CN104459714A - Vehicle-mounted GPS real-time signal collecting and processing system - Google Patents
Vehicle-mounted GPS real-time signal collecting and processing system Download PDFInfo
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- CN104459714A CN104459714A CN201410763081.0A CN201410763081A CN104459714A CN 104459714 A CN104459714 A CN 104459714A CN 201410763081 A CN201410763081 A CN 201410763081A CN 104459714 A CN104459714 A CN 104459714A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
Abstract
The invention discloses a vehicle-mounted GPS real-time signal collecting and processing system. The vehicle-mounted GPS real-time signal collecting and processing system comprises a carrier vehicle, a vehicle-mounted GPS and a PC, wherein the vehicle-mounted GPS and the PC are installed on the carrier vehicle. By means of the vehicle-mounted GPS real-time signal collecting and processing system, the defects that in the prior art, the stability is poor, the maintaining difficulty is large, and the measurement accuracy is poor can be overcome, and the advantages of being good in stability, small in maintaining difficulty and high in measurement accuracy can be achieved.
Description
Technical field
The present invention relates to communication technical field, particularly, relate to a kind of vehicle GPS real time signal aquisition and disposal system.
Background technology
In recent years, along with improving constantly of national per capita income, the popularity rate of vehicle also in continuous lifting, the vehicle a kind of necessity become in people's daily life gradually.Certainly, as a kind of conventional vehicles of going on a journey, people emphasis its economical and beautiful while, there has also been higher requirement to the security of vehicle, stability, especially at Frequent Accidents instantly, people more and more pay close attention to the security performance of vehicle.
GPS technology is that the measurement of state of motion of vehicle parameter provides a kind of new method.Vehicle mounted GPS guidance system carries out constantly acquisition and processing to the live signal of the gps satellite from space, and judges the position at the current place of vehicle with this.One of automobile industry pillar of the economy industry having become China Today development, plays a part become increasingly conspicuous [7] with life in the routine work of people.
The domestic people of having also has started and has utilized GPS to begin one's study to state of motion of vehicle.As the vehicle active safety control system [16] based on GPS of people's exploitations such as Zhang Jinzhu, the information such as the side rake angle of measuring vehicle that can be overall on the basis in conjunction with GPS and INS system.Pay the people such as Jiang Hua and it is also proposed a kind of vehicle movement performance test scheme utilizing vehicle GPS to combine with INS system.The very high gps system of measurement and positioning precision is passed through in these researchs mostly above, or carry out combining the hardware foundation as research using multiple gps system, it is higher that this result also in whole system cost, installs complicated, and be not suitable for a large amount of in common vehicle production and equipment.
GPS technology is utilized to be an emerging research topic to the research that vehicle status parameters is estimated, there are many achievements in research abroad, and along with the reduction of GPS cost, the research of external GPS technology from navigation, location, monitoring development to GPS as a measurement core for auto control system in vehicles provides vehicle real time kinematics state, and present whole GPS measuring system has used the aspect such as DAS (Driver Assistant System) and brake system [18-21].The attitude measurement of GPS and control are abroad through years development comparative maturity.Domesticly start late to the research that the motion state parameters based on GPS vehicle is estimated, the motion state parameters that domestic gps system is used for vehicle carries out estimation and is scarcely out of swaddling-clothes.
The detection of the real time kinematics state of vehicle to be realized by gps system, also need to solve many technical barriers.Main or the carrier phase receiver of the hardware used in the research of meanwhile present stage at home.Although carrier phase receiver can comparatively accurately position object, carrier phase receiver also also exists bright front shortcoming and causes it to be difficult to popularize on commerial vehicle.Such as: instrument is heavy, site layout project difficulty, the shortcomings such as antenna complex.But along with the development of GPS electronic hardware and constantly lifting a ban of correlation technique, make the single-antenna GPS receiver of general type also can obtain the measuring accuracy of sub-meter grade by some process, again in conjunction with the combination of some appropriate algorithm, be expected to the measuring accuracy improving GPS further.
GPS measuring accuracy improve constantly as by GPS measuring vehicle motion state and then carry out wagon control and provide possibility.Simultaneously in order to solve the problem of carrying out wagon control based on GPS, the data that also must collect gps system are carried out estimating and are detected, extrapolate more comprehensively vehicle dynamic parameter information thus, and carry out analyzing to these parameters and prove, and then extrapolate vehicle and whether be in stable transport condition, for vehicle active safety control system provides comprehensive Data support, can predict following vehicle GPS will be a collection location navigation, the Iarge-scale system of vehicle attitude management and stability analysis and wagon control.
Realizing in process of the present invention, inventor to find in prior art that at least existence and stability is poor, maintenance difficulties is large and the defect such as measuring accuracy is low.
Summary of the invention
The object of the invention is to, for the problems referred to above, propose a kind of vehicle GPS real time signal aquisition and disposal system, to realize good stability, maintenance difficulties is little and measuring accuracy is high advantage.
For achieving the above object, the technical solution used in the present invention is: a kind of vehicle GPS real time signal aquisition and disposal system, comprise carrier vehicle, and the vehicle GPS be arranged on carrier vehicle and PC.
Further, described vehicle GPS, comprises vehicle GPS signal receiver;
Described vehicle GPS signal receiver, be made up of gps satellite broadcast message receiving chip and its peripheral circuit, wherein gps satellite broadcast message signal receiving chip adopts the receiving chip of Tian Bao company.
The vehicle GPS real time signal aquisition of various embodiments of the present invention and disposal system, owing to comprising carrier vehicle, and the vehicle GPS be arranged on carrier vehicle and PC; Thus poor stability in prior art, maintenance difficulties is large and measuring accuracy is low defect can be overcome, to realize good stability, maintenance difficulties is little and measuring accuracy is high advantage.
Other features and advantages of the present invention will be set forth in the following description, and, partly become apparent from instructions, or understand by implementing the present invention.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Accompanying drawing explanation
Accompanying drawing is used to provide a further understanding of the present invention, and forms a part for instructions, together with embodiments of the present invention for explaining the present invention, is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the schematic diagram of vehicle GPS real time signal aquisition and disposal system in the present invention.
Embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described, should be appreciated that preferred embodiment described herein is only for instruction and explanation of the present invention, is not intended to limit the present invention.
According to the embodiment of the present invention, as shown in Figure 1, a kind of vehicle GPS real time signal aquisition and disposal system is provided.
In technical scheme of the present invention, the structure of vehicle GPS real time signal aquisition and disposal system and principle of work:
Vehicle GPS real time signal aquisition and disposal system form primarily of following three major parts: the carrier vehicle of vehicle GPS real time signal aquisition and disposal system, vehicle GPS, PC form.
Carrier vehicle is the working environment of whole system.Suffered some of the carrier vehicle that vehicular GPS global positioning system also can be started except the outside intrinsic noise (multipath effect, ionospheric error, satellite and receiver clock-offsets disturb) being subject to GPS and receiving itself are disturbed, automobile body as caused due to engine vibration shakes by a small margin and causes vehicle GPS receiving antenna to be also among vibrations by a small margin always, and the gps data that therefore GPS receives also inevitably exists must deviation.Meanwhile vehicle must also can produce certain for the vibrations on the vertical direction of vehicle along with the concavity and convexity of track in the process travelled, and the information on the elevation direction that this vibrations can directly cause GPS to receive is inaccurate.
The GPS GPS that technical scheme of the present invention adopts.GPS location adopts absolute fix principle to position.From positioning principle, this is a kind of a kind of localization method based on space length resection principle.What first obtain in GPS positioning system is the position of a satellite and the satellite distance (being also called pseudorange) to tested point, and then this is centered by satellite, and be that radius does sphere with pseudorange, then tested point is on sphere.If now we can record three satellites, after the same method, we just obtain three spheres, and these three spheres have a common focus, are tested point.The three dimensional space coordinate value of tested point can be obtained in theory by the data of these three satellites.But in actual measurement, because GPS and gps satellite all also exist the problem of clock correction, so the distance between the tested point of trying to achieve by this method to gps satellite is not equal to real distance between them, the uncertain factor caused containing a clock correction unknown number in this distance, in order to solve this unknown number, the 4th satellite must be had again to be observed.All satellite parametric reductions can form four quaternary linear functions, separate these equations the true coordinate of tested point.
Vehicle GPS signal receiver is primarily of gps satellite broadcast message receiving chip and its peripheral circuit composition, and wherein gps satellite broadcast message signal receiving chip adopts the receiving chip of Tian Bao company.Be that the system that forms of core can global positioning data (GPGGA), satellite PRN data (GPGSA), satellite state information (GPGSV), transport locator data (GPRMC) four kinds of gps datas in automatic reception GPS literary composition star text by this chip.These four kinds of data carry out according to GPS NMEA-0183 agreement resolving the associ-ated motion parameters that can draw vehicle.
The PC that technical scheme of the present invention adopts.In vehicle GPS signal acquiring and processing system, PC is as data processing and vehicle attitude data display center.The data that PC collects for GPS.By the mode of the Visual C++ software programming real-time GPS data by serial acquisition GPS, the effective GPS statement received is resolved according to related protocol, the process such as pre-service and Kalman filtering is carried out to the data parsed, the data processed out are calculated, draw more comprehensively state of motion of vehicle parameter, as speed, acceleration, course angle, course angle speed, etc. information to be shown on PC with the form of form or curve and to estimate vehicle running state with this.
Vehicle GPS real time signal aquisition and a disposal system hardware form and contact as shown in Figure 1.
Technical scheme of the present invention adopts the signal receiver of GPS as system of Trimble company, have studied real time signal aquisition and the disposal system of vehicle GPS signal, by constructing actual system and real train test carrys out proof theory, provide a kind of relatively simple, with low cost and scheme of the real-time measuring vehicle motion state of reliable results.The Different Results run when simultaneously the technical scheme of the present invention GPS that also discuss under vehicle GPS and laboratory conditions is subject to disturbance when receiving data.And the accuracy of the data that vehicle GPS provides is improved by the method for Kalman filtering, enable the real time kinematics state reflecting vehicle in real time.Gps system because of its all characteristic, though become a kind of navigation of main flow, location, monitoring means.But be far from having given play to the powerful effect of gps system, although gps system only provides the real time position of the vehicle determined, and the instantaneous velocity of vehicle, course angle etc., but can vehicle location parameter (longitude be passed through, latitude, analysis highly etc.), further analytical estimating draws the acceleration of vehicle, course angle, course angle speed, the angle of pitch, the series of parameters such as radius of turn, by the estimation of these parameters, the real time kinematics state of vehicle can be estimated, and then extrapolate whether vehicle is current is in stable transport condition, control with the operability improving vehicle accordingly the need of carrying out, security and comfortableness.Effective raising driver is to the control of vehicle, and the security improved in vehicle traveling reduces vehicle traffic accident.Meanwhile the present integrated level of GPS device is higher, and the degree of modularity is high, and volume is little, easy for installation, and data rate is fast, if can combine with vehicle control device part, can effectively improve the handling of vehicle drive and security.
Technical scheme of the present invention is studied for the Acquire and process of vehicle GPS signal, emphasis is by the parsing [22] of the programming of the collection of the type selecting of GPS hardware and configuration, serial ports live signal and relevant Visual C++ software, GPS NMEA-0183 agreement, carry out and interpretation of result relevant real time data by expanded Kalman filtration algorithm, and then extrapolate the motion state parameters of vehicle more comprehensively and accurately, the motion state of objective reaction vehicle, in the hope of being reached through the object of vehicle GPS research vehicle active safety control.Specifically comprise:
1. vehicle GPS positioning principle and source of error, the noise kind suffered by vehicle GPS, the parameter relevant to vehicle active safety control.
2. the hardware relevant components of vehicle GPS real time signal aquisition and disposal system.
3. the software programming of GPS real time signal aquisition and process and state of motion of vehicle parameter estimation.Programming adopts Visual C++ programming.Mainly comprise the live signal [23] by serial ports continuous acquisition GPS, and resolved according to GPS NMEA-0183 protocol format, extract related data simultaneously, the pre-service that the data extracted are correlated with and filtering, and the information such as acceleration, course angle, course angle speed extrapolating vehicle.
4. the test of system.Mainly comprise the real vehicle dynamic test in the contrast test in the static contrast test under laboratory conditions, real vehicle engine idle situation, motion.
5. test result is analyzed, the reliability of verification system and stable type.
Vehicle GPS real time signal aquisition and disposal system hardware form main gps signal receiver and message handler (PC) forms.Wherein gps signal receiver is here primarily of gps satellite broadcast message receiving chip and its peripheral circuit composition, and wherein gps satellite broadcast message signal receiving chip adopts the receiving chip of Tian Bao company.Be that the system that forms of core can global positioning data (GPGGA), satellite PRN data (GPGSA), satellite state information (GPGSV), transport locator data (GPRMC) four kinds of gps datas in automatic reception GPS literary composition star text by this chip.These four kinds of data carry out according to GPS NMEA-0183 agreement resolving the associ-ated motion parameters (speed, course, coordinate, highly) that can draw vehicle.
Vehicle GPS real time signal aquisition and disposal system software sharing mainly through the mode of Visual C++ software programming by the real-time GPS data of serial acquisition GPS, the effective GPS information received is resolved according to related protocol, the process such as pre-service and Kalman filtering is carried out to the data parsed, the data processed out are calculated, draw more comprehensively state of motion of vehicle parameter, go out vehicle running state by state of motion of vehicle parameter estimation.
The static state that the testing scheme of whole system comprises system surveys scheme examination and real vehicle dynamically surveys scheme.Wherein static test comprises vehicle launch/do not start contrast test, road dynamic test comprise straight line at the uniform velocity/acceleration/deceleration test, the test of upwards slope/descending, bend test.By the motion state parameters of testing authentication system and the compatibility of vehicle actual motion state and the reliability of system and accuracy.
Last it is noted that the foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, although with reference to previous embodiment to invention has been detailed description, for a person skilled in the art, it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (2)
1. vehicle GPS real time signal aquisition and a disposal system, is characterized in that, comprises carrier vehicle, and the vehicle GPS be arranged on carrier vehicle and PC.
2. vehicle GPS real time signal aquisition according to claim 1 and disposal system, is characterized in that, described vehicle GPS comprises vehicle GPS signal receiver;
Described vehicle GPS signal receiver, be made up of gps satellite broadcast message receiving chip and its peripheral circuit, wherein gps satellite broadcast message signal receiving chip adopts the receiving chip of Tian Bao company.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410763081.0A CN104459714A (en) | 2014-12-13 | 2014-12-13 | Vehicle-mounted GPS real-time signal collecting and processing system |
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| CN201410763081.0A CN104459714A (en) | 2014-12-13 | 2014-12-13 | Vehicle-mounted GPS real-time signal collecting and processing system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109583776A (en) * | 2018-12-05 | 2019-04-05 | 百度在线网络技术（北京）有限公司 | A kind of vehicle body-sensing evaluating method, device, electronic equipment, medium and vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109583776A (en) * | 2018-12-05 | 2019-04-05 | 百度在线网络技术（北京）有限公司 | A kind of vehicle body-sensing evaluating method, device, electronic equipment, medium and vehicle |
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