CN105044756B - Vehicle tracking method based on GPS and electronic compass - Google Patents
Vehicle tracking method based on GPS and electronic compass Download PDFInfo
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- CN105044756B CN105044756B CN201510559262.6A CN201510559262A CN105044756B CN 105044756 B CN105044756 B CN 105044756B CN 201510559262 A CN201510559262 A CN 201510559262A CN 105044756 B CN105044756 B CN 105044756B
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- vehicle
- gps
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- electronic compass
- angle
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Classifications
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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
Abstract
The invention provides a vehicle tracking method based on GPS pseudo range differential positioning data and a vehicle-mounted electronic compass. According to the method, the GPS pseudo range differential positioning data of a vehicle and the angle data of the vehicle-mounted electronic compass are simultaneously acquired periodically, and two types of data are fused by a data fusion method so that vehicle moving tracks after error correction can be given in real time. The beneficial effects of the vehicle tracking method are that error accumulation of the angle of the vehicle-mounted electronic compass is not generated, and the GPS pseudo range differential positioning data can be effectively corrected so that more accurate vehicle moving tracks can be provided.
Description
Technical field
The present invention relates to a kind of based on GPS and the wireless vehicle tracking of digital compass.
Background technology
With the progress and expanding economy of Chinese society, the quantity of motor vehicles is continuously increased.Although road traffic shape
Condition is also greatly improved, but it improves speed and much lags behind gathering way for vehicle, and the few contradiction of car multichannel is more next
It is more obvious, the social urgent problem such as cause traffic congestion, traffic accident increasing.However, wanting solving road traffic
Problems faced, according to traditional transport development strategy, only by the area of increase road, improves the population size of road network, perfect
The layout of road network is infeasible.Because not only cost is higher for the pattern of this development, ecological environment is had than larger shadow
Ring, and it is also very limited that it alleviates congested in traffic effect.The fast development of information technology is provided to solve traffic problems
One new thinking.During solving road traffic problems, not only to improve existing traffic infrastructure, and to borrow
Auxiliary system opinion, cybernetics and information-theoretical thought, advanced information technology application in traffic administration and control, by information
Communication be connected, strengthen existing traffic system management, to greatest extent improve existing road traffic efficiency, make road more
Plus it is smooth.
GPS positioning system with its positioning extensively, fast and accurately feature, Aero-Space, geodesic survey, land navigation,
The each side such as military affairs are widely applied.But due to by select availability (SA), ionosphere, tropospheric delay, ground return,
The impact of various error components such as antenna phase center variation and multipath effect, its actual location precision is unsatisfactory, single
Spot placement accuracy is about 10 meters.For this purpose, people have developed differential position.Can effectively be disappeared using differential position
Except including SA errors, most ionosphere delay and part of tropospheric delay, therefore greatly improve can positioning precision.According to
Report, has a kind of GPS pseudo range differences alignment system, using the Short Message Service of GSM network as differential system base station and user
Data transfer mode between terminal, user terminal is controlled using ARM microprocessor, test result indicate that 2- can be provided
The plane positioning precision of 5m.It can be seen that use GPS is to vehicle location, its error will not be less than meter level, and the GPS of such precision can only be used
To determine the general location of vehicle, and cannot be used for determining the relative position of vehicle and certain traffic mark.It can be seen that, to improve
The positioning precision of vehicle is not all right only with GPS location data, it is necessary to by another positioning means to GPS location data
It is modified.
With the development of digitizing technique, the number based on fluxgate, magnetic inductive and Hall effect etc. is had been achieved with present
Word compass.Wherein fluxgate and magnetic inductive compass precision are higher, can reach ± 1 °.Digitalized electron compass is used
In the determination of direction of traffic, and merge GPS location data to vehicle enforcement tracking, be the effective way for improving tracking accuracy.
The content of the invention
Invent a kind of based on GPS pseudo range differences location data and the wireless vehicle tracking of vehicle electronics compass.The party
The method periodically simultaneously GPS pseudo range differences location data and the angle-data of vehicle electronics compass of collection vehicle, by one
Plant data fusion method to be merged two class data, the vehicle running orbit through error correction is given in real time.
The beneficial effects of the present invention is：The angle of vehicle electronics compass will not produce the accumulation of error, can be pseudo- to GPS
Effectively corrected away from Differential positioning data, so as to provide more accurate vehicle running orbit.
Description of the drawings
Fig. 1 is vehicle subsection path schematic diagram.
Fig. 2 is true path, the simulation point line of GPS location data and the measurement track comparison diagram of vehicle.
Label declaration：1 true path, the simulation point line of 2GPS location datas, the measurement track of 3 vehicles.
Specific embodiment
1. rectangular coordinates system is set up
Vehicle starting point sets up rectangular coordinates system as origin using on road, as shown in Figure 1.Transverse axis was origin
The tangent line of parallel, direction is to the right；The longitudinal axis was the tangent line of the warp of origin, and direction is upwards.
2. location data is obtained
Near the origin of the rectangular coordinate system being as defined above due to the vehicle running orbit investigated, it is believed that vehicle
Operate in coordinate plane.According to the thought of calculus, can regard as by enough straight of branch in any one section of curve
What line segment was formed by connecting.It is assumed that the GPS pseudo range differences location data and vehicle-mounted digital electronic guide with cycle T simultaneously to vehicle
The angle-data sampling of pin, and coordinate GPS pseudo range difference location datas being converted in rectangular coordinates system, the position for obtaining
Put and be respectively with angle-data
WhereinIt is the location data with error, andIt is the actual measurement of vehicle electronics compass with error
Vehicle heading and the x-axis angle number of degrees.
3. track is determined
As shown in figure 1, at the ith sample moment, actual position of the vehicle in rectangular coordinates system is
(xi, yi), i=1,2 ...
With PiRepresent point (xi, yi), then the path of vehicle can be regarded as by directed line line segment
The end to end curve being linked to be.Might as well be provided with to straightwayLength be li+1, it is α with the angle of x-axisi+1(i=0,1,
2 ...).
To i=1,2 ..., n, PiCoordinate (the x of pointi, yi) be represented by
SoWithIt is considered as xiAnd yiRespectively plus one submits to N (0, σ2) white noise after be disturbed data,
Wherein σ represents variance.In the same manner,α can also be regarded asiPlus it is disturbed data after random error.Refer in view of digitalized electron
The precision of compass can reach ± 1 °, might as well assume that random error obeys certain distribution between -1 ° and 1 °, such as be uniformly distributed.
Note
So,It is exactly actual position (xi, yi) estimation, but due to (xi, yi) contain subpath length parameter
l1, l2..., ln, and real angle αi(i=1,2 ...) cannot be obtained, therefore with (xi, yi) estimation replace (xi, yi), i.e.,
Order
Theoretical, parameter l according to variance least estimated in mathematical statistics1, l2..., lnSelection should make
Reach minimum of a value, i.e. Ax TAx+Ay TAyMinimum of a value is reached, wherein
Therefore only need to be to matrix equation
Seek parameter l1, l2..., lnLeast square solution.This is one containing n unknown parameter, the overdetermination side of 2n equation
Journey group, can be in the hope of using least square method
Wherein
It is hereby achieved that the measurement tracing point of vehicle is
…
4. simulation analysis
Length in simulation process is rice.
50 branch (x are equidistantly selected on the smooth curve that one section of starting point is the origin of coordinatesi, yi), i=1,
2 ..., 50, as the point in vehicle true path.Two coordinates in this 50 points are all uniformly divided plus obeying in [- 1,1]
The random disturbances error of cloth, obtains representing the simulation point of GPS location dataI=1,2 ..., 50.Meanwhile, successively
From origin and this 50 branch (xi, yi), i=1,2 ..., the angle β of adjacent two branches line and x-axis can be obtained in 50i, i
=1,2 ..., 50.Respectively to βiPlus equally distributed random disturbances error between -1 ° to 1 °, obtain representing that electronics refers to
Analogue measurement angle [alpha] of the compass with errori, i=1,2 ..., 50.
Determine that method can obtain the measurement track of vehicle using above-mentioned track.
Figure it is seen that determining the measurement track of the vehicle that method is obtained than directly employing using the track of the present invention
The track that GPS location data are obtained is much more accurate.
Claims (1)
1. a kind of based on GPS and the wireless vehicle tracking of digital compass, it is characterised in that：Using on road vehicle starting point as
Origin sets up rectangular coordinates system, and transverse axis was the tangent line of the parallel of origin, and direction is to the right；The longitudinal axis was the warp of origin
Tangent line, direction is upwards；With cycle T the GPS location data of vehicle and the angle-data of vehicle electronics compass are carried out n time simultaneously
Sampling, and GPS location data are converted into into the coordinate in rectangular coordinates system, use
Coordinate of the vehicle after conversion in rectangular coordinate system and the vehicle electronics compass measurement with error are represented respectively
Vehicle traffic direction and transverse axis angle；Order
Wherein
It is hereby achieved that the measurement tracing point of vehicle is
…
。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510559262.6A CN105044756B (en) | 2015-08-29 | 2015-08-29 | Vehicle tracking method based on GPS and electronic compass |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510559262.6A CN105044756B (en) | 2015-08-29 | 2015-08-29 | Vehicle tracking method based on GPS and electronic compass |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105044756A CN105044756A (en) | 2015-11-11 |
| CN105044756B true CN105044756B (en) | 2017-05-10 |
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ID=54451430
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510559262.6A Active CN105044756B (en) | 2015-08-29 | 2015-08-29 | Vehicle tracking method based on GPS and electronic compass |
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Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5058023A (en) * | 1990-07-30 | 1991-10-15 | Motorola, Inc. | Vehicle position determining apparatus |
| US9234760B2 (en) * | 2010-01-29 | 2016-01-12 | Blackberry Limited | Portable mobile transceiver for GPS navigation and vehicle data input for dead reckoning mode |
| WO2012151333A2 (en) * | 2011-05-02 | 2012-11-08 | Certusview Technologies, Llc | Marking methods, apparatus and systems including optical flow-based dead reckoning features |
| CN203479311U (en) * | 2013-08-20 | 2014-03-12 | 武汉科技大学 | Vehicle-mounted combined navigation equipment |
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2015
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Effective date of registration: 20191111 Address after: 314100 building 3, 336 Huimin Avenue, Huimin street, Jiashan County, Jiaxing City, Zhejiang Province Patentee after: Jiashan Huili packaging material factory Address before: 264670 Yantai high tech Development Zone, Shandong Province, No. 513 Patentee before: An Kai |