally by direction finding angle acquisition module, fusion is weighted to each baseline angle measurement got, and the incident angle in itself and direction finding parameter is compared, obtain the direction finding angle of electromagnetic wave signal on described fixed setting, realize the direction finding to vehicle.
When obtaining the phase differential of each bar baseline on fixed setting and length, the mode that baseline direction-finding device disclosed in this invention utilizes vector to decompose, by the base line projection of different directions on required fixed setting, thus make the result of baseline angle measurement Weighted Fusion relevant to the baseline of different directions, compare with unidirectional baseline can only be utilized in prior art, more baseline information merges by the method disclosed in the present mutually, be not vulnerable to the interference of external environment, avoid in prior art, when indivedual baselines under same direction are made mistakes, the problem of maximum error can be produced, improve direction finding precision.
Further, baseline direction-finding device disclosed in this invention is also provided with memory module, for storing the value of the weight parameter got, when again carrying out the direction finding of vehicle, directly call the value of described weight parameter, and do not need to calculate through above-mentioned computation process again, thus simplify workflow, improve direction finding speed.
Accordingly, the invention also discloses a kind of processor, the chip of described processor is integrated with baseline direction-finding device as above.That is, the chip of described processor is integrated with direction finding parameter acquisition module 11, baseline angle measurement acquisition module 12 and direction finding angle acquisition module 13.Further, also comprise memory module in described baseline direction-finding device, described direction finding angle acquisition module 13 comprises: integrated unit 131, weight parameter acquiring unit 132 and direction finding angle acquiring unit 133.
Further, processor disclosed in this invention is arranged in the background controller of ETC system.
Accordingly, the invention also discloses a kind of drive test unit, described drive test unit comprises background controller, is provided with processor as above in described background controller.
Those of ordinary skill in the art can recognize, in conjunction with unit and the algorithm steps of each example of embodiment disclosed herein description, can realize with the combination of electronic hardware or computer software and electronic hardware.These functions perform with hardware or software mode actually, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel can use distinct methods to realize described function to each specifically should being used for, but this realization should not thought and exceeds scope of the present invention.
Those skilled in the art can be well understood to, and for convenience and simplicity of description, the specific works process of the system of foregoing description, device and unit, with reference to the corresponding process in preceding method embodiment, can not repeat them here.
In several embodiments that the application provides, should be understood that disclosed system, apparatus and method can realize by another way.Such as, device embodiment described above is only schematic, such as, the division of described unit, be only a kind of logic function to divide, actual can have other dividing mode when realizing, such as multiple unit or assembly can in conjunction with or another system can be integrated into, or some features can be ignored, or do not perform.Another point, shown or discussed coupling each other or direct-coupling or communication connection can be by some interfaces, and the indirect coupling of device or unit or communication connection can be electrical, machinery or other form.
The described unit illustrated as separating component or can may not be and physically separates, and the parts as unit display can be or may not be physical location, namely can be positioned at a place, or also can be distributed in multiple network element.Some or all of unit wherein can be selected according to the actual needs to realize the object of the present embodiment scheme.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, also can be that the independent physics of unit exists, also can two or more unit in a unit integrated.
If described function using the form of SFU software functional unit realize and as independently production marketing or use time, can be stored in a computer read/write memory medium.Based on such understanding, the part of the part that technical scheme of the present invention contributes to prior art in essence in other words or this technical scheme can embody with the form of software product, this computer software product is stored in a storage medium, comprising some instructions in order to make a computer equipment (can be personal computer, server, or the network equipment etc.) perform all or part of step of method described in each embodiment of the present invention.And aforesaid storage medium comprises: USB flash disk, portable hard drive, ROM (read-only memory) (ROM, Read-OnlyMemory), random access memory (RAM, RandomAccessMemory), magnetic disc or CD etc. various can be program code stored medium.
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 (11)

1. a baseline direction-finding method, is characterized in that, comprising:
Determine that any one direction is fixed setting, and obtain direction finding parameter, described direction finding parameter comprises: the length of the angle of each bar baseline and described fixed setting, the phase differential that two bays forming every bar baseline produce when obtaining electromagnetic wave signal, each bar baseline and mobile unit OBU when diverse location, the incident angle that each bar baseline gets;
According to length and the phase differential of described angle, each bar baseline, obtain described each bar base line projection to the phase differential on described fixed setting and length, and according to the phase differential on described fixed setting and length, obtain the baseline angle measurement of described each bar baseline;
Each baseline angle measurement described is weighted fusion, and the incident angle corresponding to described each bar baseline compares, obtain the value of the weight parameter needed for Weighted Fusion, and obtain the direction finding angle of electromagnetic wave signal on described fixed setting according to the value of described weight parameter, realize the direction finding to vehicle.
2. method according to claim 1, is characterized in that, described baseline direction-finding method also comprises:
Store the value of described weight parameter, so that when carrying out baseline direction finding afterwards, according to the value of the direction finding parameter again received and described weight parameter, obtain the direction finding angle of electromagnetic wave signal on described fixed setting, realize the direction finding to vehicle.
3. method according to claim 1 and 2, is characterized in that, according to length and the phase differential of the angle in described direction finding parameter, each bar baseline, obtaining described each bar base line projection to the phase differential algorithm on described fixed setting is:
φ xi＝φ icosθ i；
Wherein, φ ifor forming the phase differential of two bays of i-th baseline; θ iit is the angle of i-th baseline and described fixed setting; φ xifor this base line projection is to the phase differential on described fixed setting;
According to length and the phase differential of the angle in described direction finding parameter, each bar baseline, obtaining described each bar base line projection to the algorithm of the length on described fixed setting is:
d xi＝d icosθ i；
Wherein, d ibe the length of i-th baseline; θ iit is the angle of i-th baseline and described fixed setting; d xifor this base line projection is to the length on described fixed setting.
4. method according to claim 3, is characterized in that, according to the phase differential of described each bar baseline on described fixed setting and length, the algorithm obtaining the baseline angle measurement of described each bar baseline is:
sinα x i = φ x i λ 2 πd x i
Wherein, φ xibe that i-th base line projection is to the phase differential on described fixed setting; d xibe that i-th base line projection is to the length on described fixed setting; λ is the wavelength of electromagnetic wave signal; α xifor the baseline angle measurement of this baseline on described fixed setting.
5. method according to claim 1 and 2, it is characterized in that, described each baseline angle measurement described is weighted fusion, and the incident angle corresponding to each bar baseline compares, obtain the value of the weight parameter needed for Weighted Fusion, and obtain the direction finding angle of electromagnetic wave signal on described fixed setting according to the value of described weight parameter, comprising:
For each baseline angle measurement described sets a weight parameter respectively, according to described weight parameter, fusion is weighted to baseline angle measurement described in each;
Obtain the fusion results of described baseline angle measurement and total square error of described incident angle, and obtain when described total square error is minimum, the value of each weight parameter described;
According to the value of each weight parameter described, obtain the value of described fusion results, and obtain the direction finding angle of described electromagnetic wave signal on described fixed setting according to the value of described fusion results.
6. method according to claim 5, is characterized in that, described acquisition is when described total square error is minimum, and the value of each weight parameter described, comprising:
According to obtain the fusion results of described baseline angle measurement and total square error of described incident angle;
Wherein, β jrefer to OBU when diverse location, the incident angle that electromagnetic wave signal is corresponding to each bar baseline; for carrying out merging the fusion results obtained to each baseline angle measurement on fixed setting; w ifor weight parameter; α ijwhat represent be incident angle is β jtime, i-th the baseline angle measurement of baseline on fixed setting; E is the square error of described fusion results and described incident angle;
Obtain the partial derivative of each weight parameter in described total square error formula, and set to 0, obtain following system of equations:
∂ E ∂ w 1 = Σ j 2 ( sinβ j - Σ i w i sinα i j ) sinα 1 j = 0
…
∂ E ∂ w k = Σ j 2 ( sinβ j - Σ i w i sinα i j ) sinα k j = 0 ;
According to above-mentioned system of equations, obtain w 1, w 2..., w kvalue, described w 1, w 2..., w kbe corresponding weight parameter.
7. a baseline direction-finding device, is characterized in that, comprising:
Direction finding parameter acquisition module, for determining that any one direction is fixed setting, and obtain direction finding parameter, described direction finding parameter comprises: the length of the angle of each bar baseline and described fixed setting, the phase differential that two bays forming every bar baseline produce when obtaining electromagnetic wave signal, each bar baseline and mobile unit OBU when diverse location, the incident angle that each bar baseline gets;
Baseline angle measurement acquisition module, for according to the length of described angle, each bar baseline and phase differential, obtain described each bar base line projection to the phase differential on described fixed setting and length, and according to the phase differential on described fixed setting and length, obtain the baseline angle measurement of described each bar baseline;
Direction finding angle acquisition module, for each baseline angle measurement described is weighted fusion, and the incident angle corresponding to described each bar baseline compares, obtain the value of the weight parameter needed for Weighted Fusion, and obtain the direction finding angle of electromagnetic wave signal on described fixed setting according to the value of described weight parameter, realize the direction finding to vehicle.
8. device according to claim 7, is characterized in that, described baseline direction-finding device also comprises:
Memory module, for storing the value of described weight parameter, so that when carrying out baseline direction finding afterwards, according to the value of the direction finding parameter again received and described weight parameter, obtaining the direction finding angle of electromagnetic wave signal on described fixed setting, realizing the direction finding to vehicle.
9. the device according to claim 7 or 8, is characterized in that, described direction finding angle acquisition module comprises:
Integrated unit, for setting a weight parameter respectively for each baseline angle measurement described, is weighted fusion according to described weight parameter to baseline angle measurement described in each;
Weight parameter acquiring unit, for total square error of the fusion results and described incident angle that obtain described baseline angle measurement, and obtains when described total square error is minimum, the value of each weight parameter described;
Direction finding angle acquiring unit, for the value according to each weight parameter described, obtains the value of described fusion results, and obtains the direction finding angle of described electromagnetic wave signal on described fixed setting according to the value of described fusion results.
10. a processor, is characterized in that, the chip of described processor is integrated with the baseline direction-finding device described in any one of claim 7 to 9.
11. 1 kinds of drive test unit, is characterized in that, described drive test unit comprises background controller, is provided with processor according to claim 10 in described background controller.
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