CN104331795B - A kind of logistic management system and method for obtaining goods current location in real time - Google Patents

A kind of logistic management system and method for obtaining goods current location in real time Download PDF

Info

Publication number
CN104331795B
CN104331795B CN201410674023.0A CN201410674023A CN104331795B CN 104331795 B CN104331795 B CN 104331795B CN 201410674023 A CN201410674023 A CN 201410674023A CN 104331795 B CN104331795 B CN 104331795B
Authority
CN
China
Prior art keywords
mtd
mrow
msub
msubsup
mover
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201410674023.0A
Other languages
Chinese (zh)
Other versions
CN104331795A (en
Inventor
王艳玲
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Wanli College
Original Assignee
Zhejiang Wanli College
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhejiang Wanli College filed Critical Zhejiang Wanli College
Priority to CN201410674023.0A priority Critical patent/CN104331795B/en
Publication of CN104331795A publication Critical patent/CN104331795A/en
Application granted granted Critical
Publication of CN104331795B publication Critical patent/CN104331795B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • G06Q10/0833—Tracking
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management

Landscapes

  • Business, Economics & Management (AREA)
  • Engineering & Computer Science (AREA)
  • Economics (AREA)
  • Quality & Reliability (AREA)
  • Tourism & Hospitality (AREA)
  • Human Resources & Organizations (AREA)
  • Marketing (AREA)
  • Operations Research (AREA)
  • Development Economics (AREA)
  • Strategic Management (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Physics & Mathematics (AREA)
  • General Business, Economics & Management (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Other Investigation Or Analysis Of Materials By Electrical Means (AREA)

Abstract

The present invention relates to a kind of logistic management system and method for obtaining goods current location in real time, including logistics management central platform, goods stock, d GPS locating module, LTE communication module, central processing module, RFID reader and the memory module for being stored with cargo RFID tag information, d GPS locating module respectively with LTE communication module, central processing module connects, LTE communication module, RFID reader is connected with central processing module respectively, d GPS locating module, LTE communication module, RFID reader, memory module and central processing module are separately positioned on goods stock.Logistics management central platform forwards Baggage Inquiry order to central processing module；After central processing module judges, order d GPS locating module, RFID reader perform positioning and scanning respectively；Positional information and cargo state after positioning are sent to logistics management central platform, obtain the current location of goods in real time for client.

Description

A kind of logistic management system and method for obtaining goods current location in real time
Technical field
The present invention relates to logistics management field, more particularly to a kind of logistic management system for obtaining goods current location in real time And method.
Background technology
In recent years, with the popularization and continuous development of network technology, shopping at network because its home-confined, convenience obtain it is fast Exhibition is hailed, associated logistics business therewith also steeply rises, and the logistics company as responsible logistics circulation arises at the historic moment.
The goods that logistics company sends seller is drawn over to one's side, and is provided waybill corresponding to each goods and is numbered, and then will Shipping Information and the waybill numbering of goods are registered in logistic management system, are finally sent to the freight transfer station of destination again. After goods reaches terminal, the current location information of goods is sent to logistic management system in time, via logistics management system After system renewal, for the logistics information of customer inquiries goods, the location of goods is obtained.
However, although this Baggage Inquiry mode that logistics company provides enables the customer to know the location of goods Information, but still the part that comes with some shortcomings：Client has by the cargo location information acquired in the inquiry system of logistics company There are very big hysteresis quality, non real-time nature, i.e. position shown by the current location of goods and inquiry system is often inconsistent, Cause client to be wasted time because can not accurately know the current more specific location information of goods arrangement, delay and arrange to receive in time Goods, it is unfavorable for the success rate that goods is sent with charge free, reduces the operational efficiency of logistics company.
The content of the invention
Primary technical problem to be solved by this invention is to provide one kind for above-mentioned prior art to obtain goods in real time The logistic management system of thing current location.
Further technical problems to be solved of the invention are to provide one kind for above-mentioned prior art to include system as described above The method that can obtain goods current location in real time of system.
Technical scheme is used by the present invention solves above-mentioned primary technical problem：It is a kind of to obtain goods current location in real time Logistic management system, for inquiring about the cargo location provided with active RFID tag, it is characterised in that including stream tube Manage central platform, goods stock, d GPS locating module, LTE communication module, central processing module, RFID reader and be stored with The memory module of cargo RFID tag information, d GPS locating module are connected with LTE communication module, central processing module respectively, LTE Communication module, RFID reader are connected with central processing module respectively, d GPS locating module, LTE communication module, RFID reader, Memory module and central processing module are separately positioned on goods stock.
A kind of method of the real-time acquisition goods current location including system as described above, it is characterised in that including as follows Step：
(1) client sends the target goods information for needing to inquire about and gives logistics management central platform, and by logistics management center The target goods information that platform receives, forwarding client sends gives LTE communication module；
(2) LTE communication module receives the target goods information that logistics management central platform is sent, and by target goods information It is sent to central processing module；
(3) central processing module receives the target goods information that LTE communication module is sent, and sends scan command and is read to RFID Read device；
(4) RFID reader receives, performs the scan command that central processing module is sent, to goods on goods stock RFID label tag is scanned, and the FRID label information of scanning is sent into memory module；
(5) memory module receives the FRID label information that RFID reader is sent, and is marked with stored initial RF ID Label information sends jointly to central processing module, wherein initial FRID label information is the RFID marks of all goods on goods stock Sign information；
(6) RFID label tag that central processing module is sent to the initial FRID label information in step (5), RFID reader Information is compared, judged：
(6-1) when the FRID label information that initial FRID label information and RFID reader are sent compares completely the same, Represent goods stock on goods do not received, target goods remain in state of not receiving on goods stock, then in Processing module is entreated to send positioning command to d GPS locating module；
(6-2) is when that initial FRID label information compares with FRID label information that RFID reader is sent is not quite identical When, represent that the goods that has is received on goods stock, then find out inconsistent FRID label information, and will find out FRID label information and the FRID label information of target goods are compared, judged：
If the FRID label information found out contains the FRID label information of target goods, represent in the goods stock On target goods received, then return target goods addressee status information give LTE communication module；
If during FRID label information not containing target goods in the FRID label information found out, return without target Goods information gives LTE communication module；
(7) d GPS locating module receives, performs the positioning command that central processing module is sent, and is carried out using following methods Positioning：
(7-1) calculates the preposition location data estimate of current t according to the location datas of t- time ΔtsBefore Put location data evaluated errorPreposition location data evaluated errorWith its transposed matrixThe average of product
Wherein,
Wherein, XtFor d GPS locating module t true location data value,It is d GPS locating module in t Preposition location data estimate,For rearmounted location data estimate of the d GPS locating module at the t-1 moment,For GPS Preposition location data evaluated error of the locating module in tWith its transposed matrixThe average of product,For GPS Rearmounted location data evaluated error of the locating module at the t-1 momentWith its transposed matrixThe average of product, M Ma Erke Husband's matrix, Δ t represent to position moment t- Δ t and t time interval, Q twicetRepresent the process noise error in t；
(7-2) establishes the measurement equation of observational variable, preposition location data estimate of the calculating observation variable in t
Wherein,Represent the measured value h of ttIn p-th of function existPlace Second dervative, xj、xlRespectively quantity of state XtIn any two element, p ∈ [1,2nt],For satellite Position vector,For the velocity of satellite,For the pseudo range measurement error of satellite, n is satellite Number, and n >=4, i ∈ [1, n], epFor 2ntTie up pth column vector in unit matrix, ntFor the number of satellites of t, δtuRepresent clock Difference；
(7-3) calculates amplification matrix Kt：
Wherein,Represent the measured value h of tt The first derivative at place,Represent the measured value h of ttIn q-th of function existThe second dervative at place,vtRepresent measurement noise matrix；
(7-4) is according to having obtained in step (7-1)~(7-3)And amplification matrix Kt, calculate The preposition location data evaluated error of current tCovariance matrix Pt：
(7-5) calculates rearmounted location data evaluated error E of the d GPS locating module in ttWith its transposed matrixProduct Average
Wherein, diag () represents to make matrix diagonalization processing,For the rearmounted positioning of the d GPS locating module of t Data estimate, I are unit matrix, ZtFor the actual value of observational variable, KtTo expand matrix；
(7-6) is according to the P obtained in step (7-4), (7-5)t、Judged, and determine that d GPS locating module is being worked as The positioning result p of preceding tt：
WhenWhen, then make pt=Pt；WhenWhen, then make
(7-7) repeating said steps (7-1) to step (7-6), obtains N number of positioning points within total time T of GPS location According to (x1,y1,z1)、(x2,y2,z2)、···、(xN,yN,zN), and calculate the average value of obtained N number of locating point data
N=(T-t)/Δ t,
Wherein, T is the total time of GPS location, and at the time of t is denoted as first time GPS location, Δ t represents continuous twice Position the time interval at moment；
(7-8) is according to the locating point data (x respectively obtained in step (7-7)1,y1,z1)、(x2,y2,z2)、···、 (xN,yN,zN) and step (7-7) in locating point data average valueCalculate the error of each locating point data (Δx1,Δy1,Δz1)、(Δx2,Δy2,Δz2)、···、(ΔxN,ΔyN,ΔzN)：
(7-9) calculates locating point data according to the error for each locating point data being calculated in step (7-8) Mean error (Δ x, Δ y, Δ z)：
(7-10) (Δ x, Δ y, Δ z), is calculated undetermined according to the mean error of the locating point data calculated in step (7-9) The actual coordinate (x, y, z) in site, and the current location information (x, y, z) of acquisition is sent to LTE communication module, wherein：
(8) LTE communication module receives target goods that central processing module returns addressee status information or without target goods The current location information (x, y, z) that thing information or d GPS locating module are sent, and by target goods addressee status information or without mesh Mark goods information or current location information (x, y, z) are sent to logistics management central platform；
(9) logistics management central platform receives target goods that LTE communication module is sent addressee status information or without mesh Mark goods information or current location information (x, y, z), and by target goods addressee status information or without target goods information or Current location information (x, y, z) is supplied to client.
Compared with prior art, the advantage of the invention is that：By setting up d GPS locating module and RFID on goods stock Reader, when needing to inquire about the current location of real-time query target goods, then goods is sent by logistics management central platform and looked into Ask information and order to the central processing module on goods stock, after central processing module judges, order d GPS locating module, RFID reader is positioned respectively and scan operation, finally leads to the positional information after positioning and target goods state to LTE Believe module, and logistics management central platform is sent to by LTE communication module, obtain the present bit confidence of goods in real time for client Breath.
Brief description of the drawings
Fig. 1 is the structural representation for the logistic management system for obtaining goods current location in the embodiment of the present invention in real time；
Fig. 2 is the method flow schematic diagram of the real-time acquisition goods current location with system shown in Figure 1；
Fig. 3 is position error schematic diagram of the GPS location method in X-axis in the embodiment of the present invention；
Fig. 4 is position error schematic diagram of the GPS location method in Y-axis in the embodiment of the present invention；
Fig. 5 is position error schematic diagram of the GPS location method on Z axis in the embodiment of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing embodiment.
As shown in figure 1, the logistic management system of goods current location is obtained in the present embodiment in real time, for provided with active The cargo location of RFID label tag is inquired about, including logistics management central platform 1, goods stock 2, d GPS locating module 3, LTE lead to Believe module 4, central processing module 5, RFID reader 6 and the memory module 7 for being stored with cargo RFID tag information, GPS is fixed Position module 3 is connected with LTE communication module 4, central processing module 5 respectively, and LTE communication module 4, RFID reader 6 are respectively with Centre processing module 5 connects, d GPS locating module 3, LTE communication module 4, RFID reader 6, memory module 7 and central processing mould Block 5 is separately positioned on goods stock 2, wherein,
Logistics management central platform 1, on the one hand it is used to supply customer inquiries cargo location information；On the one hand, for receiving visitor Family shipment querying command, and the Baggage Inquiry order of client is forwarded to LTE communication module 4；On the other hand, for storing Logistics company pulls the FRID label information of the goods of receipts, records the information of goods stock 2 that the RFID label tag of each goods is distributed.
D GPS locating module 3, for after the positioning command of central processing module 5 is received, obtaining current position letter Breath, and positional information is sent to LTE communication module 4.
LTE communication module 4, on the one hand it is used to receive the shipment querying command of logistics management central platform 1, and sends To central processing module 5；On the other hand, the positional information sent for receiving d GPS locating module 3, and positional information is sent out Give logistics management central platform 1.
Central processing module 5, for receiving the shipment querying command of LTE communication module 4, and send positioning command to D GPS locating module 3, scan command is sent to RFID reader 6.
RFID reader 6, receive and perform the scan command of the transmission of central processing module 5, the RFID for scanning acquisition is marked Label information is sent to memory module 7.
Memory module 7, on the one hand it is used for the FRID label information for storing all goods on goods stock 2, and records each The current state of individual goods；On the other hand, the FRID label information sent for receiving, storing RFID reader 6.
Assuming that goods A is mounted with goods stock 21,A2,A3,······,Ak, goods A1,A2, A3,······,AkIn be provided with the RFID label tag of storage goods information, client needed to target goods A1It is current Position is inquired about.Below in conjunction with Fig. 1 and Fig. 2, to the real-time acquisition goods A including system as described above1The side of current location Method illustrates：
(1) client sends the target goods A for needing to inquire about1Information is to logistics management central platform 1, and by logistics management The target goods A that heart platform 1 receives, forwards client to send1Information is to LTE communication module 4；
(2) LTE communication module 4 receives the target goods A that logistics management central platform 1 is sent1Information, and by target goods A1Information is sent to central processing module 5；
(3) central processing module 5 receives the target goods A that LTE communication module 4 is sent1Information, send scan command to RFID reader 6；
(4) RFID reader 6 receives, performed the scan command of the transmission of central processing module 5, to goods on goods stock 2 A1,A2,A3,······,AkRFID label tag be scanned, and the FRID label information of scanning is sent to storage mould Block 7；
(5) memory module 7 receive RFID reader 6 send FRID label information, and with stored initial RF ID Label information sends jointly to central processing module 5, wherein initial FRID label information is all goods A on goods stock 21, A2,A3,······,AkFRID label information；
(6) RFID that central processing module 5 is sent to the initial FRID label information in step (5), RFID reader 6 is marked Label information is compared, judged：
(6-1) when the FRID label information that initial FRID label information and RFID reader 6 are sent compares completely the same, Represent that the goods on goods stock 2 is not received, target goods A1State of not receiving is remained on goods stock 2, Then central processing module 5 sends positioning command to d GPS locating module 3；
(6-2) is when that initial FRID label information compares with FRID label information that RFID reader 6 is sent is not quite identical When, the goods for representing to have on goods stock 2 is received, then finds out inconsistent FRID label information, and will find out FRID label information and target goods A1FRID label information compare, judge：
If the FRID label information found out contains target goods A1FRID label information when, represent in the freight Target goods A on 21Received, then return to target goods A1Addressee status information is to LTE communication module 4；
If do not contain target goods A in the FRID label information found out1FRID label information when, then return without mesh Mark goods A1Information is to LTE communication module 4；
(7) d GPS locating module 3 receives, performed the positioning command of the transmission of central processing module 5, and is entered using following methods Row positioning：
The number n=4 of satellite is set, d GPS locating module 3 carries out the total time T=1800s of multiple bearing needs, considers D GPS locating module 3 1s location data, and using the 1.5s within total time T=1800s as first time GPS location At the time of module 3 is positioned, the time interval Δ t of front and rear consecutive tracking twice is 0.5s：
(7-1) is according to 1s location data, the current 1.5s of calculating preposition location data estimateIt is preposition fixed Digit error according to estimatesPreposition location data evaluated errorWith its transposed matrixThe average of product
Wherein,
Wherein, X1.5For d GPS locating module 3 1.5s true location data value,It is d GPS locating module 3 1.5s preposition location data estimate,For d GPS locating module 3 0.5s rearmounted location data estimate, For d GPS locating module 3 1.5s preposition location data evaluated errorWith its transposed matrixThe average of product,For d GPS locating module 3 0.5s rearmounted location data evaluated errorWith its transposed matrixProduct it is equal Value, M are Markov matrix, and Δ t=0.5s represents to position the time interval at moment, Q twice1.5Represent the process in 1.5s Noise error；
(7-2) establishes the measurement equation of observational variable, preposition location data estimate of the calculating observation variable in 1.5s
Wherein,Represent 1.5s measured value htIn p-th of function existThe second dervative at place, xj、xlRespectively quantity of state X1.5In any two element, p ∈ [1,2n1.5],For the position vector of satellite,For the velocity of satellite,For the pseudorange of satellite Measurement error, n be satellite number, n >=4, i ∈ [1, n], epFor 2n1.5Tie up pth column vector in unit matrix, n1.5For 1.5s number of satellites, δtuRepresent clock correction；
(7-3) calculates amplification matrix K1.5：
Wherein,Represent 1.5s measured value ht The first derivative at place,Represent 1.5s measured value htIn q-th of function existThe second dervative at place,v1.5Represent measurement noise matrix；
(7-4) is according to having obtained in step (7-1)~(7-3)And amplification matrix K1.5, meter Calculate current 1.5s preposition location data evaluated errorCovariance matrix P1.5：
(7-5) calculates rearmounted location data evaluated error E of the d GPS locating module 3 in 1.5s1.5With its transposed matrix The average of product
Wherein, diag () represents to make matrix diagonalization processing,For 1.5s d GPS locating module 3 it is rearmounted fixed Digit is worth according to estimates, and I is unit matrix, Z1.5For the actual value of observational variable, K1.5To expand matrix；
(7-6) is according to the P obtained in step (7-4), (7-5)1.5、Judged, and determine d GPS locating module 3 In current 1.5s positioning result p1.5：
WhenWhen, then make p1.5=P1.5；WhenWhen, then make
(7-7) within total time T of GPS location, repeating said steps (7-1) obtain N number of anchor point to step (7-6) Data (x1,y1,z1)、(x2,y2,z2)、···、(xN,yN,zN), and calculate the average value of obtained N number of locating point data
N=(T-1.5)/0.5,
Wherein, T is the total time of GPS location, at the time of t is denoted as first time GPS location, as 1.5s, and Δ t tables Show the time interval 0.5s at consecutive tracking moment twice；
(7-8) is according to the locating point data (x respectively obtained in step (7-7)1,y1,z1)、(x2,y2,z2)、···、 (xN,yN,zN) and step (7-7) in locating point data average valueCalculate the error of each locating point data (Δx1,Δy1,Δz1)、(Δx2,Δy2,Δz2)、···、(ΔxN,ΔyN,ΔzN)：
(7-9) calculates locating point data according to the error for each locating point data being calculated in step (7-8) Mean error (Δ x, Δ y, Δ z)：
(7-10) (Δ x, Δ y, Δ z), is calculated undetermined according to the mean error of the locating point data calculated in step (7-9) The actual coordinate (x, y, z) in site, and the current location information (x, y, z) of acquisition is sent to LTE communication module 4, wherein：
(8) LTE communication module 4 receives the target goods A that central processing module 5 returns1Addressee status information or without mesh Mark the current location information (x, y, z) that goods information or d GPS locating module 3 are sent, and by target goods A1Addressee state is believed Breath is sent to logistics management central platform 1 without target goods information or current location information (x, y, z)；
(9) logistics management central platform 1 receives the target goods A that LTE communication module 4 is sent1Addressee status information or Without target goods information or current location information (x, y, z), and by target goods A1Addressee status information or without target goods Information or current location information (x, y, z) are supplied to client.
Fig. 3~Fig. 5 sets forth the emulation on X-axis, Y-axis and Z axis coordinate using GPS location method in the present embodiment Result schematic diagram.As can be seen that when being positioned using the localization method in the present embodiment, the worst error in X-axis is 7.7m, the worst error in Y-axis are 10.8m, and the worst error on Z axis is 8.2m.Due to traditional GPS location method Positioning precision is 10m, therefore the error of the relatively conventional GPS location method of the GPS location method in the present embodiment is much smaller. It follows that using the method for obtaining goods current location in the present embodiment in real time, not only can be according to the query demand of client The current state information or current location situation of target goods are recognized in real time, and it is more smart to obtain target goods True positional information.

Claims (1)

1. a kind of method for obtaining goods current location in real time, including the logistic management system of goods current location is obtained in real time, For inquiring about the cargo location provided with active RFID tag, logistic management system includes logistics management central platform, goods Transport vehicle, d GPS locating module, LTE communication module, central processing module, RFID reader and be stored with cargo RFID tag The memory module of information, d GPS locating module are connected with LTE communication module, central processing module respectively, LTE communication module, RFID Reader is connected with central processing module respectively, d GPS locating module, LTE communication module, RFID reader, memory module and Central processing module is separately positioned on goods stock；Characterized in that, the method bag for obtaining goods current location in real time Include following steps：
(1) client sends the target goods information for needing to inquire about and gives logistics management central platform, and by logistics management central platform Receive, the target goods information that forwarding client sends gives LTE communication module；
(2) LTE communication module receives the target goods information that logistics management central platform is sent, and target goods information is sent To central processing module；
(3) central processing module receives the target goods information that LTE communication module is sent, and sends scan command and is read to RFID Device；
(4) RFID reader is received, performs the scan command that central processing module is sent, and the RFID of goods on goods stock is marked Label are scanned, and the FRID label information of scanning is sent into memory module；
(5) memory module receives the FRID label information that RFID reader is sent, and believes with stored initial RFID label tag Breath sends jointly to central processing module, wherein initial FRID label information is the RFID label tag letter of all goods on goods stock Breath；
(6) FRID label information that central processing module is sent to the initial FRID label information in step (5), RFID reader It is compared, judges：
(6-1) represents when the FRID label information that initial FRID label information and RFID reader are sent compares completely the same Goods on goods stock is not received, and target goods remain in state of not receiving on goods stock, then centre Manage module and send positioning command to d GPS locating module；
(6-2) when the FRID label information that initial FRID label information and RFID reader are sent compares not quite identical, table Show that the goods having on goods stock is received, then find out inconsistent FRID label information, and the RFID that will be found out The RFID label tag of label information and target goods is compared, judged：
If the FRID label information found out contains the FRID label information of target goods, represent on the goods stock Target goods are received, then returning to target goods, addressee status information gives LTE communication module；
If during FRID label information not containing target goods in the FRID label information found out, return without target goods Information gives LTE communication module；
(7) d GPS locating module receives, performs the positioning command that central processing module is sent, and is positioned using following methods：
(7-1) calculates the preposition location data estimate of current t according to the location datas of t- time ΔtsIt is preposition fixed Digit error according to estimatesPreposition location data evaluated errorWith its transposed matrixThe average of product
<mrow> <mover> <msubsup> <mi>X</mi> <mi>t</mi> <mo>-</mo> </msubsup> <mo>^</mo> </mover> <mo>=</mo> <mi>M</mi> <mo>&amp;CenterDot;</mo> <mover> <msub> <mi>X</mi> <mrow> <mi>t</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>^</mo> </mover> <mo>&amp;CenterDot;</mo> <mover> <msubsup> <mi>P</mi> <mi>t</mi> <mo>-</mo> </msubsup> <mo>^</mo> </mover> <mo>=</mo> <mi>M</mi> <mo>&amp;CenterDot;</mo> <mover> <msubsup> <mi>P</mi> <mrow> <mi>t</mi> <mo>-</mo> <mn>1</mn> </mrow> <mo>-</mo> </msubsup> <mo>^</mo> </mover> <mo>&amp;CenterDot;</mo> <msup> <mi>M</mi> <mi>T</mi> </msup> <mo>+</mo> <msub> <mi>Q</mi> <mi>t</mi> </msub> <mo>,</mo> </mrow>
<mrow> <msubsup> <mi>E</mi> <mi>t</mi> <mo>-</mo> </msubsup> <mo>=</mo> <msub> <mi>X</mi> <mi>t</mi> </msub> <mo>-</mo> <mover> <msubsup> <mi>X</mi> <mi>t</mi> <mo>-</mo> </msubsup> <mo>^</mo> </mover> <mo>,</mo> <msub> <mi>E</mi> <mrow> <msubsup> <mi>E</mi> <mi>t</mi> <mo>-</mo> </msubsup> <mo>,</mo> <msubsup> <mi>E</mi> <mi>t</mi> <mrow> <mo>-</mo> <mi>T</mi> </mrow> </msubsup> </mrow> </msub> <mo>=</mo> <mi>E</mi> <mrow> <mo>(</mo> <msubsup> <mi>E</mi> <mi>t</mi> <mo>-</mo> </msubsup> <mo>&amp;CenterDot;</mo> <msubsup> <mi>E</mi> <mi>t</mi> <mrow> <mo>-</mo> <mi>T</mi> </mrow> </msubsup> <mo>)</mo> </mrow> <mo>,</mo> </mrow>
Wherein,
<mrow> <mi>M</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mrow> <mi>&amp;Delta;</mi> <mi>t</mi> </mrow> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mrow> <mi>&amp;Delta;</mi> <mi>t</mi> </mrow> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mrow> <mi>&amp;Delta;</mi> <mi>t</mi> </mrow> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> <mtd> <mrow> <mi>&amp;Delta;</mi> <mi>t</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow>
<mrow> <msub> <mi>Q</mi> <mi>t</mi> </msub> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <msup> <mn>10</mn> <mrow> <mo>-</mo> <mn>4</mn> </mrow> </msup> <msub> <mi>I</mi> <mrow> <mn>3</mn> <mo>&amp;times;</mo> <mn>3</mn> </mrow> </msub> </mrow> </mtd> <mtd> <msub> <mn>0</mn> <mrow> <mn>3</mn> <mo>&amp;times;</mo> <mn>3</mn> </mrow> </msub> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <msub> <mn>0</mn> <mrow> <mn>3</mn> <mo>&amp;times;</mo> <mn>3</mn> </mrow> </msub> </mtd> <mtd> <mrow> <msup> <mn>10</mn> <mn>3</mn> </msup> <msub> <mi>I</mi> <mrow> <mn>3</mn> <mo>&amp;times;</mo> <mn>3</mn> </mrow> </msub> </mrow> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <msup> <mn>10</mn> <mn>5</mn> </msup> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <msup> <mn>10</mn> <mn>2</mn> </msup> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow>
<mrow> <msub> <mi>I</mi> <mrow> <mn>3</mn> <mo>&amp;times;</mo> <mn>3</mn> </mrow> </msub> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> <msub> <mn>0</mn> <mrow> <mn>3</mn> <mo>&amp;times;</mo> <mn>3</mn> </mrow> </msub> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow>
Wherein, XtFor d GPS locating module t true location data value,It is d GPS locating module in the preposition of t Location data estimate,For rearmounted location data estimate of the d GPS locating module at the t-1 moment,For GPS location Preposition location data evaluated error of the module in tWith its transposed matrixThe average of product,For GPS location Rearmounted location data evaluated error of the module at the t-1 momentWith its transposed matrixThe average of product, M are Markov square Battle array, Δ t represent to position moment t- Δ t and t time interval, Q twicetRepresent the process noise error in t；
(7-2) establishes the measurement equation of observational variable, preposition location data estimate of the calculating observation variable in t
<mrow> <mover> <msubsup> <mi>Z</mi> <mi>t</mi> <mo>-</mo> </msubsup> <mo>^</mo> </mover> <mo>=</mo> <msub> <mi>h</mi> <mi>t</mi> </msub> <mrow> <mo>(</mo> <mover> <msubsup> <mi>X</mi> <mi>t</mi> <mo>-</mo> </msubsup> <mo>^</mo> </mover> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>m</mi> <mrow> <mn>1</mn> <mi>t</mi> </mrow> </msub> <mo>,</mo> </mrow>
<mrow> <mi>h</mi> <mo>=</mo> <msup> <mrow> <mo>&amp;lsqb;</mo> <msub> <mi>&amp;mu;</mi> <mn>1</mn> </msub> <mo>,</mo> <msub> <mi>&amp;mu;</mi> <mn>2</mn> </msub> <mo>,</mo> <mo>...</mo> <mo>,</mo> <msub> <mi>&amp;mu;</mi> <mi>n</mi> </msub> <mo>,</mo> <msubsup> <mi>&amp;mu;</mi> <mn>1</mn> <mo>&amp;prime;</mo> </msubsup> <mo>,</mo> <msubsup> <mi>&amp;mu;</mi> <mi>2</mi> <mo>&amp;prime;</mo> </msubsup> <mo>,</mo> <mo>...</mo> <mo>,</mo> <msubsup> <mi>&amp;mu;</mi> <mi>n</mi> <mo>&amp;prime;</mo> </msubsup> <mo>&amp;rsqb;</mo> </mrow> <mi>T</mi> </msup> <mo>=</mo> <mo>|</mo> <mo>|</mo> <msubsup> <mi>r</mi> <mi>i</mi> <mi>s</mi> </msubsup> <mo>-</mo> <mi>r</mi> <mi>u</mi> <mo>|</mo> <mo>|</mo> <mo>+</mo> <msub> <mi>&amp;delta;</mi> <mrow> <mi>t</mi> <mi>u</mi> </mrow> </msub> <mo>+</mo> <msub> <mi>&amp;epsiv;</mi> <msub> <mi>&amp;mu;</mi> <mi>i</mi> </msub> </msub> <mo>,</mo> </mrow>
<mrow> <msubsup> <mi>&amp;mu;</mi> <mi>i</mi> <mo>&amp;prime;</mo> </msubsup> <mo>=</mo> <mo>|</mo> <mo>|</mo> <msup> <mrow> <mo>(</mo> <msubsup> <mi>r</mi> <mi>i</mi> <mi>s</mi> </msubsup> <mo>-</mo> <mi>r</mi> <mi>u</mi> <mo>)</mo> </mrow> <mi>T</mi> </msup> <mo>&amp;CenterDot;</mo> <mrow> <mo>(</mo> <msubsup> <mi>V</mi> <mi>i</mi> <mi>s</mi> </msubsup> <mo>-</mo> <mi>V</mi> <mi>u</mi> <mo>)</mo> </mrow> <mo>|</mo> <mo>|</mo> <mo>/</mo> <mo>|</mo> <mo>|</mo> <msubsup> <mi>r</mi> <mi>i</mi> <mi>s</mi> </msubsup> <mo>-</mo> <mi>r</mi> <mi>u</mi> <mo>|</mo> <mo>|</mo> <mo>+</mo> <msub> <mi>&amp;delta;</mi> <mrow> <mi>t</mi> <mi>u</mi> </mrow> </msub> <mo>+</mo> <msub> <mi>&amp;epsiv;</mi> <msub> <mi>&amp;mu;</mi> <mi>i</mi> </msub> </msub> <mo>;</mo> </mrow>
<mrow> <msub> <mi>m</mi> <mrow> <mn>1</mn> <mi>t</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <munderover> <mo>&amp;Sigma;</mo> <mi>p</mi> <mrow> <mn>2</mn> <msub> <mi>n</mi> <mi>t</mi> </msub> </mrow> </munderover> <msub> <mi>e</mi> <mi>p</mi> </msub> <mo>&amp;CenterDot;</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>X</mi> <mi>t</mi> </msub> <mo>-</mo> <mover> <msubsup> <mi>X</mi> <mi>t</mi> <mo>-</mo> </msubsup> <mo>^</mo> </mover> <mo>)</mo> </mrow> <mi>T</mi> </msup> <mo>&amp;CenterDot;</mo> <msubsup> <mi>H</mi> <mrow> <mn>2</mn> <mi>t</mi> </mrow> <mi>p</mi> </msubsup> <mo>&amp;CenterDot;</mo> <mrow> <mo>(</mo> <msub> <mi>X</mi> <mi>t</mi> </msub> <mo>-</mo> <mover> <msubsup> <mi>X</mi> <mi>t</mi> <mo>-</mo> </msubsup> <mo>^</mo> </mover> <mo>)</mo> </mrow> <mo>,</mo> </mrow>
Wherein,Represent the measured value h of ttIn p-th of function existThe two of place Order derivative, xj、xlRespectively quantity of state XtIn any two element, p ∈ [1,2nt],For the position of satellite Vector,For the velocity of satellite,For the pseudo range measurement error of satellite, n is the number of satellite, and N >=4, i ∈ [1, n], epFor 2ntTie up pth column vector in unit matrix, ntFor the number of satellites of t, δtuRepresent clock correction；
(7-3) calculates amplification matrix Kt：
<mrow> <msub> <mi>K</mi> <mi>t</mi> </msub> <mo>=</mo> <mrow> <mo>(</mo> <mover> <msubsup> <mi>P</mi> <mi>t</mi> <mo>-</mo> </msubsup> <mo>^</mo> </mover> <mo>&amp;CenterDot;</mo> <msubsup> <mi>H</mi> <mrow> <mn>1</mn> <mi>t</mi> </mrow> <mi>T</mi> </msubsup> <mo>+</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <mo>(</mo> <mrow> <msub> <mi>X</mi> <mi>t</mi> </msub> <mo>-</mo> <mover> <msubsup> <mi>X</mi> <mi>t</mi> <mo>-</mo> </msubsup> <mo>^</mo> </mover> </mrow> <mo>)</mo> <mo>&amp;CenterDot;</mo> <msubsup> <mi>m</mi> <mrow> <mn>1</mn> <mi>t</mi> </mrow> <mo>&amp;prime;</mo> </msubsup> <mo>)</mo> </mrow> <msup> <mfenced open = "(" close = ")"> <mtable> <mtr> <mtd> <mrow> <msub> <mi>H</mi> <mrow> <mn>1</mn> <mi>t</mi> </mrow> </msub> <mo>&amp;CenterDot;</mo> <mover> <msubsup> <mi>P</mi> <mrow> <mi>t</mi> <mo>-</mo> <mn>1</mn> </mrow> <mo>-</mo> </msubsup> <mo>^</mo> </mover> <msubsup> <mi>H</mi> <mrow> <mn>1</mn> <mi>t</mi> </mrow> <mi>T</mi> </msubsup> <mo>+</mo> <msub> <mi>R</mi> <mi>t</mi> </msub> <mo>+</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <msub> <mi>H</mi> <mrow> <mn>1</mn> <mi>t</mi> </mrow> </msub> <mo>&amp;CenterDot;</mo> <mrow> <mo>(</mo> <msub> <mi>X</mi> <mi>t</mi> </msub> <mo>-</mo> <mover> <msubsup> <mi>X</mi> <mi>t</mi> <mo>-</mo> </msubsup> <mo>^</mo> </mover> <mo>)</mo> </mrow> <mo>&amp;CenterDot;</mo> <msubsup> <mi>m</mi> <mrow> <mn>1</mn> <mi>t</mi> </mrow> <mo>&amp;prime;</mo> </msubsup> <mo>+</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <msub> <mi>m</mi> <mrow> <mn>1</mn> <mi>t</mi> </mrow> </msub> <mo>&amp;CenterDot;</mo> <mrow> <mo>(</mo> <msub> <mi>X</mi> <mi>t</mi> </msub> <mo>-</mo> <mover> <msubsup> <mi>X</mi> <mi>t</mi> <mo>-</mo> </msubsup> <mo>^</mo> </mover> <mo>)</mo> </mrow> <mo>&amp;CenterDot;</mo> <msub> <mi>H</mi> <mrow> <mn>1</mn> <mi>t</mi> </mrow> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>+</mo> <munder> <mi>&amp;Sigma;</mi> <mrow> <mi>p</mi> <mo>,</mo> <mi>q</mi> </mrow> </munder> <mfrac> <mn>1</mn> <mn>4</mn> </mfrac> <mrow> <mo>(</mo> <msup> <mrow> <mo>(</mo> <mo>(</mo> <msub> <mi>X</mi> <mi>t</mi> </msub> <mo>-</mo> <mover> <msubsup> <mi>X</mi> <mi>t</mi> <mo>-</mo> </msubsup> <mo>^</mo> </mover> <mo>)</mo> <mo>)</mo> </mrow> <mi>T</mi> </msup> <mo>&amp;CenterDot;</mo> <msubsup> <mi>H</mi> <mrow> <mn>2</mn> <mi>t</mi> </mrow> <mi>p</mi> </msubsup> <mo>&amp;CenterDot;</mo> <mover> <msubsup> <mi>P</mi> <mi>t</mi> <mo>-</mo> </msubsup> <mo>^</mo> </mover> <mo>&amp;CenterDot;</mo> <msubsup> <mi>H</mi> <mrow> <mn>2</mn> <mi>t</mi> </mrow> <mi>q</mi> </msubsup> <mo>&amp;CenterDot;</mo> <mo>(</mo> <msub> <mi>X</mi> <mi>t</mi> </msub> <mo>-</mo> <mover> <msubsup> <mi>X</mi> <mi>t</mi> <mo>-</mo> </msubsup> <mo>^</mo> </mover> <mo>)</mo> </mrow> <mo>)</mo> <mo>&amp;CenterDot;</mo> <msub> <mi>e</mi> <mi>p</mi> </msub> <mo>&amp;CenterDot;</mo> <msubsup> <mi>e</mi> <mi>q</mi> <mo>&amp;prime;</mo> </msubsup> </mrow> </mtd> </mtr> </mtable> </mfenced> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </msup> </mrow>
Wherein,Represent the measured value h of tt The first derivative at place, Represent the measured value h of ttIn q-th of function existThe second dervative at place,vtRepresent that measurement is made an uproar Sound matrix；
(7-4) is according to having obtained in step (7-1)~(7-3)And amplification matrix Kt, calculate current The preposition location data evaluated error of tCovariance matrix Pt：
<mrow> <msub> <mi>P</mi> <mi>t</mi> </msub> <mo>=</mo> <mrow> <mo>(</mo> <mi>I</mi> <mo>-</mo> <msub> <mi>K</mi> <mi>t</mi> </msub> <mo>&amp;CenterDot;</mo> <msub> <mi>h</mi> <mi>t</mi> </msub> <mo>(</mo> <mover> <msubsup> <mi>X</mi> <mi>t</mi> <mo>-</mo> </msubsup> <mo>^</mo> </mover> <mo>)</mo> <mo>)</mo> </mrow> <mo>&amp;CenterDot;</mo> <msub> <mi>E</mi> <mrow> <msubsup> <mi>E</mi> <mi>t</mi> <mo>-</mo> </msubsup> <mo>,</mo> <msubsup> <mi>E</mi> <mi>t</mi> <mrow> <mo>-</mo> <mi>T</mi> </mrow> </msubsup> </mrow> </msub> <mo>;</mo> </mrow>
(7-5) calculates rearmounted location data evaluated error E of the d GPS locating module in ttWith its transposed matrixProduct it is equal Value
<mrow> <msub> <mi>E</mi> <mi>t</mi> </msub> <mo>=</mo> <msub> <mi>X</mi> <mi>t</mi> </msub> <mo>-</mo> <mover> <msub> <mi>X</mi> <mi>t</mi> </msub> <mo>^</mo> </mover> <mo>,</mo> </mrow>
<mrow> <msub> <mi>E</mi> <mrow> <msub> <mi>E</mi> <mi>t</mi> </msub> <mo>,</mo> <msubsup> <mi>E</mi> <mi>t</mi> <mi>T</mi> </msubsup> </mrow> </msub> <mo>=</mo> <mi>E</mi> <mrow> <mo>(</mo> <msub> <mi>E</mi> <mi>t</mi> </msub> <mo>&amp;CenterDot;</mo> <msubsup> <mi>E</mi> <mi>t</mi> <mi>T</mi> </msubsup> <mo>)</mo> </mrow> <mo>,</mo> </mrow>
<mrow> <mi>E</mi> <mrow> <mo>(</mo> <msub> <mi>E</mi> <mi>t</mi> </msub> <mo>&amp;CenterDot;</mo> <msubsup> <mi>E</mi> <mi>t</mi> <mi>T</mi> </msubsup> <mo>)</mo> </mrow> <mo>=</mo> <mi>d</mi> <mi>i</mi> <mi>a</mi> <mi>g</mi> <mrow> <mo>(</mo> <mo>(</mo> <mrow> <mi>I</mi> <mo>-</mo> <msub> <mi>K</mi> <mi>t</mi> </msub> <msub> <mi>H</mi> <mrow> <mn>1</mn> <mi>t</mi> </mrow> </msub> </mrow> <mo>)</mo> <mo>&amp;CenterDot;</mo> <mover> <msubsup> <mi>P</mi> <mi>t</mi> <mo>-</mo> </msubsup> <mo>^</mo> </mover> <mo>&amp;CenterDot;</mo> <msup> <mrow> <mo>(</mo> <mrow> <mi>I</mi> <mo>-</mo> <msub> <mi>K</mi> <mi>t</mi> </msub> <msub> <mi>H</mi> <mrow> <mn>1</mn> <mi>t</mi> </mrow> </msub> </mrow> <mo>)</mo> </mrow> <mi>T</mi> </msup> <mo>)</mo> </mrow> <mo>&amp;CenterDot;</mo> <mover> <msub> <mi>X</mi> <mi>t</mi> </msub> <mo>^</mo> </mover> <mo>=</mo> <mover> <msubsup> <mi>X</mi> <mi>t</mi> <mo>-</mo> </msubsup> <mo>^</mo> </mover> <mo>+</mo> <msub> <mi>K</mi> <mi>t</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>Z</mi> <mi>t</mi> </msub> <mo>-</mo> <mover> <msubsup> <mi>Z</mi> <mi>t</mi> <mo>-</mo> </msubsup> <mo>^</mo> </mover> <mo>)</mo> </mrow> <mo>,</mo> </mrow>
Wherein, diag () represents to make matrix diagonalization processing,For the rearmounted location data of the d GPS locating module of t Estimate, I are unit matrix, ZtFor the actual value of observational variable, KtTo expand matrix；
(7-6) is according to the P obtained in step (7-4), (7-5)t、Judged, and determine d GPS locating module in current t The positioning result p at momentt：
WhenWhen, then make pt=Pt；WhenWhen, then make
(7-7) within total time T of GPS location, repeating said steps (7-1) obtain N number of locating point data to step (7-6) (x1,y1,z1)、(x2,y2,z2)、…、(xN,yN,zN), and calculate the average value of obtained N number of locating point data
<mrow> <mover> <mi>x</mi> <mo>&amp;OverBar;</mo> </mover> <mo>=</mo> <mfrac> <mn>1</mn> <mi>N</mi> </mfrac> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>k</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>N</mi> </munderover> <msub> <mi>x</mi> <mi>k</mi> </msub> <mo>,</mo> <mover> <mi>y</mi> <mo>&amp;OverBar;</mo> </mover> <mo>=</mo> <mfrac> <mn>1</mn> <mi>N</mi> </mfrac> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>k</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>N</mi> </munderover> <msub> <mi>y</mi> <mi>k</mi> </msub> <mo>,</mo> <mover> <mi>z</mi> <mo>&amp;OverBar;</mo> </mover> <mo>=</mo> <mfrac> <mn>1</mn> <mi>N</mi> </mfrac> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>k</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>N</mi> </munderover> <msub> <mi>z</mi> <mi>k</mi> </msub> <mo>,</mo> </mrow>
N=(T-t)/Δ t,
Wherein, T is the total time of GPS location, and at the time of t is denoted as first time GPS location, Δ t represents consecutive tracking twice The time interval at moment；
(7-8) is according to the locating point data (x respectively obtained in step (7-7)1,y1,z1)、(x2,y2,z2)、…、(xN,yN,zN) And in step (7-7) locating point data average valueCalculate error (the Δ x of each locating point data1,Δy1, Δz1)、(Δx2,Δy2,Δz2)、…、(ΔxN,ΔyN, Δ zN)：
<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>x</mi> <mn>1</mn> </msub> <mo>-</mo> <mover> <mi>x</mi> <mo>&amp;OverBar;</mo> </mover> <mo>=</mo> <msub> <mi>&amp;Delta;x</mi> <mn>1</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>y</mi> <mn>1</mn> </msub> <mo>-</mo> <mover> <mi>y</mi> <mo>&amp;OverBar;</mo> </mover> <mo>=</mo> <msub> <mi>&amp;Delta;y</mi> <mn>1</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>z</mi> <mn>1</mn> </msub> <mo>-</mo> <mover> <mi>z</mi> <mo>&amp;OverBar;</mo> </mover> <mo>=</mo> <msub> <mi>&amp;Delta;z</mi> <mn>1</mn> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>x</mi> <mn>2</mn> </msub> <mo>-</mo> <mover> <mi>x</mi> <mo>&amp;OverBar;</mo> </mover> <mo>=</mo> <msub> <mi>&amp;Delta;x</mi> <mn>2</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>y</mi> <mn>2</mn> </msub> <mo>-</mo> <mover> <mi>y</mi> <mo>&amp;OverBar;</mo> </mover> <mo>=</mo> <msub> <mi>&amp;Delta;y</mi> <mn>2</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>z</mi> <mn>2</mn> </msub> <mo>-</mo> <mover> <mi>z</mi> <mo>&amp;OverBar;</mo> </mover> <mo>=</mo> <msub> <mi>&amp;Delta;z</mi> <mn>2</mn> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> <mn>...</mn> <mo>,</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>x</mi> <mi>N</mi> </msub> <mo>-</mo> <mover> <mi>x</mi> <mo>&amp;OverBar;</mo> </mover> <mo>=</mo> <msub> <mi>&amp;Delta;x</mi> <mi>N</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>y</mi> <mi>N</mi> </msub> <mo>-</mo> <mover> <mi>y</mi> <mo>&amp;OverBar;</mo> </mover> <mo>=</mo> <msub> <mi>&amp;Delta;y</mi> <mi>N</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>z</mi> <mi>N</mi> </msub> <mo>-</mo> <mover> <mi>z</mi> <mo>&amp;OverBar;</mo> </mover> <mo>=</mo> <msub> <mi>&amp;Delta;z</mi> <mi>N</mi> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>;</mo> </mrow>
(7-9) calculates being averaged for locating point data according to the error for each locating point data being calculated in step (7-8) Error (Δ x, Δ y, Δ z)：
<mrow> <mi>&amp;Delta;</mi> <mi>x</mi> <mo>=</mo> <mfrac> <mn>1</mn> <mi>N</mi> </mfrac> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>k</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>N</mi> </munderover> <msub> <mi>&amp;Delta;x</mi> <mi>k</mi> </msub> <mo>,</mo> <mi>&amp;Delta;</mi> <mi>y</mi> <mo>=</mo> <mfrac> <mn>1</mn> <mi>N</mi> </mfrac> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>k</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>N</mi> </munderover> <msub> <mi>&amp;Delta;y</mi> <mi>k</mi> </msub> <mo>,</mo> <mi>&amp;Delta;</mi> <mi>z</mi> <mo>=</mo> <mfrac> <mn>1</mn> <mi>N</mi> </mfrac> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>k</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>N</mi> </munderover> <msub> <mi>&amp;Delta;z</mi> <mi>k</mi> </msub> <mo>;</mo> </mrow>
(7-10) (Δ x, Δ y, Δ z), calculates point to be determined according to the mean error of the locating point data calculated in step (7-9) Actual coordinate (x, y, z), and the current location information (x, y, z) of acquisition is sent to LTE communication module, wherein：
<mrow> <mi>x</mi> <mo>=</mo> <mover> <mi>x</mi> <mo>&amp;OverBar;</mo> </mover> <mo>+</mo> <mi>&amp;Delta;</mi> <mi>x</mi> <mo>,</mo> <mi>y</mi> <mo>=</mo> <mover> <mi>y</mi> <mo>&amp;OverBar;</mo> </mover> <mo>+</mo> <mi>&amp;Delta;</mi> <mi>y</mi> <mo>,</mo> <mi>z</mi> <mo>=</mo> <mover> <mi>z</mi> <mo>&amp;OverBar;</mo> </mover> <mo>+</mo> <mi>&amp;Delta;</mi> <mi>z</mi> <mo>;</mo> </mrow>
(8) LTE communication module receive central processing module return target goods addressee status information or without target goods believe The current location information (x, y, z) that breath or d GPS locating module are sent, and by target goods addressee status information or without target goods Thing information or current location information (x, y, z) are sent to logistics management central platform；
(9) logistics management central platform receives target goods that LTE communication module is sent addressee status information or without target goods Thing information or current location information (x, y, z), and by target goods addressee status information or without target goods information or current Positional information (x, y, z) is supplied to client.
CN201410674023.0A 2014-11-21 2014-11-21 A kind of logistic management system and method for obtaining goods current location in real time Active CN104331795B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410674023.0A CN104331795B (en) 2014-11-21 2014-11-21 A kind of logistic management system and method for obtaining goods current location in real time

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410674023.0A CN104331795B (en) 2014-11-21 2014-11-21 A kind of logistic management system and method for obtaining goods current location in real time

Publications (2)

Publication Number Publication Date
CN104331795A CN104331795A (en) 2015-02-04
CN104331795B true CN104331795B (en) 2017-11-17

Family

ID=52406516

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201410674023.0A Active CN104331795B (en) 2014-11-21 2014-11-21 A kind of logistic management system and method for obtaining goods current location in real time

Country Status (1)

Country Link
CN (1) CN104331795B (en)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105184538B (en) * 2015-10-08 2018-09-18 浙江万里学院 A kind of Logistics Distribution Method that cargo arrival time is estimated and system
CN105184537B (en) * 2015-10-08 2018-09-18 浙江万里学院 A kind of the cloud commodity distribution control method and system of real time monitoring cargo state
CN105225089B (en) * 2015-10-08 2018-11-20 浙江万里学院 A kind of logistics monitoring method and system obtaining cargo real time kinematics track
CN107657403A (en) * 2017-08-15 2018-02-02 广州方得物流有限公司 A kind of logistics information tracks of device
CN107766903A (en) * 2017-09-29 2018-03-06 安徽瓦尔特机械贸易有限公司 A kind of material flow tracking alignment system
CN107992919A (en) * 2017-12-15 2018-05-04 四川长虹技佳精工有限公司 The method of RFID quick countings
CN110308469A (en) * 2018-03-20 2019-10-08 郑州宇通客车股份有限公司 A kind of high-accuracy position system for vehicle, vehicle
JP7186525B2 (en) * 2018-07-02 2022-12-09 本田技研工業株式会社 vehicle controller
CN110694916A (en) * 2019-09-02 2020-01-17 安徽融易供应链管理有限公司 Logistics sorting system based on AGV

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201570078U (en) * 2009-02-19 2010-09-01 周波 System for realizing real-time tracking in process of carrying goods by FRID E-seal
CN101930569A (en) * 2010-09-07 2010-12-29 北京博雅英杰科技有限公司 Logistics management information system
CN102184437A (en) * 2011-05-19 2011-09-14 启东鑫业网络科技有限公司 Physical distribution piece tracking system based on GSM (Global System for Mobile Communications) and RFID (Radio Frequency Identification) technology
CN202067286U (en) * 2011-04-28 2011-12-07 华东师范大学附属杨行中学 RFID (radio frequency identification) electronic tag scanning system for freightage
CN202838419U (en) * 2012-10-09 2013-03-27 深圳市赛格导航科技股份有限公司 Intelligent cargo tracking management system
CN103559609A (en) * 2013-11-20 2014-02-05 天津工业大学 Online shopping distribution system based on RFID and implementation method thereof

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100788887B1 (en) * 2006-03-13 2007-12-27 부산대학교 산학협력단 Management System and Method for Location Information using RFID

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201570078U (en) * 2009-02-19 2010-09-01 周波 System for realizing real-time tracking in process of carrying goods by FRID E-seal
CN101930569A (en) * 2010-09-07 2010-12-29 北京博雅英杰科技有限公司 Logistics management information system
CN202067286U (en) * 2011-04-28 2011-12-07 华东师范大学附属杨行中学 RFID (radio frequency identification) electronic tag scanning system for freightage
CN102184437A (en) * 2011-05-19 2011-09-14 启东鑫业网络科技有限公司 Physical distribution piece tracking system based on GSM (Global System for Mobile Communications) and RFID (Radio Frequency Identification) technology
CN202838419U (en) * 2012-10-09 2013-03-27 深圳市赛格导航科技股份有限公司 Intelligent cargo tracking management system
CN103559609A (en) * 2013-11-20 2014-02-05 天津工业大学 Online shopping distribution system based on RFID and implementation method thereof

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
基于RFID/GPS/GPRS的货物监控与管理系统;林朝安等;《装备制造技术》;20120930(第9期);第33-35,59页 *

Also Published As

Publication number Publication date
CN104331795A (en) 2015-02-04

Similar Documents

Publication Publication Date Title
CN104331795B (en) A kind of logistic management system and method for obtaining goods current location in real time
EP1705500B1 (en) Electronic location code
CN104977596B (en) High precision position based on cloud computing corrects positioning system
CN103913162B (en) The mobile platform of enhancing positions
CN102608632B (en) Beidou satellite GPS dual-mode cloud differential positioning method and system
CN108776884A (en) A kind of intelligent storage operational method
KR102083210B1 (en) Active rfid tag with passive interrogator
CN101750081B (en) Method and apparatus for map matching of moving objects
CN100395767C (en) Reference positioning system employing RF recognition technology
CN108038637A (en) Logistic information management system based on cloud platform
CN106842266B (en) A kind of instant reference station localization method and system
EP2357774A1 (en) Building a location based service reference database based on encountered RFID tags
CN107889215A (en) Multistage positioning method and system based on mark management
US20200283147A1 (en) Automated cartridge replacement system for unmanned aerial vehicle
CN106789221A (en) Automobile storage site management system and its management method based on UWB positioning
EP3395725A1 (en) Vehicle logistics management system
CN108445912A (en) A kind of plant protection drone flight control system
CN108260088B (en) Delivery method capable of automatic filling
CN102831221B (en) A kind of for the fixed-position searching method in freight transportation business
CN107609819A (en) Internet of things location information processing system and its method
CN108229897A (en) A kind of Intelligent logistics distribution information processing system and method
CN106127430A (en) The logistics system of a kind of electrically-based enterprise and method for real time tracking
CN107992915B (en) Radio frequency identification positioning method using unmanned aerial vehicle
US20110273275A1 (en) Location information based upon electronic tags
CN105117873A (en) Medicine distributing method and system

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant