CN104916154B - A kind of compatible Big Dipper CORS public transport precise positioning systems and its method of work - Google Patents
A kind of compatible Big Dipper CORS public transport precise positioning systems and its method of work Download PDFInfo
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Abstract
The present invention relates to a kind of compatible Big Dipper CORS buses precise positioning system, including compatible Big Dipper CORS public transport precise positioning terminal, CORS alignment systems, service center and public transport background management system, the compatible Big Dipper CORS public transport precise positionings terminal includes CPU module, power module, the Big Dipper/GPS dual-mode locating module, inertial navigation locating module, 3G/4G communication modules, touch-screen display module and memory module, the CORS alignment systems include base station, data processing centre and communication gate one, the present invention combines GPS and CORS systems, improve the validity of system, integrality；Solve the drawbacks of bus cannot be positioned into GPS blind areas, realize the purpose of vehicle real-time and precise positioning, positioning precision reaches Centimeter Level；The real-time and precise location data that will be obtained is sent to back-stage management central store in real time, for the generation of public transport road provides authentic data.
Description
Technical field
The present invention relates to a kind of compatible Big Dipper CORS bus precise positioning systems and its method of work, belong to intelligent friendship
The logical, Big Dipper/GPS positioning technology field.
Background technology
In the development ＆ construction of city intelligent public transport, real-time positioning, dynamic monitoring especially in bus, management and running neck
Domain, GPS has become one of key technology of structure city intelligent public transport, but, current GPS positioning technology is led in intelligent bus
The application in domain also has deficiency.Due to being influenceed by system and measurement many factors, current public transport GPS location precision is missed
The general scope at several meters even tens meters of difference, therefore, it is impossible to accurately judge whether bus travels on dedicated bus lanes,
Whether bus has arrived website.Because existing apparatus position error is larger, it is impossible to meet the analysis of bus driver's driving behavior,
Deviate public transport road early warning, it is impossible to accurate to calculate bus link travel time, traveling place and distance travelled, it is impossible to set up fortune
Battalion's mileage, the accurate model of fuel consumption, it is impossible to effective foundation of vehicle scheduling, management is carried out as public traffic management department.
As the fusion of GPS technology, technology of network RTK, precise single-point positioning technology generates continuous operation satellite fix
Service integrated system, i.e. CORS systems, CORS systems are established as intelligent transportation, digital city, navigator fix, emergency cooperative etc.
All many-sides provide safeguard.Therefore, the mobile terminal device based on CORS systems can realize bus non-blind area Asia rice in real time
The positioning of level, has ensured the reliability of bus big data collection, and carry out public transport row using the mixing dynamic algorithm based on SVM
Journey time prediction, realizes the practicality of big data analysis and treatment model, is preferably applied to bus service with management system
It is perfect, the pattern of more easily trip mode and acquisition of information is provided for people, it is the focus direction of present research.
The content of the invention
In view of the shortcomings of the prior art, the invention discloses a kind of compatible Big Dipper CORS buses precise positioning system；
The invention also discloses the method for work of said system；
It is an object of the invention to overcome public transport reservation precision problem.
The technical scheme is that：
A kind of compatible Big Dipper CORS buses precise positioning system, including compatible Big Dipper CORS public transport precise positionings terminal,
CORS alignment systems, service center and public transport background management system, the compatible Big Dipper CORS public transport precise positionings terminal,
The CORS alignment systems and the public transport background management system connect the service center, the compatible Big Dipper respectively
CORS public transport precise positionings terminal includes CPU module, power module, the Big Dipper/GPS dual-mode locating module, inertial navigation positioning mould
Block, 3G/4G communication modules, touch-screen display module and memory module, the CORS alignment systems include base station, data processing
Center and communication gate one, the public transport background management system include communication gate two, data analysis and processing module, the electricity
Source module, the Big Dipper/GPS dual-mode locating module, the inertial navigation locating module, the 3G/4G communication modules, it is described touch
Touch screen display module and the memory module connects the CPU module, the 3G/4G communication modules connection communication clothes respectively
Business center, the base station, the data processing centre and the communication gate one are sequentially connected, and the communication gate one is connected
The service center, the communication gate two connects the data analysis and processing module, and the communication gate two is connected
The service center.
The Big Dipper/GPS dual-mode locating module receives satellite-signal, and the CPU module calculates the position letter of bus
Breath, and the positional information is sent to data processing centre；The positional information of the bus that data processing centre will obtain is entered
Row is resolved, and obtains difference information, is sent to the compatible Big Dipper CORS public transport essence difference information by the communication gate one
Quasi- positioning terminal, the difference information that the compatible Big Dipper CORS public transport precise positionings terminal-pair is received is calculated the essence of bus
The quasi- elements of a fix；The precise positioning coordinate of bus is sent into public transport background management system carries out data analysis and process, from
The dynamic accurate public bus network of generation, is predicted to bus link travel time.
According to currently preferred, the touch-screen display module is used to showing the longitude and latitude of bus, travel direction, OK
Speed and current time are sailed, is additionally operable to carry out Initialize installation to the compatible Big Dipper CORS bus precise positionings system；
The Big Dipper/GPS dual-mode locating module is used to receive satellite-signal；The inertial navigation locating module is used to enter GPS letters
The positional information of positioning bus during number blind area, the positional information includes speed, course, longitude and latitude；The CPU module is used for
The satellite-signal received according to the Big Dipper/GPS dual-mode locating module calculates the positional information of bus；The 3G/4G communications mould
Block is used to send the positional information of bus to data processing centre, and receives difference information, is calculated according to difference information
Bus precise positioning coordinate and be sent to public transport background management system；The memory module is used in wireless communication link
Bus positional information is stored when poor signal or interruption, the position of bus letter that will be stored when wireless communication link recovers
Breath is sent to the data processing centre；The base station is used to gather Satellite Observations；The data processing centre is used for
The bus positional information and Satellite Observations that will be obtained are resolved, and obtain difference information；The communication gate one is used for
The difference information that the data processing centre obtains is sent to the compatible Big Dipper CORS public transport precise positioning terminal；It is described logical
Letter gateway two is used to receive the precise positioning coordinate of the bus that the compatible Big Dipper CORS public transport precise positionings terminal sends；Institute
State data analysis is used to receive the bus precise positioning information of 3G/4G communication modules transmission with processing module, is given birth to by road
City bus routes figure is generated into algorithm；The service center is used for the transmission and forwarding of wireless data.
The method of work of said system, specific steps include as follows：
(1) the compatible Big Dipper CORS public transport precise positioning terminal initialization；
(2) when gps signal blind area is introduced into, the Big Dipper/GPS dual-mode locating module receives satellite-signal, the CPU
Module calculates the positional information of bus, and the 3G/4G communication modules send to data the positional information of the bus
Processing center；When gps signal blind area is entered, the inertial navigation locating module is using inertial navigation algorithm positioning bus
Positional information；
(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 read the positional information of the bus of storage from memory module, and be sent to data processing centre
Row is resolved；
(4) positional information of the bus that data processing centre will obtain is resolved, and obtains difference information, by described
Communication gate one sends to the compatible Big Dipper CORS public transport precise positioning terminal difference information, and the compatible Big Dipper CORS is public
The difference information for handing over precise positioning terminal-pair to receive is calculated, and obtains the precise positioning coordinate of bus；
Data processing centre creates a virtual reference station near the position of bus, and it is each that interpolation obtains virtual reference station
The corrected value of item error source influence, sends accurate to the compatible Big Dipper CORS public transport by the communication gate one by corrected value
Positioning terminal, the corrected value that the compatible Big Dipper CORS public transport precise positionings terminal-pair is received carries out difference resolving, obtains public transport
The precise positioning coordinate of car.
(5) the bus precise positioning coordinate for obtaining step (4) is sent to public transport back-stage management system by wireless network
System is stored, and automatically generates public transport road route map by the data analysis and processing module；
The data analysis is separated every route up-downgoing data with processing module, after obtaining up-downgoing separation
Data set, extracts the road structure of respective routes, and the road structure of each route using additional formula algorithm to extracting is overlapped,
Coincidence route is merged, complete public transport road route map is obtained.
(6) combine bus and receive historical position data and current location data, using based on SVM algorithm model and mixing
Dynamic algorithm is predicted to each section run time of public transit vehicle.
According to currently preferred, in the step (2), the memory module is stored using CF cards.
The advantage for designing herein is that the memory module is stored using CF cards, small volume, relatively more convenient, is easily installed.
According to currently preferred, in step (6), based on SVM algorithm model and mixing dynamic algorithm to each road of bus
Section run time is predicted, and specific steps include：
A, the run time under bus respective stretch, the SVM algorithm model such as formula are predicted according to SVM algorithm model
(I) shown in：
In formula (I), public bus network is divided into according to website by several sections, each section is saved using continuous website as division
Point；F (x) refers to bus running time, K (x under respective stretchi, xj) it is SVM kernel functions, xiAnd xjRepresent that the input chosen becomes
Amount, xiAnd xjIncluding：Time x1, weather x2, whether be festivals or holidays x3, road section length x4, bus average overall travel speed x5, the time
x1Including peak period 1 peaceful peak period 0, weather x2Including rainfall/snowfall 1 and fine day 0, if be festivals or holidays x3Including work
Day 1 and nonworkdays 0, road section length x4Refer to the distance in the section of division, vehicle average speed x5It refer to the different sections of highway of division
Lower bus historical average speeds；1=5；atWithLagrange multiplier is represented, b is constant；
SVM kernel functions are RBF, shown in the expression formula such as formula (II) of the kernel function of SVM：
K(xi, xj)=exp (- γ | | xi-xj||2) (II)
In formula (II), γ=1.42；
B, bus journey time include current location to the half station journey time and next website of next website to mesh
Ground journey time；Shown in the expression formula such as formula (III) of the estimated arrival time of bus：
In formula (III), SndIt is the next website on bus travel route on bus current location and the travel direction
The distance between, it is calculated in real time according to the bus precise positioning coordinate obtained by step (4)；V is bus by originating
Stand to the average speed of current location,For calculating current location to half station journey time of next website；For
Based on each Link Travel Time that SVM algorithm model and mixing dynamic algorithm are obtained,It is currently average based on bus
Come remaining each Link Travel Time for calculating, o and p refers to the section number of division, u to speed1、u2It is weight factor, u1=0.75,
u2=0.25.
The beneficial effects of the present invention are：
1st, the present invention combines GPS and CORS systems, improves validity, the integrality of system, improves bus navigation
The precision of positioning；
2nd, compatible Big Dipper CORS buses precise positioning system of the present invention solve when bus enter GPS blind areas without
The drawbacks of legal position, the purpose of vehicle real-time and precise positioning is realized, positioning precision reaches Centimeter Level；
3rd, the real-time and precise location data that the present invention will be obtained is sent to back-stage management central store in real time, is public transport road
Generation there is provided authentic data originate.
Brief description of the drawings
Fig. 1 is the structural representation of compatible Big Dipper CORS buses precise positioning system of the present invention；
Fig. 2 is the schematic flow sheet based on each section run time of system prediction bus of the present invention.
Specific embodiment
Further restriction, but not limited to this are done to the present invention with reference to Figure of description and embodiment.
Embodiment 1
A kind of compatible Big Dipper CORS buses precise positioning system, including compatible Big Dipper CORS public transport precise positionings terminal,
CORS alignment systems, service center and public transport background management system, the compatible Big Dipper CORS public transport precise positionings terminal,
The CORS alignment systems and the public transport background management system connect the service center, the compatible Big Dipper respectively
CORS public transport precise positionings terminal includes CPU module, power module, the Big Dipper/GPS dual-mode locating module, inertial navigation positioning mould
Block, 3G/4G communication modules, touch-screen display module and memory module, the CORS alignment systems include base station, data processing
Center and communication gate one, the public transport background management system include communication gate two, data analysis and processing module, the electricity
Source module, the Big Dipper/GPS dual-mode locating module, the inertial navigation locating module, the 3G/4G communication modules, it is described touch
Touch screen display module and the memory module connects the CPU module, the 3G/4G communication modules connection communication clothes respectively
Business center, the base station, the data processing centre and the communication gate one are sequentially connected, and the communication gate one is connected
The service center, the communication gate two connects the data analysis and processing module, and the communication gate two is connected
The service center.
The Big Dipper/GPS dual-mode locating module receives satellite-signal, and the CPU module calculates the position letter of bus
Breath, and the positional information is sent to data processing centre；The positional information of the bus that data processing centre will obtain is entered
Row is resolved, and obtains difference information, is sent to the compatible Big Dipper CORS public transport essence difference information by the communication gate one
Quasi- positioning terminal, the difference information that the compatible Big Dipper CORS public transport precise positionings terminal-pair is received is calculated the essence of bus
The quasi- elements of a fix；The precise positioning coordinate of bus is sent into public transport background management system carries out data analysis and process, from
The dynamic accurate public bus network of generation, is predicted to bus link travel time.
The touch-screen display module be used to showing the longitude and latitude of bus, travel direction, travel speed and it is current when
Between, it is additionally operable to carry out Initialize installation to the compatible Big Dipper CORS bus precise positionings system；The Big Dipper/the GPS dual-mode
Locating module is used to receive satellite-signal；The inertial navigation locating module is used to position public transport when gps signal blind area is entered
The positional information of car, the positional information includes speed, course, longitude and latitude；The CPU module is used for according to the Big Dipper/GPS dual-mode
The satellite-signal that locating module is received calculates the positional information of bus；The 3G/4G communication modules are used to send bus
Positional information to data processing centre, and receive difference information, the bus being calculated according to difference information it is precisely fixed
Position coordinate is simultaneously sent to public transport background management system；The memory module is used for bad in wireless communication link si or interrupts
When store bus positional information, the bus positional information of storage is sent to the data when wireless communication link recovers
Processing center；The base station is used to gather Satellite Observations；The data processing centre is used for the public transport parking stall that will be obtained
Confidence is ceased and Satellite Observations are resolved, and obtains difference information；The communication gate one is used for the Data processing
Gains in depth of comprehension to difference information send to the compatible Big Dipper CORS public transport precise positioning terminal；The communication gate two is used to receive
The precise positioning coordinate of the bus that the compatible Big Dipper CORS public transport precise positionings terminal sends；The data analysis and treatment
Module is used to receive the bus precise positioning information of 3G/4G communication modules transmission, and it is public to generate city by road generating algorithm
Cross-channel line chart；The service center is used for the transmission and forwarding of wireless data.As shown in Figure 1.
Embodiment 2
The method of work of system according to embodiment 1, specific steps include as follows：
(1) the compatible Big Dipper CORS public transport precise positioning terminal initialization；
(2) when gps signal blind area is introduced into, the Big Dipper/GPS dual-mode locating module receives satellite-signal, the CPU
Module calculates the positional information of bus, and the 3G/4G communication modules send to data the positional information of the bus
Processing center；When gps signal blind area is entered, the inertial navigation locating module is using inertial navigation algorithm positioning bus
Positional information；
(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 read the positional information of the bus of storage from memory module, and be sent to data processing centre
Row is resolved；
(4) positional information of the bus that data processing centre will obtain is resolved, and obtains difference information, by described
Communication gate one sends to the compatible Big Dipper CORS public transport precise positioning terminal difference information, and the compatible Big Dipper CORS is public
The difference information for handing over precise positioning terminal-pair to receive is calculated, and obtains the precise positioning coordinate of bus；
Data processing centre creates a virtual reference station near the position of bus, and it is each that interpolation obtains virtual reference station
The corrected value of item error source influence, sends accurate to the compatible Big Dipper CORS public transport by the communication gate one by corrected value
Positioning terminal, the corrected value that the compatible Big Dipper CORS public transport precise positionings terminal-pair is received carries out difference resolving, obtains public transport
The precise positioning coordinate of car.
(5) the bus precise positioning coordinate for obtaining step (4) is sent to public transport back-stage management system by wireless network
System is stored, and automatically generates public transport road route map by the data analysis and processing module；
The data analysis is separated every route up-downgoing data with processing module, after obtaining up-downgoing separation
Data set, extracts the road structure of respective routes, and the road structure of each route using additional formula algorithm to extracting is overlapped,
Coincidence route is merged, complete public transport road route map is obtained.
(6) combine bus and receive historical position data and current location data, using based on SVM algorithm model and mixing
Dynamic algorithm is predicted to each section run time of public transit vehicle.
Embodiment 3
The method of work according to embodiment 2, its difference is that in the step (2), the memory module is using CF cards
Storage.
The advantage for designing herein is that the memory module is stored using CF cards, small volume, relatively more convenient, is easily installed.
Embodiment 4
The method of work according to embodiment 2, its difference is, dynamic based on SVM algorithm model and mixing in step (6)
State algorithm is predicted to each section run time of bus, and specific steps include：
A, the run time under bus respective stretch, the SVM algorithm model such as formula are predicted according to SVM algorithm model
(I) shown in：
In formula (I), public bus network is divided into according to website by several sections, each section is saved using continuous website as division
Point；F (x) refers to bus running time, K (x under respective stretchi, xj) it is SVM kernel functions, xiAnd xjRepresent that the input chosen becomes
Amount, xiAnd xjIncluding：Time x1, weather x2, whether be festivals or holidays x3, road section length x4, bus average overall travel speed x5, the time
x1Including peak period 1 peaceful peak period 0, weather x2Including rainfall/snowfall 1 and fine day 0, if be festivals or holidays x3Including work
Day 1 and nonworkdays 0, road section length x4Refer to the distance in the section of division, vehicle average speed x5It refer to the different sections of highway of division
Lower bus historical average speeds；1=5；At andLagrange multiplier is represented, b is constant；
SVM kernel functions are RBF, shown in the expression formula such as formula (II) of the kernel function of SVM：
K(xi, xj)=exp (- γ | | xi-xj||2) (II)
In formula (II), γ=1.42；
B, bus journey time include current location to the half station journey time and next website of next website to mesh
Ground journey time；Shown in the expression formula such as formula (III) of the estimated arrival time of bus：
In formula (III), SndIt is the next website on bus travel route on bus current location and the travel direction
The distance between, it is calculated in real time according to the bus precise positioning coordinate obtained by step (4)；V is bus by originating
Stand to the average speed of current location,For calculating current location to half station journey time of next website；
It is each Link Travel Time obtained based on SVM algorithm model and mixing dynamic algorithm,It is currently to be put down based on bus
Come remaining each Link Travel Time for calculating, o and p refers to the section number of division, u to equal speed1、u2It is weight factor, u1=
0.75, u2=0.25.
Claims (4)
1. a kind of compatible Big Dipper CORS buses precise positioning system, it is characterised in that accurate including compatible Big Dipper CORS public transport
Positioning terminal, CORS alignment systems, service center and public transport background management system, the compatible Big Dipper CORS public transport are accurate
Positioning terminal, the CORS alignment systems and the public transport background management system connect the service center respectively, described
Compatible Big Dipper CORS public transport precise positionings terminal includes that CPU module, power module, the Big Dipper/GPS dual-mode locating module, inertia are led
Boat locating module, 3G/4G communication modules, touch-screen display module and memory module, the CORS alignment systems include base station,
Data processing centre and communication gate one, the public transport background management system include communication gate two, data analysis with treatment mould
Block, the power module, the Big Dipper/GPS dual-mode locating module, the inertial navigation locating module, 3G/4G communication moulds
Block, the touch-screen display module and the memory module connect the CPU module, the 3G/4G communication modules connection respectively
The service center, the base station, the data processing centre and the communication gate one are sequentially connected, the communication
Gateway one connects the service center, and the communication gate two connects the data analysis and processing module, the communication
Gateway two connects the service center；
The touch-screen display module is used to show longitude and latitude, travel direction, travel speed and the current time of bus, also
For carrying out Initialize installation to the compatible Big Dipper CORS bus precise positionings system；The Big Dipper/GPS dual-mode positioning mould
Block is used to receive satellite-signal；The inertial navigation locating module is used for the position of the positioning bus when gps signal blind area is entered
Confidence ceases, and the positional information includes speed, course, longitude and latitude；The CPU module is used for according to the Big Dipper/GPS dual-mode positioning mould
The satellite-signal that block is received calculates the positional information of bus；The 3G/4G communication modules are used to send the position of bus
Information receives difference information to data processing centre, the precise positioning coordinate of the bus being calculated according to difference information
And it is sent to public transport background management system；The memory module be used for wireless communication link si it is bad or interrupt when store
Bus positional information, the Data processing is sent to when wireless communication link recovers by the bus positional information of storage
The heart；The base station is used to gather Satellite Observations；The data processing centre is used for the bus positional information that will be obtained
Resolved with Satellite Observations, obtained difference information；The communication gate one is used to obtain the data processing centre
Difference information send to the compatible Big Dipper CORS public transport precise positioning terminal；The communication gate two is used to receive described simultaneous
Hold the precise positioning coordinate of the bus that Big Dipper CORS public transport precise positionings terminal sends；The data analysis is used with processing module
In the bus precise positioning information that 3G/4G communication modules send is received, city bus routes are generated by road generating algorithm
Figure；The service center is used for the transmission and forwarding of wireless data.
2. the method for work of system according to claim 1, it is characterised in that specific steps include as follows：
(1) the compatible Big Dipper CORS public transport precise positioning terminal initialization；
(2) when gps signal blind area is introduced into, the Big Dipper/GPS dual-mode locating module receives satellite-signal, the CPU module
The positional information of bus is calculated, the 3G/4G communication modules send to data processing the positional information of the bus
Center；When gps signal blind area is entered, the inertial navigation locating module positions the position of bus using inertial navigation algorithm
Information；
(3) when interrupted communication link, the positional information of the bus that step (2) is obtained is stored in memory module, when logical
When letter recovers, then the positional information of the bus of storage is read from memory module, and be sent to data processing centre and solved
Calculate；
(4) positional information of the bus that data processing centre will obtain is resolved, and obtains difference information, by the communication
Gateway one sends to the compatible Big Dipper CORS public transport precise positioning terminal difference information, the compatible Big Dipper CORS public transport essence
The difference information that certainly position terminal-pair is received is calculated, and obtains the precise positioning coordinate of bus；
(5) the bus precise positioning coordinate for obtaining step (4) is sent to public transport background management system and enters by wireless network
Row storage, and public transport road route map is automatically generated by the data analysis and processing module；
(6) combine bus and receive historical position data and current location data, using based on SVM algorithm model and mixing dynamic
Algorithm is predicted to each section run time of public transit vehicle.
3. method of work according to claim 2, it is characterised in that in the step (2), the memory module is using CF cards
Storage.
4. method of work according to claim 2, it is characterised in that dynamic based on SVM algorithm model and mixing in step (6)
State algorithm is predicted to each section run time of bus, and specific steps include：
A, the run time under bus respective stretch, the SVM algorithm model such as formula (I) are predicted according to SVM algorithm model
It is shown：
In formula (I), public bus network is divided into according to website by several sections, each section is using continuous website as partitioning site；f
X () refers to bus running time, K (x under respective stretchi,xj) it is SVM kernel functions, xiAnd xjRepresent the input variable chosen, xi
And xjIncluding：Time x1, weather x2, whether be festivals or holidays x3, road section length x4, bus average overall travel speed x5, time x1Bag
Include peak period 1 peaceful peak period 0, weather x2Including rainfall/snowfall 1 and fine day 0, if be festivals or holidays x3Including the He of working day 1
Nonworkdays 0, road section length x4Refer to the distance in the section of division, vehicle average speed x5Refer to division different sections of highway under it is public
Hand over car historical average speeds；L=5；atWithLagrange multiplier is represented, b is constant；
SVM kernel functions are RBF, shown in the expression formula such as formula (II) of the kernel function of SVM：
K(xi,xj)=exp (- γ | | xi-xj||2) (Ⅱ)
In formula (II), γ=1.42；
B, bus journey time include current location to the half station journey time and next website of next website to destination
Journey time；Shown in the expression formula such as formula (III) of the estimated arrival time of bus：
In formula (III), SndFor between the next website on bus travel route on bus current location and the travel direction
Distance, is calculated in real time according to the bus precise positioning coordinate obtained by step (4)；V be bus by the starting station to ought
The average speed of front position,For calculating current location to half station journey time of next website；Be based on
Each Link Travel Time that SVM algorithm model and mixing dynamic algorithm are obtained,It is based on the current average speed of bus
Come the remaining each Link Travel Time for calculating, o and p refers to the section number of division, u1、u2It is weight factor, u1=0.75, u2=
0.25。
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