CN104916154A - Beidou continuously operating reference station (CORS) compatible bus precise positioning system and working method thereof - Google Patents
Beidou continuously operating reference station (CORS) compatible bus precise positioning system and working method thereof Download PDFInfo
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Abstract
The invention relates to a Beidou continuously operating reference station (CORS) compatible bus precise positioning system. The Beidou continuously operating reference station (CORS) compatible bus precise positioning system includes a Beidou CORS compatible bus precise positioning terminal, a CORS positioning system, a communication service center and a bus background management system; the Beidou CORS compatible bus precise positioning terminal includes a CPU module, a power source module, a Beidou/GPS dual-mode positioning module, an inertial navigation positioning module, a 3G/4G communication module, a touch screen display module and a storage module; and the CORS positioning system includes a base station, a data processing center and a communication gateway 1. According to the Beidou continuously operating reference station (CORS) compatible bus precise positioning system of the invention, the GPS and the CORS are combined together, and therefore, the effectiveness and integrity of the system can be improved; the defect of incapability of performing position when a bus enters a GPS blind area can be eliminated, and vehicle real-time accurate positioning can be realized, and positioning accuracy can reach a centimeter level; accurate positioning data which are obtained in real time are transmitted to a background management center so as to be stored, and therefore, reliable data can be provided for the generation of bus roads.
Description
Technical field
The present invention relates to a kind of compatible Big Dipper CORS bus precise positioning system and method for work thereof, belong to intelligent transportation, the Big Dipper/GPS field of locating technology.
Background technology
In the development & construction of city intelligent public transport, especially in the real-time location of bus, dynamic monitoring, management and running field, GPS has become one of gordian technique building city intelligent public transport, but current GPS location technology also also exists deficiency in the application in intelligent bus field.Owing to being subject to the impact of system and measurement many factors, current public transport GPS positioning precision error, generally several meters even scope of tens meters, therefore, accurately cannot judge whether bus travels on dedicated bus lanes, and whether bus arrives website.Because existing apparatus positioning error is larger, the analysis of bus driver's driving behavior cannot be met, depart from the early warning of public transport road, can not accurate Calculation bus link travel time, travel place and distance travelled, the accurate model of operation mileage, fuel consumption can not be set up, effective foundation that public traffic management department carries out vehicle scheduling, management cannot be become.
Fusion along with GPS technology, technology of network RTK, precise single-point positioning technology creates and runs satnav service colligate system continuously, i.e. CORS system, all many-sides such as intelligent transportation, digital city, navigator fix, emergency cooperative that are established as of CORS system provide safeguard.Therefore, mobile terminal device based on CORS system can realize the location of the real-time sub-meter grade in bus non-blind area, ensure the reliability of the large data acquisition of bus, and adopt the mixing dynamic algorithm based on SVM to carry out public transport Forecasting of Travel Time, realize the practicality of large data analysis and process model, better being applied to the perfect of bus service and management system, for people provide the pattern of trip mode and acquisition of information more easily, is the focus direction of research now.
Summary of the invention
For the deficiencies in the prior art, the invention discloses a kind of compatible Big Dipper CORS bus precise positioning system;
The invention also discloses the method for work of said system;
The object of the invention is to overcome public transport reservation precision problem.
Technical scheme of the present invention is:
A kind of compatible Big Dipper CORS bus precise positioning system, comprises compatible Big Dipper CORS public transport precise positioning terminal, CORS positioning system, service center and public transport background management system, described compatible Big Dipper CORS public transport precise positioning terminal, described CORS positioning system and described public transport background management system connect described service center respectively, and described compatible Big Dipper CORS public transport precise positioning terminal comprises CPU module, power module, the Big Dipper/GPS dual-mode locating module, inertial navigation locating module, 3G/4G communication module, touch-screen display module and memory module, described CORS positioning system comprises base station, data processing centre (DPC) and communication gate one, described public transport background management system comprises communication gate two, data analysis and processing module, described power module, the described Big Dipper/GPS dual-mode locating module, described inertial navigation locating module, described 3G/4G communication module, described touch-screen display module and described memory module connect described CPU module respectively, and described 3G/4G communication module connects described service center, described base station, described data processing centre (DPC) and described communication gate one connect successively, and described communication gate one connects described service center, and described communication gate two connects described data analysis and processing module, and described communication gate two connects described service center.
The described Big Dipper/GPS dual-mode locating module receiving satellite signal, described CPU module calculates the positional information of bus, and described positional information is sent to data processing centre (DPC); The positional information of the bus obtained is resolved by data processing centre (DPC), obtain difference information, by described communication gate one, difference information is sent to described compatible Big Dipper CORS public transport precise positioning terminal, the difference information that described compatible Big Dipper CORS public transport precise positioning end-on is received calculates the precise positioning coordinate of bus; The precise positioning coordinate of bus is sent to public transport background management system and carries out data analysis and process, automatically generate accurate public bus network, bus link travel time is predicted.
Preferred according to the present invention, described touch-screen display module for showing the longitude and latitude of bus, travel direction, travel speed and current time, also for carrying out Initialize installation to described compatible Big Dipper CORS bus precise positioning system; The described Big Dipper/GPS dual-mode locating module is used for receiving satellite signal; Described inertial navigation locating module is used for the positional information of locating bus when entering gps signal blind area, and described positional information comprises speed, course, longitude and latitude; The satellite-signal that described CPU module is used for receiving according to the Big Dipper/GPS dual-mode locating module calculates the positional information of bus; Described 3G/4G communication module for sending the positional information of bus to data processing centre (DPC), and receives difference information, and the precise positioning coordinate of the bus calculated according to difference information is also sent to public transport background management system; Described memory module stores bus positional information when being used for or interruption bad at wireless communication link si, when wireless communication link recovers, the bus positional information of storage is sent to described data processing centre (DPC); Described base station is for gathering Satellite Observations; Described data processing centre (DPC) is used for the bus positional information obtained and Satellite Observations to resolve, and obtains difference information; Described communication gate one is sent to described compatible Big Dipper CORS public transport precise positioning terminal for the difference information described data processing centre (DPC) obtained; Described communication gate two is for receiving the precise positioning coordinate of the bus of described compatible Big Dipper CORS public transport precise positioning terminal transmission; The bus precise positioning information that described data analysis and processing module send for receiving 3G/4G communication module, generates city bus routes figure by road generating algorithm; Described service center is used for transmission and the forwarding of wireless data.
The method of work of said system, concrete steps comprise as follows:
(1) described compatible Big Dipper CORS public transport precise positioning terminal initialization;
(2) when not entering gps signal blind area, the described Big Dipper/GPS dual-mode locating module receiving satellite signal, described CPU module calculates the positional information of bus, and the positional information of described bus is sent to data processing centre (DPC) by described 3G/4G communication module; When entering gps signal blind area, described inertial navigation locating module utilizes inertial navigation algorithm to locate the positional information of bus;
(3) when interrupted communication link, the positional information of the bus that step (2) is obtained is stored in memory module, when communication recovery, then from memory module, read the positional information of bus of storage, and be sent to data processing centre (DPC) and resolve;
(4) positional information of the bus obtained is resolved by data processing centre (DPC), obtain difference information, by described communication gate one, difference information is sent to described compatible Big Dipper CORS public transport precise positioning terminal, the difference information that described compatible Big Dipper CORS public transport precise positioning end-on is received calculates, and obtains the precise positioning coordinate of bus;
Data processing centre (DPC) creates a virtual reference station near the position of bus, interpolation obtains the corrected value of the every error source impact of virtual reference station, by described communication gate one, corrected value is sent to described compatible Big Dipper CORS public transport precise positioning terminal, the corrected value that described compatible Big Dipper CORS public transport precise positioning end-on is received carries out difference and resolves, and obtains the precise positioning coordinate of bus.
(5) the bus precise positioning coordinate that step (4) obtains is sent to public transport background management system by wireless network to store, and automatically generates public transport road route map by described data analysis and processing module;
Every bar route up-downgoing data are separated with processing module by described data analysis, obtain the data set after up-downgoing separation, extract the road structure of respective routes, the road structure of additional formula algorithm to each route extracted is adopted to superpose, coincidence route is merged, obtains complete public transport road route map.
(6) receive historical position data and current location data in conjunction with bus, utilize and based on SVM algorithm model and mixing dynamic algorithm, public transit vehicle each section is predicted working time.
Preferred according to the present invention, in described step (2), described memory module adopts CF card to store.
The advantage herein designed is, described memory module adopts CF card to store, and volume is little, more convenient, easily installs.
Preferred according to the present invention, in step (6), predict working time each section of bus based on SVM algorithm model and mixing dynamic algorithm, concrete steps comprise:
A, predict the working time under bus respective stretch according to SVM algorithm model, described SVM algorithm model is such as formula shown in (I):
In formula (I), according to website, public bus network is divided into several sections, each section is using continuous website as partitioning site; F (x) refers to the bus running time under respective stretch, K (x
i, x
j) be SVM kernel function, x
iand x
jrepresent the input variable chosen, x
iand x
jcomprise: time x
1, weather x
2, whether be x festivals or holidays
3, road section length x
4, bus average overall travel speed x
5, time x
1comprise peaceful peak period peak period 10, weather x
2whether comprise rainfall/snowfall 1 and fine day 0, be x festivals or holidays
3comprise working day 1 and nonworkdays 0, road section length x
4refer to the distance in the section of division, vehicle average velocity x
5refer to bus historical average speeds under the different sections of highway of division; 1=5; a
twith
represent Lagrange multiplier, b is constant;
SVM kernel function is radial basis function, and the expression formula of the kernel function of SVM is such as formula shown in (II):
K(x
i，x
j)＝exp(-γ||x
i-x
j||
2) (II)
In formula (II), γ=1.42;
B, bus journey time comprise current location to half station journey time of next website and next website to the journey time of destination; Bus estimates that the expression formula of arrival time is such as formula shown in (III):
In formula (III), S
ndfor the distance between next website on bus travel route in bus current location and this travel direction, calculate in real time according to the bus precise positioning coordinate that step (4) obtains; V be bus by the average velocity of the starting station to current location,
be used for calculating the half station journey time of current location to next website;
for each Link Travel Time obtained based on SVM algorithm model and mixing dynamic algorithm,
for each Link Travel Time of residue calculated based on the current average velocity of bus, o and p refers to the section number of division, u
1, u
2for weight factor, u
1=0.75, u
2=0.25.
Beneficial effect of the present invention is:
1, the present invention is in conjunction with GPS and CORS system, improves the validity of system, integrality, improves the precision of bus navigator fix;
2, compatible Big Dipper CORS bus precise positioning system of the present invention solves when bus enters the drawback cannot located GPS blind area, and realize the object of vehicle real-time and precise location, positioning precision reaches centimetre-sized;
3, the real-time and precise locator data obtained is sent to back-stage management central store by the present invention in real time, and the generation for public transport road provides authentic data source.
Accompanying drawing explanation
Fig. 1 is the structural representation of compatible Big Dipper CORS bus precise positioning system of the present invention;
Fig. 2 is the schematic flow sheet based on each section of system prediction bus of the present invention working time.
Embodiment
Below in conjunction with Figure of description and embodiment, further restriction is done to the present invention, but be not limited thereto.
Embodiment 1
A kind of compatible Big Dipper CORS bus precise positioning system, comprises compatible Big Dipper CORS public transport precise positioning terminal, CORS positioning system, service center and public transport background management system, described compatible Big Dipper CORS public transport precise positioning terminal, described CORS positioning system and described public transport background management system connect described service center respectively, and described compatible Big Dipper CORS public transport precise positioning terminal comprises CPU module, power module, the Big Dipper/GPS dual-mode locating module, inertial navigation locating module, 3G/4G communication module, touch-screen display module and memory module, described CORS positioning system comprises base station, data processing centre (DPC) and communication gate one, described public transport background management system comprises communication gate two, data analysis and processing module, described power module, the described Big Dipper/GPS dual-mode locating module, described inertial navigation locating module, described 3G/4G communication module, described touch-screen display module and described memory module connect described CPU module respectively, and described 3G/4G communication module connects described service center, described base station, described data processing centre (DPC) and described communication gate one connect successively, and described communication gate one connects described service center, and described communication gate two connects described data analysis and processing module, and described communication gate two connects described service center.
The described Big Dipper/GPS dual-mode locating module receiving satellite signal, described CPU module calculates the positional information of bus, and described positional information is sent to data processing centre (DPC); The positional information of the bus obtained is resolved by data processing centre (DPC), obtain difference information, by described communication gate one, difference information is sent to described compatible Big Dipper CORS public transport precise positioning terminal, the difference information that described compatible Big Dipper CORS public transport precise positioning end-on is received calculates the precise positioning coordinate of bus; The precise positioning coordinate of bus is sent to public transport background management system and carries out data analysis and process, automatically generate accurate public bus network, bus link travel time is predicted.
Described touch-screen display module for showing the longitude and latitude of bus, travel direction, travel speed and current time, also for carrying out Initialize installation to described compatible Big Dipper CORS bus precise positioning system; The described Big Dipper/GPS dual-mode locating module is used for receiving satellite signal; Described inertial navigation locating module is used for the positional information of locating bus when entering gps signal blind area, and described positional information comprises speed, course, longitude and latitude; The satellite-signal that described CPU module is used for receiving according to the Big Dipper/GPS dual-mode locating module calculates the positional information of bus; Described 3G/4G communication module for sending the positional information of bus to data processing centre (DPC), and receives difference information, and the precise positioning coordinate of the bus calculated according to difference information is also sent to public transport background management system; Described memory module stores bus positional information when being used for or interruption bad at wireless communication link si, when wireless communication link recovers, the bus positional information of storage is sent to described data processing centre (DPC); Described base station is for gathering Satellite Observations; Described data processing centre (DPC) is used for the bus positional information obtained and Satellite Observations to resolve, and obtains difference information; Described communication gate one is sent to described compatible Big Dipper CORS public transport precise positioning terminal for the difference information described data processing centre (DPC) obtained; Described communication gate two is for receiving the precise positioning coordinate of the bus of described compatible Big Dipper CORS public transport precise positioning terminal transmission; The bus precise positioning information that described data analysis and processing module send for receiving 3G/4G communication module, generates city bus routes figure by road generating algorithm; Described service center is used for transmission and the forwarding of wireless data.As shown in Figure 1.
Embodiment 2
The method of work of system according to embodiment 1, concrete steps comprise as follows:
(1) described compatible Big Dipper CORS public transport precise positioning terminal initialization;
(2) when not entering gps signal blind area, the described Big Dipper/GPS dual-mode locating module receiving satellite signal, described CPU module calculates the positional information of bus, and the positional information of described bus is sent to data processing centre (DPC) by described 3G/4G communication module; When entering gps signal blind area, described inertial navigation locating module utilizes inertial navigation algorithm to locate the positional information of bus;
(3) when interrupted communication link, the positional information of the bus that step (2) is obtained is stored in memory module, when communication recovery, then from memory module, read the positional information of bus of storage, and be sent to data processing centre (DPC) and resolve;
(4) positional information of the bus obtained is resolved by data processing centre (DPC), obtain difference information, by described communication gate one, difference information is sent to described compatible Big Dipper CORS public transport precise positioning terminal, the difference information that described compatible Big Dipper CORS public transport precise positioning end-on is received calculates, and obtains the precise positioning coordinate of bus;
Data processing centre (DPC) creates a virtual reference station near the position of bus, interpolation obtains the corrected value of the every error source impact of virtual reference station, by described communication gate one, corrected value is sent to described compatible Big Dipper CORS public transport precise positioning terminal, the corrected value that described compatible Big Dipper CORS public transport precise positioning end-on is received carries out difference and resolves, and obtains the precise positioning coordinate of bus.
(5) the bus precise positioning coordinate that step (4) obtains is sent to public transport background management system by wireless network to store, and automatically generates public transport road route map by described data analysis and processing module;
Every bar route up-downgoing data are separated with processing module by described data analysis, obtain the data set after up-downgoing separation, extract the road structure of respective routes, the road structure of additional formula algorithm to each route extracted is adopted to superpose, coincidence route is merged, obtains complete public transport road route map.
(6) receive historical position data and current location data in conjunction with bus, utilize and based on SVM algorithm model and mixing dynamic algorithm, public transit vehicle each section is predicted working time.
Embodiment 3
Method of work according to embodiment 2, its difference is, in described step (2), described memory module adopts CF card to store.
The advantage herein designed is, described memory module adopts CF card to store, and volume is little, more convenient, easily installs.
Embodiment 4
Method of work according to embodiment 2, its difference is, in step (6), predict working time each section of bus based on SVM algorithm model and mixing dynamic algorithm, concrete steps comprise:
A, predict the working time under bus respective stretch according to SVM algorithm model, described SVM algorithm model is such as formula shown in (I):
In formula (I), according to website, public bus network is divided into several sections, each section is using continuous website as partitioning site; F (x) refers to the bus running time under respective stretch, K (x
i, x
j) be SVM kernel function, x
iand x
jrepresent the input variable chosen, x
iand x
jcomprise: time x
1, weather x
2, whether be x festivals or holidays
3, road section length x
4, bus average overall travel speed x
5, time x
1comprise peaceful peak period peak period 10, weather x
2whether comprise rainfall/snowfall 1 and fine day 0, be x festivals or holidays
3comprise working day 1 and nonworkdays 0, road section length x
4refer to the distance in the section of division, vehicle average velocity x
5refer to bus historical average speeds under the different sections of highway of division; 1=5; At and
represent Lagrange multiplier, b is constant;
SVM kernel function is radial basis function, and the expression formula of the kernel function of SVM is such as formula shown in (II):
K(x
i，x
j)＝exp(-γ||x
i-x
j||
2) (II)
In formula (II), γ=1.42;
B, bus journey time comprise current location to half station journey time of next website and next website to the journey time of destination; Bus estimates that the expression formula of arrival time is such as formula shown in (III):
In formula (III), S
ndfor the distance between next website on bus travel route in bus current location and this travel direction, calculate in real time according to the bus precise positioning coordinate that step (4) obtains; V be bus by the average velocity of the starting station to current location,
be used for calculating the half station journey time of current location to next website;
for each Link Travel Time obtained based on SVM algorithm model and mixing dynamic algorithm,
for each Link Travel Time of residue calculated based on the current average velocity of bus, o and p refers to the section number of division, u
1, u
2for weight factor, u
1=0.75, u
2=0.25.
Claims (5)
1. a compatible Big Dipper CORS bus precise positioning system, is characterized in that, comprises compatible Big Dipper CORS public transport precise positioning terminal, CORS positioning system, service center and public transport background management system, described compatible Big Dipper CORS public transport precise positioning terminal, described CORS positioning system and described public transport background management system connect described service center respectively, and described compatible Big Dipper CORS public transport precise positioning terminal comprises CPU module, power module, the Big Dipper/GPS dual-mode locating module, inertial navigation locating module, 3G/4G communication module, touch-screen display module and memory module, described CORS positioning system comprises base station, data processing centre (DPC) and communication gate one, described public transport background management system comprises communication gate two, data analysis and processing module, described power module, the described Big Dipper/GPS dual-mode locating module, described inertial navigation locating module, described 3G/4G communication module, described touch-screen display module and described memory module connect described CPU module respectively, and described 3G/4G communication module connects described service center, described base station, described data processing centre (DPC) and described communication gate one connect successively, and described communication gate one connects described service center, and described communication gate two connects described data analysis and processing module, and described communication gate two connects described service center.
2. system according to claim 1, it is characterized in that, described touch-screen display module for showing the longitude and latitude of bus, travel direction, travel speed and current time, also for carrying out Initialize installation to described compatible Big Dipper CORS bus precise positioning system; The described Big Dipper/GPS dual-mode locating module is used for receiving satellite signal; Described inertial navigation locating module is used for the positional information of locating bus when entering gps signal blind area, and described positional information comprises speed, course, longitude and latitude; The satellite-signal that described CPU module is used for receiving according to the Big Dipper/GPS dual-mode locating module calculates the positional information of bus; Described 3G/4G communication module for sending the positional information of bus to data processing centre (DPC), and receives difference information, and the precise positioning coordinate of the bus calculated according to difference information is also sent to public transport background management system; Described memory module stores bus positional information when being used for or interruption bad at wireless communication link si, when wireless communication link recovers, the bus positional information of storage is sent to described data processing centre (DPC); Described base station is for gathering Satellite Observations; Described data processing centre (DPC) is used for the bus positional information obtained and Satellite Observations to resolve, and obtains difference information; Described communication gate one is sent to described compatible Big Dipper CORS public transport precise positioning terminal for the difference information described data processing centre (DPC) obtained; Described communication gate two is for receiving the precise positioning coordinate of the bus of described compatible Big Dipper CORS public transport precise positioning terminal transmission; The bus precise positioning information that described data analysis and processing module send for receiving 3G/4G communication module, generates city bus routes figure by road generating algorithm; Described service center is used for transmission and the forwarding of wireless data.
3. the method for work of system according to claim 1 or 2, it is characterized in that, concrete steps comprise as follows:
(1) described compatible Big Dipper CORS public transport precise positioning terminal initialization;
(2) when not entering gps signal blind area, the described Big Dipper/GPS dual-mode locating module receiving satellite signal, described CPU module calculates the positional information of bus, and the positional information of described bus is sent to data processing centre (DPC) by described 3G/4G communication module; When entering gps signal blind area, described inertial navigation locating module utilizes inertial navigation algorithm to locate the positional information of bus;
(3) when interrupted communication link, the positional information of the bus that step (2) is obtained is stored in memory module, when communication recovery, then from memory module, read the positional information of bus of storage, and be sent to data processing centre (DPC) and resolve;
(4) positional information of the bus obtained is resolved by data processing centre (DPC), obtain difference information, by described communication gate one, difference information is sent to described compatible Big Dipper CORS public transport precise positioning terminal, the difference information that described compatible Big Dipper CORS public transport precise positioning end-on is received calculates, and obtains the precise positioning coordinate of bus;
(5) the bus precise positioning coordinate that step (4) obtains is sent to public transport background management system by wireless network to store, and automatically generates public transport road route map by described data analysis and processing module;
(6) receive historical position data and current location data in conjunction with bus, utilize and based on SVM algorithm model and mixing dynamic algorithm, public transit vehicle each section is predicted working time.
4. method of work according to claim 3, is characterized in that, in described step (2), described memory module adopts the storage of CF card.
5. method of work according to claim 3, is characterized in that, in step (6), predict working time each section of bus based on SVM algorithm model and mixing dynamic algorithm, concrete steps comprise:
A, predict the working time under bus respective stretch according to SVM algorithm model, described SVM algorithm model is such as formula shown in (I):
In formula (I), according to website, public bus network is divided into several sections, each section is using continuous website as partitioning site; F (x) refers to the bus running time under respective stretch, K (x
i, x
j) be SVM kernel function, x
iand x
jrepresent the input variable chosen, x
iand x
jcomprise: time x
1, weather x
2, whether be x festivals or holidays
3, road section length x
4, bus average overall travel speed x
5, time x
1comprise peaceful peak period peak period 10, weather x
2whether comprise rainfall/snowfall 1 and fine day 0, be x festivals or holidays
3comprise working day 1 and nonworkdays 0, road section length x
4refer to the distance in the section of division, vehicle average velocity x
5refer to bus historical average speeds under the different sections of highway of division; L=5; a
twith
represent Lagrange multiplier, b is constant;
SVM kernel function is radial basis function, and the expression formula of the kernel function of SVM is such as formula shown in (II):
K(x
i,x
j)＝exp(-γ||x
i-x
j||
2) (Ⅱ)
In formula (II), γ=1.42;
B, bus journey time comprise current location to half station journey time of next website and next website to the journey time of destination; Bus estimates that the expression formula of arrival time is such as formula shown in (III):
In formula (III), S
ndfor the distance between next website on bus travel route in bus current location and this travel direction, calculate in real time according to the bus precise positioning coordinate that step (4) obtains; V be bus by the average velocity of the starting station to current location,
be used for calculating the half station journey time of current location to next website;
for each Link Travel Time obtained based on SVM algorithm model and mixing dynamic algorithm,
for each Link Travel Time of residue calculated based on the current average velocity of bus, o and p refers to the section number of division, u
1, u
2for weight factor, u
1=0.75, u
2=0.25.
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