CN104502936A - High-precision positioning and navigation system - Google Patents
High-precision positioning and navigation system Download PDFInfo
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- CN104502936A CN104502936A CN201410681371.0A CN201410681371A CN104502936A CN 104502936 A CN104502936 A CN 104502936A CN 201410681371 A CN201410681371 A CN 201410681371A CN 104502936 A CN104502936 A CN 104502936A
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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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
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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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
-
- 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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/52—Determining velocity
Abstract
The invention discloses a high-precision positioning and navigation system, which comprises a combined positioning unit, an intelligent ranging unit, a cloud communication unit and a vehicle-mounted display unit, wherein the combined positioning unit is used for realizing real-time positioning of the vehicle; the intelligent ranging unit is used for realizing calculation on the distance between the vehicle and a surrounding target; and the cloud communication unit is used for receiving data generated by the combined positioning unit and the intelligent ranging unit and uploading the data to a cloud service center, the cloud service center carries out map labeling on navigation positioning data, and the labeling information is issued to the vehicle-mounted display unit. The system of the invention is based on multi-parameter integrated processing, positioning data of the current dead zone can be effectively corrected and supplemented, errors of ultrahigh frequency microwave ranging can be effectively reduced, ranging types and the ranging range can be expanded, the ranging precision is improved, positioning reliability is high, and the maintenance cost is low.
Description
Technical field
The present invention relates to vehicle mounted guidance field, particularly relate to a kind of hi-Fix navigational system.
Background technology
Current automobile mounted locating and monitoring and navigational system, its core component generally includes: locating module (adopting GPS module or Big Dipper locating module), data communication module (adopting GPRS or 3G) and data processing module and system platform.Further, in vehicle mounted locating and monitoring nearly all at present and navigational system, locating module is absolutely necessary.Locating module is the most basic source of position data.
But, in prior art, be no matter adopt GPS module or Big Dipper positioning navigation module in gps signal decline very large or gps signal cannot be received time, all cannot realize the function of location navigation; When receiving GPS negligible amounts, locator data also can be caused inaccurate, there is the problems such as random deviation, that is to say in prior art no matter be the problem adopting GPS module or the Position Fixing Navigation System of Big Dipper positioning navigation module all to there is blind area, location.
Along with gyrostatic widespread use, the problem of blind area, location is there is in order to solve existing Position Fixing Navigation System, various based on gyroscope inertial navigation, or vehicle mounted locating and monitoring and the navigational system of the GPS/ Big Dipper and gyroscope integrated navigation occur in succession, but in prior art, it is higher that the system of such scheme realizes cost, error is also larger, thus causes navigator fix out of true.
In addition, in order to reduce security incident, existing onboard navigation system generally can install range cells, report to the police, but current distance measuring equipment generally adopts laser, ultrasound wave or infrared technique with the distance of convenient vehicle and barrier time the in of being less than safe distance, comparatively obvious by environmental change, and, adopt the distance measuring equipment of above-mentioned technology also to there is monitoring blind area, especially under low light situation, so just there will be system to fail to report or report by mistake, poor stability.
Summary of the invention
The object of the invention is to be achieved through the following technical solutions.
According to the embodiment of the present invention, a kind of high-precision Position Fixing Navigation System is proposed, described system comprises: integrated positioning unit, intelligent distance-measuring unit, cloud communication unit, and car-mounted display unit, described integrated positioning unit is for realizing the real-time location of vehicle, described intelligent distance-measuring unit calculates for the distance realizing vehicle and surrounding objects, described cloud communication unit is for receiving the data of integrated positioning unit and the generation of intelligent distance-measuring unit, and be uploaded to cloud service center, by cloud service center, ground map logo is carried out to navigation positioning data, and identification information is issued to car-mounted display unit.
According to the embodiment of the present invention, described integrated positioning unit comprises:
Location divisional processing device;
GPS locating module, for the output of the reception and GPS interruption position locator data that realize gps signal;
Electromagnetic resistivity effect inductor, for obtaining the dimensionally magnetic vector parameter of the current present position of vehicle;
Non-horizontal degree inductor, for obtaining the current three-dimensional acceleration vector parameter of vehicle;
Vehicle-mounted field-bus interface;
Location divisional processing device and exterior I/O interface.
According to the embodiment of the present invention, described intelligent distance-measuring unit comprises self-starting unit, superfrequency Microwave transceiver unit, detection of the backscatter signal unit, intelligent switch unit, range finding divisional processing device and low light according to blind area junior range unit;
Wherein the enabling signal output terminal of range finding divisional processing device is connected to self-starting unit, the output terminal of self-starting unit is connected to superfrequency Microwave transceiver unit, the detectable signal of superfrequency Microwave transceiver unit exports detection of the backscatter signal unit to, the output terminal of detection of the backscatter signal unit is connected to range finding divisional processing device, low light is connected to range finding divisional processing device according to the output terminal of blind area junior range unit, intelligent switch unit is connected between the signal output part and detection of the backscatter signal unit of superfrequency Microwave transceiver unit, when divisional processing device of finding range sends enabling signal to self-starting unit, described intelligent switch unit breaks the connection to detection of the backscatter signal unit from intelligent distance-measuring unit, when divisional processing device of finding range stops sending enabling signal to self-starting unit, described intelligent switch unit connects the connection of described detection of the backscatter signal unit in described intelligent distance-measuring unit.
According to the embodiment of the present invention, described location divisional processing device comprises:
GPS locator data receives and demodulating unit, for accessing GPS locating module by data communication interface, obtain GPS interruption position locator data, and from the GPS interruption position locator data received, demodulating current vehicle position information, current location state, current first car speed parameter and current time, described current vehicle position information comprises longitude, latitude and direct of travel;
Transport condition analytic unit, for the output data of the output data and non-horizontal degree inductor that gather electromagnetic resistivity effect inductor; Export data and non-horizontal degree inductor and export data to collecting electromagnetic resistivity effect inductor and carry out transport condition analysis, analyze and draw the motion transport condition that vehicle is current, obtain angle and the motion transport condition angle of vehicle heading and direct north, described motion transport condition angle comprises underriding vertical angle, body sway angle and direct of travel deviation angle;
Direct of travel deviation angle correcting unit, for carrying out correction process to direct of travel deviation angle;
Vehicle-mounted Fieldbus data communication unit, for being gathered and demodulation vehicle-mounted fieldbus data by vehicle-mounted field-bus interface, the current 3rd car speed parameter that demodulation obtains from car load vehicle-mounted fieldbus networks message, the vehicle-mounted fieldbus message of the vehicle-mounted fieldbus networks of car load is received and unloading, and motion transport condition angle is sent to the vehicle-mounted fieldbus of car load by vehicle-mounted field-bus interface, then transfer to cloud communication unit;
Speed real-time matching unit, for the current 3rd car speed parameter obtained current first car speed that GPS locator data receives and demodulating unit provides, the current second car speed parameter of external reference obtained from cloud communication unit by exterior I/O interface and the demodulation from car load vehicle-mounted fieldbus networks message of vehicle-mounted Fieldbus data communication unit, carry out the error minimum speed value that speed real-time matching calculates vehicle's current condition;
Speed demodulating unit, for carrying out to error minimum speed value the movement velocity vector of error minimum speed value on longitude and latitude direction that speed demodulation obtains vehicle's current condition according to vehicle heading angle;
Positioned update arithmetic element, using the current vehicle position information that GPS locator data receives and demodulating unit provides as the reference of vehicle initial position, renewal computing is positioned to the movement velocity vector of error minimum speed value on longitude and latitude direction and obtains the motion vector of vehicle on longitude and latitude direction;
Comprehensive real time position determining unit, position correction process is carried out to the motion vector of vehicle on longitude and latitude direction, obtain final vehicle location locating information, more final vehicle location locating information is recombinated and sends to cloud communication unit by exterior I/O interface.
According to the embodiment of the present invention, described self-starting unit comprises positive and negative control circuit and wide band transformer, the input end of positive and negative control circuit is connected to the enabling signal output terminal of range finding divisional processing device, the output terminal of positive and negative control circuit is connected with wide band transformer, the voltage of voltage source is become driving pulse voltage based on the enabling signal that range finding divisional processing device inputs and puts on wide band transformer by this positive and negative control circuit, is connected with capacitance between the output terminal of described positive and negative control circuit and wide band transformer.
According to the preferred embodiment of the present invention, described detection of the backscatter signal unit comprises echo interference and eliminates unit and dual threshold comparer, superfrequency microwave after eliminating through echo interference is returned the square-wave signal that range signal is treated to standard by described dual threshold comparer, and exports described range finding divisional processing device to; Described range finding divisional processing device realizes range observation by the time delay calculated between superfrequency Microwave emission signal and return signal.
High-precision Position Fixing Navigation System of the present invention can based on multi-parameter comprehensive process, effective correction and supplementing when front blind-area locator data, effectively reduce the error of superfrequency tellurometer survey, range finding type and scope are expanded, improve range measurement accuracy, reliability of positioning is high, and maintenance cost is low.
Accompanying drawing explanation
By reading hereafter detailed description of the preferred embodiment, various other advantage and benefit will become cheer and bright for those of ordinary skill in the art.Accompanying drawing only for illustrating the object of preferred implementation, and does not think limitation of the present invention.And in whole accompanying drawing, represent identical parts by identical reference symbol.In the accompanying drawings:
Figure 1 show the high-precision Position Fixing Navigation System structural representation according to embodiment of the present invention;
Figure 2 illustrate the high-precision integrated positioning cellular construction schematic diagram according to embodiment of the present invention;
Figure 3 show the high-precision location divisional processing device structural representation according to embodiment of the present invention;
Fig. 4 illustrate the high-precision direct of travel deviation angle correcting unit structural representation according to embodiment of the present invention;
Fig. 5 illustrate the high-precision intelligent distance-measuring cellular construction schematic diagram according to embodiment of the present invention;
Figure 6 show and eliminate cellular construction schematic diagram according to the high-precision echo interference of embodiment of the present invention;
Figure 7 show the high-precision RF amplifying unit structural representation according to embodiment of the present invention;
Fig. 8 illustrate the high-precision DC converting cellular construction schematic diagram according to embodiment of the present invention;
Figure 9 show the high-precision loss device cellular construction schematic diagram according to embodiment of the present invention;
Figure 10 show the high-precision low-pass filter unit structural representation according to embodiment of the present invention;
Figure 11 show and shine blind area junior range cellular construction schematic diagram according to the high-precision low light of embodiment of the present invention.
Embodiment
Below with reference to accompanying drawings illustrative embodiments of the present disclosure is described in more detail.Although show illustrative embodiments of the present disclosure in accompanying drawing, however should be appreciated that can realize the disclosure in a variety of manners and not should limit by the embodiment of setting forth here.On the contrary, provide these embodiments to be in order to more thoroughly the disclosure can be understood, and complete for the scope of the present disclosure can be conveyed to those skilled in the art.
According to the embodiment of the present invention, a kind of high-precision Position Fixing Navigation System is proposed, as shown in Figure 1, described system comprises: integrated positioning unit, intelligent distance-measuring unit, cloud communication unit, and car-mounted display unit, described integrated positioning unit is for realizing the real-time location of vehicle, described intelligent distance-measuring unit calculates for the distance realizing vehicle and surrounding objects, described cloud communication unit is for receiving the data of integrated positioning unit and the generation of intelligent distance-measuring unit, and be uploaded to cloud service center, by cloud service center, ground map logo is carried out to navigation positioning data, and identification information is issued to car-mounted display unit.
According to the embodiment of the present invention, as shown in Figure 2, described integrated positioning unit comprises:
Location divisional processing device;
GPS locating module, for the output of the reception and GPS interruption position locator data that realize gps signal;
Electromagnetic resistivity effect inductor, for obtaining the dimensionally magnetic vector parameter of the current present position of vehicle;
Non-horizontal degree inductor, for obtaining the current three-dimensional acceleration vector parameter of vehicle;
Vehicle-mounted field-bus interface;
Location divisional processing device and exterior I/O interface.
As shown in Figure 3, described location divisional processing device comprises:
GPS locator data receives and demodulating unit, for accessing GPS locating module by data communication interface, obtain GPS interruption position locator data, and from the GPS interruption position locator data received, demodulating current vehicle position information, current location state, current first car speed parameter and current time, described current vehicle position information comprises longitude, latitude and direct of travel;
Transport condition analytic unit, for the output data of the output data and non-horizontal degree inductor that gather electromagnetic resistivity effect inductor; Export data and non-horizontal degree inductor and export data to collecting electromagnetic resistivity effect inductor and carry out transport condition analysis, analyze and draw the motion transport condition that vehicle is current, obtain angle and the motion transport condition angle of vehicle heading and direct north, described motion transport condition angle comprises underriding vertical angle, body sway angle and direct of travel deviation angle;
Direct of travel deviation angle correcting unit, for carrying out correction process to direct of travel deviation angle, to strengthen the precision of location;
Vehicle-mounted Fieldbus data communication unit, for being gathered and demodulation vehicle-mounted fieldbus data by vehicle-mounted field-bus interface, the current 3rd car speed parameter that demodulation obtains from car load vehicle-mounted fieldbus networks message, the vehicle-mounted fieldbus message of the vehicle-mounted fieldbus networks of car load is received and unloading, and motion transport condition angle is sent to the vehicle-mounted fieldbus of car load by vehicle-mounted field-bus interface, then transfer to cloud communication unit;
Speed real-time matching unit, for the current 3rd car speed parameter obtained current first car speed that GPS locator data receives and demodulating unit provides, the current second car speed parameter of external reference obtained from cloud communication unit by exterior I/O interface and the demodulation from car load vehicle-mounted fieldbus networks message of vehicle-mounted Fieldbus data communication unit, carry out the error minimum speed value that speed real-time matching calculates vehicle's current condition;
Speed demodulating unit, for carrying out to error minimum speed value the movement velocity vector of error minimum speed value on longitude and latitude direction that speed demodulation obtains vehicle's current condition according to vehicle heading angle;
Positioned update arithmetic element, using the current vehicle position information that GPS locator data receives and demodulating unit provides as the reference of vehicle initial position, renewal computing is positioned to the movement velocity vector of error minimum speed value on longitude and latitude direction and obtains the motion vector of vehicle on longitude and latitude direction;
Comprehensive real time position determining unit, position correction process is carried out to the motion vector of vehicle on longitude and latitude direction, obtain final vehicle location locating information, more final vehicle location locating information is recombinated and sends to cloud communication unit by exterior I/O interface.
According to the preferred embodiment of the present invention, as shown in Figure 4, described direct of travel deviation angle correcting unit specifically comprise angular motion detection module, threshold value setting module, travel condition judge module, advance 360 degree of judge modules and direct of travel deviation angle update module; Wherein,
Described threshold value setting module is according to the trust integral time of angular motion detection module, two time thresholds of set angle motion detection block integration respectively, the degree of belief of direct of travel is exported after judging angular motion detection module integration gained direct of travel and filtering with this, set a direct of travel difference limen value simultaneously, wherein very first time threshold value is less than the second time threshold, direct of travel difference limen value gets empirical value, is generally less than 5 °.
Described travel condition judge module judges vehicle travel condition.
Straightaway judgment condition:
● car speed is greater than 10 kilometers/hour, the horizontal level quality coefficient HDOP < 2.0 that GPS exports;
● angular motion detection module direct of travel integration change in continuous 3 seconds is less than 1 °;
● GPS change in travel direction scope is less than 1 °.
Meet above three condition stub vehicles and be in straightaway state, then carry out angle judgement by 360 degree of judge modules of advancing.
If vehicle does not meet above-mentioned straightaway condition, then think that vehicle is in turning travel condition, then upgraded by direct of travel deviation angle update module travel direction.
Described 360 degree of judge modules of advancing, under being linear state at vehicle, judge whether direct of travel crosses over 360 °.
If the direct of travel that GPS exports is at about 360 °, namely after supposing filtering, in continuous three seconds, direct of travel output is: 359 °, 358.5 °, 0.5 °, namely vehicle direct of travel crosses over 360 ° to 0.5 ° from 358.5 °, then need direct of travel to export to be transformed into same field of definition, namely 0.5 ° is equivalent to 360 ° and adds 0.5 °, this output of continuous three seconds can be considered 359 °, 358.5 °, 360.5 °, this direct of travel value of 3 is averaged, if the mean value obtained is greater than 360 °, then need to deduct 360 as required mean value, the mean value obtained is utilized to add the angular motion detection module output valve of the second point in these 3 as the last direct of travel exported, vehicle direct of travel is at that time upgraded, angular motion detection module is set to zero integral time again.
If the direct of travel that GPS exports does not cross over 360 °, the degree of belief of GPS direct of travel is higher, but postpone because GPS exists, can first to GPS export direction of travel information and inertia device data carry out Kalman filter process, then get the Kalman filter direct of travel mean value of continuous 3; Add that the angular motion detection module output valve of the second point in these 3 is as the last direct of travel exported, and upgrades vehicle direct of travel at that time, equally angular motion detection module is set to zero integral time again.
Direct of travel deviation angle update module is used for when vehicle-state is not straight line, upgrades vehicle direct of travel according to the relation between angular motion detection module continuous integration time and time threshold.
If the angular motion detection module current continuous integration time is less than or equal to first time threshold, then with when anterior motor detection module integration exports, direct of travel is upgraded, and the integral time of angular motion detection module is added 1, when the angular motion detection module continuous integration time is between two time thresholds, judge further again, if the difference exporting direct of travel difference after the direct of travel difference that obtains of the angular motion detection module integration of continuous 5 and filtering is recently less than or equal to direct of travel difference limen value, then export with filtering and direct of travel is upgraded, angular motion detection module is set to zero integral time, if be greater than this direct of travel difference limen value, continuation angular motion detection module integration exports and upgrades current direct of travel, and the integral time of angular motion detection module is added 1, when the angular motion detection module continuous integration time is more than or equal to second time threshold, exports with the filtering of GPS and current direct of travel is upgraded, angular motion detection module is set to zero integral time again.
According to the embodiment of the present invention, described integrated positioning unit specific implementation process comprises the following step:
S1, from GPS locating module read obtain current vehicle position information, current location state, current first car speed parameter and current time, described current vehicle position information comprises longitude, latitude and direct of travel;
Obtain the current second car speed parameter of the external reference that cloud communication unit provides;
From car load vehicle-mounted fieldbus networks message, solution is transferred to current 3rd car speed parameter;
S2, Negotiation speed Real Time Matching Algorithm, comprehensively above-mentioned three kinds of car speed parameters, and calculate the error minimum speed value of a vehicle's current condition;
S3, obtain the dimensionally magnetic vector parameter of the current present position of vehicle by electromagnetic resistivity effect inductor; The current three-dimensional acceleration vector parameter of vehicle is obtained by non-horizontal degree inductor;
S4, utilize the dimensionally magnetic vector parameter of the current present position of vehicle and the current three-dimensional acceleration vector parameter of vehicle, the current motion transport condition of vehicle is analyzed by transport condition analytical algorithm, obtain angle and the motion transport condition angle of vehicle heading and direct north, described motion transport condition angle comprises underriding vertical angle, body sway angle and direct of travel deviation angle;
By exterior I/O interface and vehicle-mounted field-bus interface, motion transport condition is sent to the vehicle-mounted fieldbus of car load, be sent to cloud communication unit subsequently;
S5, according to the vehicle heading angle obtained in step S4, the error minimum speed value of Negotiation speed demodulating algorithm to the vehicle's current condition obtained in step S2 carries out demodulation, obtains the movement velocity vector of error minimum speed value on longitude and latitude direction of vehicle's current condition;
S6, the movement velocity vector obtained according to step S5, and the current vehicle position information obtained using step S1 is as the reference of vehicle initial position, obtains the motion vector of vehicle on longitude and latitude direction by positioned update computing;
S7, position correction process is carried out to the motion vector of vehicle on longitude and latitude direction that step S6 obtains, obtain final vehicle location locating information, more final vehicle location locating information is recombinated and sends to cloud communication unit by exterior I/O interface.
Wherein, position correction processing procedure in described step S7 is as follows: using the current vehicle position information that obtains in step S1 as initial position reference, and obtain current location state in integrating step S1, by position correction algorithm, position correction is carried out to the motion vector of the vehicle obtained in step S6 on longitude and latitude direction, obtain final vehicle location locating information, and using the initial position reference of described final vehicle location locating information as next treatment cycle position correction algorithm.
Compared to existing technology, integrated positioning unit of the present invention carries out the analysis of motion transport condition based on discrete inductor, and can based on multi-parameter comprehensive process, effective correction and supplementing when front blind-area locator data, and real time correction deviation angle angle value, reliability of positioning is high, and maintenance cost is low; By cloud communication unit by data upload to cloud service center, important booster action is played to real-time navigation.
According to the embodiment of the present invention, as shown in Figure 5, described intelligent distance-measuring unit comprises self-starting unit, superfrequency Microwave transceiver unit, detection of the backscatter signal unit, intelligent switch unit, range finding divisional processing device and low light according to blind area junior range unit;
Wherein the enabling signal output terminal of range finding divisional processing device is connected to self-starting unit, the output terminal of self-starting unit is connected to superfrequency Microwave transceiver unit, the detectable signal of superfrequency Microwave transceiver unit exports detection of the backscatter signal unit to, the output terminal of detection of the backscatter signal unit is connected to range finding divisional processing device, low light is connected to range finding divisional processing device according to the output terminal of blind area junior range unit, intelligent switch unit is connected between the signal output part and detection of the backscatter signal unit of superfrequency Microwave transceiver unit, when divisional processing device of finding range sends enabling signal to self-starting unit, described intelligent switch unit breaks the connection to detection of the backscatter signal unit from intelligent distance-measuring unit, when divisional processing device of finding range stops sending enabling signal to self-starting unit, described intelligent switch unit connects the connection of described detection of the backscatter signal unit in described intelligent distance-measuring unit.
Wherein said self-starting unit comprises positive and negative control circuit and wide band transformer, the input end of positive and negative control circuit is connected to the enabling signal output terminal of range finding divisional processing device, the output terminal of positive and negative control circuit is connected with wide band transformer, the voltage of voltage source is become driving pulse voltage based on the enabling signal that range finding divisional processing device inputs and puts on wide band transformer by this positive and negative control circuit, is connected with capacitance between the output terminal of described positive and negative control circuit and wide band transformer.
The two ends of described superfrequency Microwave transceiver unit are connected to the two ends of wide band transformer output stage and intelligent switch unit simultaneously, the control end of described intelligent switch unit is connected to the output terminal of positive and negative control circuit, when this positive and negative control circuit exports the first signal, described intelligent switch unit controls to disconnect mutually between the output terminal of superfrequency Microwave transceiver unit with detection of the backscatter signal unit, when this positive and negative control circuit exports secondary signal, the output terminal that described intelligent switch unit controls superfrequency Microwave transceiver unit is connected with detection of the backscatter signal unit; Only have when described range finding divisional processing device is to described positive and negative control circuit input enabling signal, described positive and negative control circuit just produces described first signal, when described range finding divisional processing device stops to described positive and negative control circuit input enabling signal, described positive and negative control circuit produces described secondary signal.
One end ground connection of described positive and negative control circuit, wide band transformer and superfrequency Microwave transceiver unit, described first signal is high level signal, and described secondary signal is low level signal.
According to the specific embodiment of the present invention, described positive and negative control circuit is by PNP triode Q1-B, NPN triode Q1-A and Q2 and resistance R12, R16, R17, R18, R19, R20, R21, R22 forms, the emitter of triode Q1-B connects voltage source V CC, the collector of triode Q1-B is connected to the collector of triode Q1-A by resistance R12, and between the collector and resistance R12 of triode Q1-B, draw the output terminal of positive and negative control circuit, resistance R18, R16, R17, R19 is composed in series bleeder circuit successively, resistance R18 pin meets voltage source V CC, the base stage of connecting resistance R16 and triode Q1-B while of another pin, the grounded emitter of triode Q1-A, another pin of resistance R16 is connected to resistance R17 simultaneously, the collector of triode Q2 and resistance R22, another pin of resistance R22 connects voltage source V CC, another pin contact resistance R19 of resistance R17 and the base stage of triode Q1-A, another pin ground connection of resistance R19, the grounded emitter of triode Q2, the base stage of triode Q2 is connected to resistance R20 and R21, another pin ground connection of resistance R21, another pin of resistance R20 is as the input end of positive and negative control circuit, one end of described wide band transformer input stage is connected to the output terminal of positive and negative control circuit, other end ground connection.
According to the preferred embodiment of the present invention, the two ends of described superfrequency Microwave transceiver unit are parallel with temperature compensation electric capacity and absorption diode further, one end ground connection of described superfrequency Microwave transceiver unit, the other end is connected to intelligent switch unit as its output terminal.
According to the preferred embodiment of the present invention, 1st pin of described intelligent switch unit is enable pin, the 3rd pin ground connection, the 4th pin is connected to detection of the backscatter signal unit, the 5th pin is connected to superfrequency Microwave transceiver unit signal output part, the unsettled configuration of the 6th pin, when applying high level to the 1st pin, 5th pin is just connected to the 6th unsettled pin and makes now intelligent switch unit be in off-state, when inputting non-high level to the 1st pin, the 5th pin is just automatically connected to the 4th pin and makes now intelligent switch unit be in closure state.1st pin of described intelligent switch unit is connected to the output terminal of positive and negative control circuit, when this positive and negative control circuit exports driving pulse high level, 5th pin of intelligence switch unit is connected to the 6th unsettled pin, makes the drive pulse signal of superfrequency Microwave transceiver unit can not arrive detection of the backscatter signal unit; When positive and negative control circuit output low level signal, the 5th pin of intelligent switch unit is connected to the 4th pin, makes the detectable signal of superfrequency Microwave transceiver unit arrive detection of the backscatter signal unit.
According to the preferred embodiment of the present invention, described detection of the backscatter signal unit comprises echo interference and eliminates unit and dual threshold comparer, superfrequency microwave after eliminating through echo interference is returned the square-wave signal that range signal is treated to standard by described dual threshold comparer, and exports described range finding divisional processing device to; Described range finding divisional processing device adopts 8 divisional processing devices of finding range, and has interruption and adds timing count mode, realize range observation by the time delay calculated between superfrequency Microwave emission signal and return signal.
According to the preferred embodiment of the present invention, as shown in Figure 6, described echo interference elimination unit is made up of RF amplifying unit, DC converting unit, loss device unit and low-pass filter unit; The signal output part of described RF amplifying unit is cascaded with DC converting unit, loss device unit and low-pass filter unit successively; The concrete structure of each unit is:
Described RF amplifying unit is responsible for after the amplification of the signal of reception and filtering, until analog to digital converter can quantize layering during noise level; RF amplifying unit completes the gain of 35 decibels by three grades of amplifications, wherein, the first order gain of RF amplifying unit adopts the voltage of 1.2V to complete the gain of 15 decibels, the second level gain of RF amplifying unit adopts the voltage of 2.5V to complete the gain of 10 decibels, and the third level gain of RF amplifying unit adopts the voltage of 2.5V to complete 10 decibels.
As shown in Figure 7, described RF amplifying unit is made up of to single channel unit the input matching circuit of connecting successively, first order amplifying circuit, second level amplifying circuit, third level amplifying circuit and difference; Input matching circuit is made up of inductance L 4, inductance L 5, electric capacity C8, electric capacity C9; First order amplifying circuit is made up of diode D3, diode D4, triode M1, triode M2, inductance L 6, inductance L 7, electric capacity C10 and the first external power supply VDD1; Second level amplifying circuit is made up of resistance R4, resistance R5, triode M3, triode M4, triode M5, triode M6, triode M7, electric capacity C11, electric capacity C12 and the second external power supply VDD2; Third level amplifying circuit is made up of resistance R6, resistance R7, triode M8, triode M9, triode M10, electric capacity C13; Difference is made up of to single channel unit the primary inductance L8 intercoupled and secondary inductance L9;
The structure of each circuit is as follows successively:
Described input matching circuit is made up of inductance L 4, inductance L 5, electric capacity C8 and electric capacity C9; Wherein, the signal input part of electric capacity C8 is connected with one end of inductance L 4, the other end ground connection of inductance L 4, and the two ends of inductance L 4 are parallel with electric capacity C9; The signal output part of electric capacity C8 is connected with one end of inductance L 5, and the other end of inductance L 5 is connected with the input end of first order amplifying circuit;
Described first order amplifying circuit is made up of diode D3, diode D4, triode M1, triode M2, inductance L 6, inductance L 7, electric capacity C10 and the first external power supply VDD1; Wherein, the output terminal of match circuit, the other end of inductance L 5 is connected with the base stage of the positive pole of diode D3, the negative pole of diode D4 and triode M2 respectively; Inductance L 6 is in series with between the negative pole of diode D3 and the collector of triode M1; The emitter of triode M1 is connected with the collector of triode M2; The emitter of triode M2 is connected with the positive pole of diode D4, and the node between diode D4 positive pole with triode M2 emitter is connected with one end of inductance L 7, the other end ground connection of inductance L 7; The negative pole of diode D3 is connected with the first external power supply VDD1 with the node between inductance L 6; Node between inductance L 6 and the collector of triode M1 is connected with one end of electric capacity C10;
Second level amplifying circuit is made up of resistance R4, resistance R5, triode M3, triode M4, triode M5, triode M6, triode M7, electric capacity C11, electric capacity C12 and the second external power supply VDD2; Wherein, the other end of electric capacity C10 is connected with the base stage of triode M4; The emitter of triode M4 is connected with the emitter of triode M6, the collector of triode M4 is connected with the emitter of triode M3, the base stage of triode M3 is connected with the base stage of triode M5, the emitter of triode M5 is connected with the collector of triode M6, is in series with electric capacity C11 between the node between triode M4 collector and triode M3 emitter and the base stage of triode M6; Node between triode M4 emitter with triode M6 emitter is connected with the collector of triode M7, the grounded emitter of triode M7, and the base stage of triode M7 meets 0.8V; Resistance R4 and resistance R5 is in series with successively between triode M3 collector and triode M5 collector; Node between resistance R4 and resistance R5 is connected with the second external power supply VDD2; Triode M3 collector is connected with one end of electric capacity C12 with the node between resistance R4;
Third level amplifying circuit is made up of resistance R6, resistance R7, triode M8, triode M9, triode M10, electric capacity C13; Wherein, the other end of electric capacity C12 is connected with the base stage of triode M8, the emitter of triode M8 is connected with the emitter of triode M9, node between triode M8 emitter with triode M9 emitter is connected with the collector of triode M10, the grounded emitter of triode M10, the base stage of triode M10 meets 0.8V; Resistance R6 and resistance R7 is in series with successively between the collector of triode M8 and the collector of triode M9; Node between resistance R6 and resistance R7 is connected with the node between resistance R4 and resistance R5; Electric capacity C13 is in series with between the base stage of the node between triode M5 collector and resistance R5 and triode M9;
Difference is made up of to single channel unit T1 the primary inductance L8 intercoupled and secondary inductance L9, realizes the transformation of differential signal to single-ended signal; Wherein, one end of primary inductance L8 is connected with the collector of triode M8, the other end of primary inductance L8 is connected with the collector of triode M9, one end ground connection of secondary inductance L9, the other end of secondary inductance L9 is the output terminal of RF amplifying unit, is namely connected with the input end of DC converting unit after the signal of third level amplifying circuit process enters secondary inductance L9 by Mutual Inductance Coupling.
As shown in Figure 8, described DC converting unit mainly completes the amplitude restriction to interference, namely adopts diode to recover within ± 300mV by undesired signal in cmos circuitry; Described DC converting unit is made up of diode D1 and diode D2, the wherein minus earth of diode D1, the positive pole of diode D1 is connected with the negative pole of diode D2, the plus earth of diode D2, the node between diode D1 with diode D2 is connected with the input end of loss device unit with the output terminal of RF amplifying unit respectively;
The π type loss device of described loss device unit to be loss factor be 29.5dB, the signal amplitude be responsible for the signal after the recovery of DC converting unit is treated to 20mVp-p by the signal amplitude loss of 600mVp-p requires note with the input range meeting ADC: in order to reduce the gain amplifier of radio-frequency channel, the bed resolution of ADC is selected to be 1mV, resolution is 6bit, and corresponding input range is ± 32mV; As shown in Figure 9, described loss device unit is made up of resistance R1, resistance R2 and resistance R3, wherein one end ground connection of resistance R1, and the other end of resistance R1 is connected with the input end of resistance R2, the output terminal of resistance R2 is connected with one end of resistance R3, the other end ground connection of resistance R3; Node between resistance R1 with resistance R2 is connected with DC converting unit, and the node between resistance R2 with resistance R3 is connected with low-pass filter unit;
Described low-pass filter unit is responsible for suppressing that DC converting unit produces, frequency is at the interference harmonic wave of more than 2.2GHz; The transitional zone ratio of described low-pass filter unit is 1.33, structure is Elliptic Function Type, fluctuating≤1dB@1.7GHz, Out-of-band rejection >=-60dB@2.2GHz in band; As shown in Figure 10, described low-pass filter unit is made up of seven electric capacity and three inductance, i.e. electric capacity C1, C2, C3, C4, C5, C6, C7 and inductance L 1, L2, L3 composition, wherein inductance L 1 is in parallel with electric capacity C1 forms first resonant element, inductance L 2 is in parallel with electric capacity C2 forms second resonant element, and inductance L 3 is in parallel with electric capacity C3 forms the 3rd resonant element; Described first resonant element, second resonant element and the 3rd resonant element are cascaded successively; Signal incoming end, first resonant element of described first resonant element are connected with one end of electric capacity C7 with electric capacity C4, electric capacity C5, electric capacity C6 with the node of the 3rd resonant element, the signal output part of the 3rd resonant element successively with the node of second resonant element, second resonant element, and the other end of described electric capacity C4, electric capacity C5, electric capacity C6 and electric capacity C7 also connects together; The input that C1, C2 form low-pass filter unit with L1 is connected with the output that R2 with R3 forms loss device unit; C6, C7 and L3 form the output of low-pass filter unit.
According to the embodiment of the present invention, described low light is according to blind area junior range unit for performing the junior range of superfrequency tellurometer survey blind area, and as shown in Figure 11, described low light specifically comprises according to blind area junior range unit:
Characteristic extracting module, for selecting tail-light as feature to be extracted from the color of vehicle, gray scale and shape facility;
Image denoising module, adopts medium filtering to carry out denoising to gathered image;
Image edge acuity module, adopts Laplace sharpening by the edge clear in gathered image;
Taillight extracts judge module, judges that the taillight of front vehicles in single threshold this track the most applicable extracts;
Front and back scape separation module, is divided into background and target two parts according to the gamma characteristic of image image;
The assorted point of background removes module, gathered image is processed to the little assorted point removed in background;
Interest selects module, when carrying out feature extraction and pairing to automobile tail light, utilizes the feature of image and the priori of summary, chooses interested region;
Matching module, for selecting geometric properties from the geometric properties of front vehicles, brightness and color characteristic, taillight is extracted and matched to the fact using the rule of its area and car light position to be roughly in same level line;
Target vehicle identification module, for removing non-interested region, asking for connected domain and extracting its central point, extracts and pairing taillight, identifies target vehicle on this basis with rectangle frame;
Junior range module, calculates the distance of preceding object thing and this car; And result of calculation is sent to range finding divisional processing device.
Described range finding divisional processing device comprehensive superfrequency tellurometer survey result and junior range result, obtain the real-time distance of this vehicle periphery target, and result is sent to cloud communication unit, be sent to cloud service center by cloud communication unit, to form the mutual location map between vehicle.
By intelligent distance-measuring unit of the present invention, the self-sustained oscillation even suppressing superfrequency microwave signal amplifying circuit can greatly be reduced, effectively reduce the error of superfrequency tellurometer survey, expand range finding type and scope, improve range measurement accuracy.
The above; be only the present invention's preferably embodiment, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should described be as the criterion with the protection domain of claim.
Claims (6)
1. a hi-Fix navigational system, described system comprises: integrated positioning unit, intelligent distance-measuring unit, cloud communication unit and car-mounted display unit, described integrated positioning unit is for realizing the real-time location of vehicle, described intelligent distance-measuring unit calculates for the distance realizing vehicle and surrounding objects, described cloud communication unit is for receiving the data of integrated positioning unit and the generation of intelligent distance-measuring unit, and be uploaded to cloud service center, by cloud service center, ground map logo is carried out to navigation positioning data, and identification information is issued to car-mounted display unit.
2. a system as claimed in claim 1, described integrated positioning unit comprises:
Location divisional processing device;
GPS locating module, for the output of the reception and GPS interruption position locator data that realize gps signal;
Electromagnetic resistivity effect inductor, for obtaining the dimensionally magnetic vector parameter of the current present position of vehicle;
Non-horizontal degree inductor, for obtaining the current three-dimensional acceleration vector parameter of vehicle;
Vehicle-mounted field-bus interface;
Location divisional processing device and exterior I/O interface.
3. a system as claimed in claim 1, described intelligent distance-measuring unit comprises self-starting unit, superfrequency Microwave transceiver unit, detection of the backscatter signal unit, intelligent switch unit, range finding divisional processing device and low light according to blind area junior range unit;
Wherein the enabling signal output terminal of range finding divisional processing device is connected to self-starting unit, the output terminal of self-starting unit is connected to superfrequency Microwave transceiver unit, the detectable signal of superfrequency Microwave transceiver unit exports detection of the backscatter signal unit to, the output terminal of detection of the backscatter signal unit is connected to range finding divisional processing device, low light is connected to range finding divisional processing device according to the output terminal of blind area junior range unit, intelligent switch unit is connected between the signal output part and detection of the backscatter signal unit of superfrequency Microwave transceiver unit, when divisional processing device of finding range sends enabling signal to self-starting unit, described intelligent switch unit breaks the connection to detection of the backscatter signal unit from intelligent distance-measuring unit, when divisional processing device of finding range stops sending enabling signal to self-starting unit, described intelligent switch unit connects the connection of described detection of the backscatter signal unit in described intelligent distance-measuring unit.
4. a system as claimed in claim 2, described location divisional processing device comprises:
GPS locator data receives and demodulating unit, for accessing GPS locating module by data communication interface, obtain GPS interruption position locator data, and from the GPS interruption position locator data received, demodulating current vehicle position information, current location state, current first car speed parameter and current time, described current vehicle position information comprises longitude, latitude and direct of travel;
Transport condition analytic unit, for the output data of the output data and non-horizontal degree inductor that gather electromagnetic resistivity effect inductor; Export data and non-horizontal degree inductor and export data to collecting electromagnetic resistivity effect inductor and carry out transport condition analysis, analyze and draw the motion transport condition that vehicle is current, obtain angle and the motion transport condition angle of vehicle heading and direct north, described motion transport condition angle comprises underriding vertical angle, body sway angle and direct of travel deviation angle;
Direct of travel deviation angle correcting unit, for carrying out correction process to direct of travel deviation angle;
Vehicle-mounted Fieldbus data communication unit, for being gathered and demodulation vehicle-mounted fieldbus data by vehicle-mounted field-bus interface, the current 3rd car speed parameter that demodulation obtains from car load vehicle-mounted fieldbus networks message, the vehicle-mounted fieldbus message of the vehicle-mounted fieldbus networks of car load is received and unloading, and motion transport condition angle is sent to the vehicle-mounted fieldbus of car load by vehicle-mounted field-bus interface, then transfer to cloud communication unit;
Speed real-time matching unit, for the current 3rd car speed parameter obtained current first car speed that GPS locator data receives and demodulating unit provides, the current second car speed parameter of external reference obtained from cloud communication unit by exterior I/O interface and the demodulation from car load vehicle-mounted fieldbus networks message of vehicle-mounted Fieldbus data communication unit, carry out the error minimum speed value that speed real-time matching calculates vehicle's current condition;
Speed demodulating unit, for carrying out to error minimum speed value the movement velocity vector of error minimum speed value on longitude and latitude direction that speed demodulation obtains vehicle's current condition according to vehicle heading angle;
Positioned update arithmetic element, using the current vehicle position information that GPS locator data receives and demodulating unit provides as the reference of vehicle initial position, renewal computing is positioned to the movement velocity vector of error minimum speed value on longitude and latitude direction and obtains the motion vector of vehicle on longitude and latitude direction;
Comprehensive real time position determining unit, position correction process is carried out to the motion vector of vehicle on longitude and latitude direction, obtain final vehicle location locating information, more final vehicle location locating information is recombinated and sends to cloud communication unit by exterior I/O interface.
5. a system as claimed in claim 3, described self-starting unit comprises positive and negative control circuit and wide band transformer, the input end of positive and negative control circuit is connected to the enabling signal output terminal of range finding divisional processing device, the output terminal of positive and negative control circuit is connected with wide band transformer, the voltage of voltage source is become driving pulse voltage based on the enabling signal that range finding divisional processing device inputs and puts on wide band transformer by this positive and negative control circuit, is connected with capacitance between the output terminal of described positive and negative control circuit and wide band transformer.
6. a system as claimed in claim 3, described detection of the backscatter signal unit comprises echo interference and eliminates unit and dual threshold comparer, superfrequency microwave after eliminating through echo interference is returned the square-wave signal that range signal is treated to standard by described dual threshold comparer, and exports described range finding divisional processing device to; Described range finding divisional processing device realizes range observation by the time delay calculated between superfrequency Microwave emission signal and return signal.
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