CN103956074B - The automatic guidance system in parking lot based on location-based service and implementation method - Google Patents

Abstract

The invention discloses the automatic guidance system in a kind of parking lot based on location-based service and implementation method, including being fixed on the reference transceiver on roof, parking garage, the vehicular-mounted transceiver being arranged on car owner's car and a display processing unit, contact with reference to using radio frequency and ultrasonic signal between transceiver and vehicular-mounted transceiver；Transmit signals to display processing unit enterprising row data with reference to transceiver and vehicular-mounted transceiver process, calculate the 3 d space coordinate of the car at vehicular-mounted transceiver place and realize the navigation to target vehicle accordingly；Display processing unit shows empty vehicle parking position of parking lot information in real time and dynamically issues parking stall guide and outlet director information, and the information of display is sent to the smart mobile phone of car owner.The present invention, based on localization by ultrasonic mechanism, has the advantage such as accurate positioning, strong, no electromagnetic pollution with low cost, private.

Description

The automatic guidance system in parking lot based on location-based service and implementation method

Technical field

The present invention relates to a kind of automatic guidance system in parking lot based on location-based service (LBS) and implementation method, belong to super Acoustic detection field of locating technology.

Background technology

Along with the increase of private car recoverable amount, the problem of parking difficulty gradually highlights, especially in one line city such as wide grade of going up north. Reply parking problem, outdoor plane type parking lot originally can not meet requirement, and the majority faced by us is on the ground now Or underground layered stereoscopic formula large-scale park.This large-scale park alleviates parking difficulty problem to a certain extent, but the most right Driver proposes challenge: in the face of large stereo garage, during parking, how to be quickly found out the parking stall of free time, when picking up the car, the soonest Speed finds the automobile of oneself？

The proposition of LBS concept provides thinking for solving the problems referred to above.Location-based service is many at present to be positioned based on GPS, but its Civilian positioning precision is limited, is difficult to especially in indoor play a role.Experts and scholars propose many indoor positioning technologies solutions, Such as A-GPS location technology, ultrasonic locating technology, Bluetooth technology, infrared technology, REID, super-broadband tech, nothing Line LAN, light track and localization technology, and graphical analysis, beacon location, computer vision location technology etc..The most Have been reported that introduction uses REID, WiFi technology etc. to carry out indoor garage positioning service, but positioning precision and equipment are multiple Miscellaneous degree existing problems.

In view of the feature of indoor positioning, how to improve the emphasis that positioning precision is research, ultrasonic locating technology due to Overall positioning precision is higher, simple in construction, relative inexpensiveness, is the preferred option realizing indoor hi-Fix.

Summary of the invention

It is an object of the invention to provide the automatic guidance system in a kind of parking garage based on location-based service and realization side thereof Method.Ultrasound wave mode is used to realize being accurately positioned navigation, stopping or export guide of vehicle in parking garage.With reference to transceiver It is stationary nodes known to locus, rationally lays according to the space structure in parking lot；Vehicular-mounted transceiver is arranged on mesh Correct position on mark automobile, it is easy to by the reference transceiver identification in parking lot and position；Display processing unit shows in real time and stops Vacant parking stall, parking lot, shows vehicles passing in and out movement locus in real time and dynamically issues parking stall guide and outlet director information；Meanwhile, There is provided, for car owner, services such as seeking car also by mobile phone terminal application program.

In order to achieve the above object, the technical solution used in the present invention is:

The automatic guidance system in a kind of parking lot based on location-based service, is characterized in that, including being fixed on room, parking garage Reference transceiver, the vehicular-mounted transceiver being arranged on car owner's car and a display processing unit on top,

Contact with reference to using radio frequency and ultrasonic signal between transceiver and vehicular-mounted transceiver；

Transmitting signals to display processing unit enterprising row data with reference to transceiver and vehicular-mounted transceiver process, computing is fixed Position, calculates the 3 d space coordinate of the car at vehicular-mounted transceiver place and realizes the navigation to target vehicle accordingly；

Display processing unit shows empty vehicle parking position of parking lot information in real time, and display vehicles passing in and out movement locus is the most in real time Issue parking stall to guide and outlet director information, and in real time the information of display is sent to car owner's by mobile phone terminal application program On smart mobile phone.

Display processing unit includes controller, processor, display, radio-frequency communication module, and controller controls processor, shows Show that device and radio-frequency communication module are operated.

Including controller, signal generator, ultrasound emission probe, radio-frequency communication module with reference to transceiver, controller controls Signal generator, ultrasound emission probe and radio-frequency communication module are operated.

Vehicular-mounted transceiver includes controller, processor, ultrasonic reception probe, radio-frequency communication module, and controller control processes Device, ultrasonic reception probe and radio-frequency communication module are operated.

Launching and accept synchronizing signal by radio-frequency communication module between each reference transceiver, synchronizing signal is radiofrequency signal.

Synchronous mode or asynchronous mode is worked in reference between transceiver and vehicular-mounted transceiver.

Synchronous mode, being accurately positioned of target depends on reference to the clock accurate synchronization between transceiver and vehicular-mounted transceiver.

Asynchronous mode, on the premise of meeting certain topological structure, being accurately positioned of target does not relies on reference to transceiver And the clock accurate synchronization between vehicular-mounted transceiver.

The implementation method that parking lot based on location-based service is guided automatically, is characterized in that, comprise the steps of

(1) according to special topological structure, the reference transceiver no less than more than 4 is installed on floor roof, parking lot, and accurate Really demarcate each geographical coordinate with reference to transceiver；

(2) with reference to use between transceiver radiofrequency signal to carry out to synchronize and and vehicular-mounted transceiver between carry out the receipts of ultrasonic signal Send out；

(3) processing with reference to transceiver or display processing unit enterprising row data, running location algorithm, drawing location knot Really, and accordingly the navigation to target vehicle is realized；

(4) showing empty vehicle parking position of parking lot on display processing unit in real time, display vehicles passing in and out movement locus is also in real time Dynamically issue parking stall to guide and outlet director information, and in real time the information of display is sent to car by mobile phone terminal application program On main smart mobile phone.

Location algorithm in step (3) uses sphere Convergence method to determine vehicular-mounted transceiver coordinate, is using m with reference to transmitting-receiving In the case of device, it is known that m, roof is respectively coordinate (x with reference to the position of transceiver_n,y_n,z_n), wherein, n=1,2,3,4 ... m, Solve vehicular-mounted transceiver position P coordinate (x, y, z)；

Following spherical equation group is obtained by transceiver location and oblique distance:

$\begin{array}{c}{(x_1-x)}^2+{(y_1-y)}^2+{(z_1-z)}^2=r_1^2---\left(1\right)\\ {(x_2-x)}^2+{(y_2-y)}^2+{(z_2-z)}^2=r_2^2---\left(2\right)\\ {(x_3-x)}^2+{(y_3-y)}^2+{(z_3-z)}^2=r_3^2---\left(3\right)\\ {(x_4-x)}^2+{(y_4-y)}^2+{(z_4-z)}^2=r_4^2---\left(4\right)\\ {(x_m-x)}^2+{(y_m-y)}^2+{(z_m-z)}^2=r_m^2---\left(m\right)\end{array}$

Method of least square is utilized to obtain following formula

$\left[\begin{array}{c}\hat{x}\\ \hat{y}\\ \hat{z}\end{array}\right]=A^{-1}B$

Wherein,For the estimator of x,For the estimator of y,Estimator for z.

The beneficial effect that the present invention is reached:

The present invention provides the exact position service of Centimeter Level for parking garage vehicular-mounted transceiver.System is mainly by being fixed on Reference transceiver on roof, parking lot and the vehicular-mounted transceiver entrained by the vehicle of entrance parking lot are constituted.System uses advanced Wideband encoding, not only increases positioning precision, and can meet more than location navigation while 1000 parking garage users Service.Service is actively opened by user when needed, and as user is not turned on, system will be collected less than any user data, only exist User stops, into during parking stall, this parking stall has been used labelling, accomplishes the protection to privacy of user.

The ultrasound positioning system of present invention design has compared to technology such as ultra-wide band radio-frequency, WIFI radio frequency, video images The advantages such as positioning precision strong, no electromagnetic pollution high, with low cost, private, are the one preferred technique of indoor positioning service.

Accompanying drawing explanation

In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, also may be used To obtain other accompanying drawing according to these accompanying drawings.

Fig. 1 is the vehicular-mounted transceiver schematic diagram of the ultrasound positioning system of the present invention.

Fig. 2 is that the transmitting GOLD signal of the ultrasound positioning system of the present invention generates block diagram.

Fig. 3 is the signal flow graph of the automatic guidance system in parking lot of the present invention.

Fig. 4 is the schematic diagram of the automatic guidance system in parking lot of the present invention.

Detailed description of the invention

The invention will be further described below in conjunction with the accompanying drawings.Following example are only used for clearly illustrating the present invention Technical scheme, and can not limit the scope of the invention with this.

Shown in as shown in Figure 1, Figure 3 and Figure 4, system includes with reference to transceiver, vehicular-mounted transceiver, display processing unit and intelligence hands Machine.It is fixed on the roof of parking garage with reference to transceiver, is to use between fixing point, and vehicular-mounted transceiver known to locus Radio frequency ultrasonic signal contacts, and vehicular-mounted transceiver is installed on car, and the vehicle at its place is to need in space to be determined position The motor point of coordinate, display processing unit real-time display system topological structure and vehicle location result according to parking lot Nei Geche Position location determines empty parking space quantity and position, thus whole system is coordinated control.Display processing unit shows in real time Show empty vehicle parking position of parking lot information, show vehicles passing in and out movement locus in real time and dynamically issue parking stall guide and outlet guide letter Breath, and in real time the information of display is sent to the smart mobile phone of car owner by mobile phone terminal application program.

Described display processing unit is made up of controller, processor, display, radio-frequency communication module etc., controller control Processor processed, display and radio-frequency communication module are operated.

Described reference transceiver is made up of controller, signal generator, ultrasound emission probe, radio-frequency communication module etc., Controller control signal generator, ultrasound emission probe and radio-frequency communication module are operated.

Described vehicular-mounted transceiver is made up of controller, processor, ultrasonic reception probe, radio-frequency communication module etc., controls Device controls processor, ultrasonic reception probe and radio-frequency communication module and is operated.

Launching and accept synchronizing signal by radio-frequency communication module between each reference transceiver, synchronizing signal is radiofrequency signal.

Both of which is may operate in: synchronous mode and asynchronous mode between described reference transceiver and vehicular-mounted transceiver.

Under described synchronous working pattern, being accurately positioned of target depend on reference between transceiver and vehicular-mounted transceiver time Clock accurate synchronization.

Described asynchronous work mode, on the premise of meeting certain topological structure, being accurately positioned of target does not relies on With reference to the clock accurate synchronization between transceiver and vehicular-mounted transceiver.

By receiving and dispatching ultrasonic signal in fact between respective ultrasound emission probe between described reference transceiver and vehicular-mounted transceiver The now location to vehicular-mounted transceiver.

On with reference to transceiver or vehicular-mounted transceiver, dock second signal carry out data process, and run hi-Fix Algorithm, calculates the 3 d space coordinate of vehicular-mounted transceiver.

Display processing unit based on pc machine shows empty vehicle parking position of parking lot in real time, in real time display vehicles passing in and out movement locus And dynamically issue parking stall guide and outlet director information.

The implementation method of the automatic guidance system in parking lot based on location-based service, comprises the following steps:

(1) according to special topological structure, the reference transceiver no less than more than 4, and accurate calibration are installed at indoor roof Each geographical coordinate with reference to transceiver；

(2) each with reference to use radiofrequency signal to carry out between transceiver to synchronize and and vehicular-mounted transceiver between carry out the receipts of ultrasonic signal Send out；

(3) process in vehicular-mounted transceiver or display processing unit enterprising row data, run location algorithm, draw location knot Really；

(4) showing empty vehicle parking position of parking lot on display processing unit in real time, display vehicles passing in and out movement locus is also in real time Dynamically issue parking stall to guide and outlet director information, and in real time the information of display is sent to car by mobile phone terminal application program On main smart mobile phone.

Wherein, the location algorithm in step (3) uses sphere Convergence method to determine vehicular-mounted transceiver coordinate, to use four As a example by the case of transceiver, it is known that four, roof is respectively coordinate (x with reference to the position of transceiver a, b, c and d_n,y_n, z_n), n=1,2,3,4, constitute a square, the square length of side can be determined by certainty of measurement.Solve ground on-vehicle transceiver location P coordinate (x, y, z).

Following spherical equation group is obtained by transceiver location and oblique distance:

$\begin{array}{c}{(x_1-x)}^2+{(y_1-y)}^2+{(z_1-z)}^2=r_1^2---\left(1\right)\\ {(x_2-x)}^2+{(y_2-y)}^2+{(z_2-z)}^2=r_2^2---\left(2\right)\\ {(x_3-x)}^2+{(y_3-y)}^2+{(z_3-z)}^2=r_3^2---\left(3\right)\\ {(x_4-x)}^2+{(y_4-y)}^2+{(z_4-z)}^2=r_4^2---\left(4\right)\\ \end{array}$

It is individually subtracted (1) by (2), (3) and (4), utilizes method of least square to obtain following formula

$\left[\begin{array}{c}\hat{x}\\ \hat{y}\\ \hat{z}\end{array}\right]=A^{-1}B---\left(5\right)$

Wherein,For the estimator of x, remaining in like manner,For the estimator of y,Estimator for z.

$A=2\left[\begin{array}{ccc}{x}_2-x_1& y_2-y_1& z_2-z_1\\ x_3-x_1& y_3-y_1& z_3-z_1\\ x_4-x_1& y_4-y_1& z_4-z_1\end{array}\right]$

$B=\left[\begin{array}{c}{d}_2-d_1+r_1^2-r_2^2\\ d_3-d_1+r_1^2-r_3^2\\ d_4-d_1+r_1^2-r_4^2\end{array}\right]$

$d_n=x_n^2+y_n^2+z_n^2,$ N=1,2,3,4.

Embodiment 1

Reference transceiver described in the invention and vehicular-mounted transceiver all can carry out the transmitting-receiving of radio frequency and ultrasonic signal, therefore car The location carrying transceiver realizes using two ways to realize: above gives receipts type working method and issues receipts type work side Formula.Now as a example by issuing upper receipts working method.

The vehicular-mounted transceiver number issuing receipts working method depends on the coded system that system uses, specifically can be according to stopping Parking stall, parking lot quantity determines coded system.

Vehicular-mounted transceiver only launches location acoustical signal, and data process and positions calculations is completed by display processing unit.

Two kinds of links of existence in system: radio frequency link and acoustic link.

Between radio frequency link is present in reference to all nodes such as transceiver, vehicular-mounted transceiver and display processing units.Can It is applied to reference to the synchronization between transceiver, vehicular-mounted transceiver and display processing unit, is also responsible at reference to transceiver and display Reason device between communication, the ultrasonic signal that vehicular-mounted transceiver is sent through with reference to transceiver carry out preliminary data process after through radio frequency Link submits display processing unit, and the transmission that display processing unit is to vehicular-mounted transceiver navigation information to.

Acoustic link is present in reference between transceiver and vehicular-mounted transceiver, and can only send out ultrasonic letter from vehicular-mounted transceiver Number to reference to transceiver (i.e. issuing upper receipts type).

With reference to the ultrasonic signal of transceivers vehicular-mounted transceiver, reception ultrasonic signal is also tentatively located by the record time of reception Submit display processing unit to through radio frequency link after reason, display processing unit realizes the positions calculations of vehicular-mounted transceiver.

Display processing unit shows empty vehicle parking position of parking lot in real time, shows vehicles passing in and out movement locus in real time and dynamically issues Parking stall is guided and outlet director information.

Embodiment 2

System can be selected for multi-signal coded system, now illustrates as a example by Gold sequence.

Gold sequence has the ambiguity function characteristic drawing pin shape of optimum as broadband pseudo-random noise signal, i.e. optimum Distance estimations accuracy and speed estimated accuracy, and respectively by signal bandwidth B and pulse width T Independent Decisiveness, it may be assumed that

Range resolution ratio:

Velocity resolution:

As long as ultrasound emission transducer frequency response (smooth and broadband) is allowed, range resolution ratio increases by transmitting letter Number bandwidth obtains lifting further.Velocity resolution is relevant with pulse width, and pulsewidth is the biggest, and velocity resolution is the highest.Either Bandwidth or pulsewidth, can independently control, and this Decoupled is that code Design provides great motility.

Gold sequence addressability is strong, i.e. distinguishes different user, and each user is distributed on a specific pseudo noise sequence Row, in order to suppress multiple user to share the cochannel interference that same channel causes, it is desirable to the pseudo noise sequence that different user uses Cross-correlation coefficient the least.This has benefited from the orthogonality of Gold sequence: have good dependency between identical Gold sequence, And it is the most uncorrelated between difference Gold sequence.

If any two m-sequence, the absolute value bounded of their cross-correlation function, and meet following condition:

Our this pair m-sequence is called the most right.If two m-sequence generators produce preferably to sequence mould two-phase Add, then produce a new code sequence, i.e. Gold sequence.Gold code generator shown in Fig. 2 principle assumption diagram.

The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art For Yuan, on the premise of without departing from the technology of the present invention principle, it is also possible to make some improvement and deformation, these improve and deformation Also should be regarded as protection scope of the present invention.

Claims (10)

1. the automatic guidance system in parking lot based on location-based service, is characterized in that,

Including being fixed at the reference transceiver on roof, parking garage, the vehicular-mounted transceiver being arranged on car owner's car and a display Reason device,

Contact with reference to using radio frequency and ultrasonic signal between transceiver and vehicular-mounted transceiver；

Transmitting signals to display processing unit enterprising row data with reference to transceiver and vehicular-mounted transceiver process, computing positions, and solves Calculate the 3 d space coordinate of the car at vehicular-mounted transceiver place and realize the navigation to target vehicle accordingly；

Display processing unit shows empty vehicle parking position of parking lot information in real time, shows vehicles passing in and out movement locus in real time and dynamically issues Parking stall is guided and outlet director information, and in real time the information of display is sent the intelligence to car owner by mobile phone terminal application program On mobile phone.

The automatic guidance system in parking lot based on location-based service the most according to claim 1, it is characterised in that: display processes Device includes controller, processor, display, radio-frequency communication module, and controller controls processor, display and radio communication mould Block is operated.

The automatic guidance system in parking lot based on location-based service the most according to claim 1, it is characterised in that: with reference to transmitting-receiving Device includes controller, signal generator, ultrasound emission probe, radio-frequency communication module, controller control signal generator, ultrasonic Penetrate probe and radio-frequency communication module is operated.

The automatic guidance system in parking lot based on location-based service the most according to claim 1, it is characterised in that: vehicle-mounted transmitting-receiving Device include controller, processor, ultrasonic reception probe, radio-frequency communication module, controller control processor, ultrasonic reception probe and Radio-frequency communication module is operated.

The automatic guidance system in parking lot based on location-based service the most according to claim 3, it is characterised in that: each with reference to receiving Sending out and launch and accept synchronizing signal by radio-frequency communication module between device, synchronizing signal is radiofrequency signal.

The automatic guidance system in parking lot based on location-based service the most according to claim 1, it is characterised in that: with reference to transmitting-receiving Synchronous mode or asynchronous mode is worked between device and vehicular-mounted transceiver.

The automatic guidance system in parking lot based on location-based service the most according to claim 6, it is characterised in that: synchronize mould Formula, being accurately positioned of target depends on reference to the clock accurate synchronization between transceiver and vehicular-mounted transceiver.

The automatic guidance system in parking lot based on location-based service the most according to claim 6, it is characterised in that: asynchronous mould Formula, on the premise of meeting certain topological structure, being accurately positioned of target does not relies on reference between transceiver and vehicular-mounted transceiver Clock accurate synchronization.

The implementation method of the automatic guidance system in parking lot based on location-based service the most according to claim 1, is characterized in that, Comprise the steps of

(1) according to special topological structure, the reference transceiver no less than more than 4 is installed on floor roof, parking lot, and accurately marks Fixed each indoor geographical coordinate with reference to transceiver；

(2) with reference to use between transceiver radiofrequency signal to carry out to synchronize and and vehicular-mounted transceiver between carry out the transmitting-receiving of ultrasonic signal；

(3) process in display processing unit enterprising row data, run location algorithm, draw positioning result, and realize accordingly mesh The navigation of mark vehicle；

(4) showing empty vehicle parking position of parking lot on display processing unit in real time, display vehicles passing in and out movement locus is the most in real time Issue parking stall to guide and outlet director information, and in real time the information of display is sent to car owner's by mobile phone terminal application program On smart mobile phone.

The implementation method of the automatic guidance system in parking garage based on location-based service the most according to claim 9, it is special Levying and be, the location algorithm in step (3) uses sphere Convergence method to determine vehicular-mounted transceiver coordinate, is using m with reference to transceiver In the case of, it is known that m, roof is respectively coordinate (x with reference to the position of transceiver_n,y_n,z_n), wherein, n=1,2,3,4 ... m, ask Solution vehicular-mounted transceiver position P coordinate (x, y, z)；

Following spherical equation group is obtained by transceiver location and oblique distance:

(x₁-x)²+(y₁-y)²+(z₁-z)²=r₁ ² (1)

(x₂-x)²+(y₂-y)²+(z₂-z)²=r₂ ² (2)

(x₃-x)²+(y₃-y)²+(z₃-z)²=r₃ ² (3)

(x₄-x)²+(y₄-y)²+(z₄-z)²=r₄ ² (4)

${(x_m-x)}^2+{(y_m-y)}^2+{(z_m-z)}^2=r_m^2\left(m\right)$

Method of least square is utilized to obtain following formula

$\left[\begin{array}{c}\hat{x}\\ \hat{y}\\ \hat{z}\end{array}\right]=A^{-1}B$

Wherein,For the estimator of x,For the estimator of y,For the estimator of z, in formula, middle parameter A, B are as follows:

$A=2\left[\begin{array}{ccc}{x}_2-x_1& y_2-y_1& z_2-z_1\\ x_3-x_1& y_3-y_1& z_3-z_1\\ x_4-x_1& y_4-y_1& z_4-z_1\\ .& .& .\\ .& .& .\\ .& .& .\\ x_m-x_1& y_m-y_1& z_m-z_1\end{array}\right]$

$B=\left[\begin{array}{c}{d}_2-d_1+r_1^2-r_2^2\\ d_3-d_1+r_1^2-r_3^2\\ d_4-d_1+r_1^2-r_4^2\\ .\\ .\\ .\\ d_m-d_1+r_1^2-r_m^2\end{array}\right]$

Wherein, n=1,2,3,4 ... m.