CN105807295B - A kind of method and system of correction vehicle location deviation - Google Patents
A kind of method and system of correction vehicle location deviation Download PDFInfo
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- CN105807295B CN105807295B CN201410841749.9A CN201410841749A CN105807295B CN 105807295 B CN105807295 B CN 105807295B CN 201410841749 A CN201410841749 A CN 201410841749A CN 105807295 B CN105807295 B CN 105807295B
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- roadside unit
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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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The present invention relates to a kind of method and systems of correction vehicle location deviation.A kind of method of correction vehicle location deviation of the present invention, includes the following steps：Correction system sends GNSS correction instructions to roadside unit；Roadside unit receives the GNSS correction instructions, changes the GNSS location information and control information set originally, and broadcasted, the broadcast message includes control information and GNSS location information；Board units are interacted with roadside unit, obtain the control information and GNSS location information of the roadside unit broadcast；Board units change location data according to the control information and GNSS location information.Using a kind of method and system of correction vehicle location deviation of the present invention, the deviation of the GNSS positioning signals of vehicular traffic can be corrected, enables board units that the path residing for vehicle is accurately positioned.
Description
Technical field
The invention belongs to intelligent transportation fields, and in particular to a kind of method and system of correction vehicle location deviation.
Background technology
In traffic congestion toll collection system, different paths will use different expenses standards, therefore to road where vehicle
The accurate positionin of diameter is particularly important.The positioning of vehicle at present relies primarily on GNSS (Global Navigation
Satellite System, Global Navigation Satellite System) it realizes, such as the GPS in the U.S., the Glonass of Russia, Europe
Galileo, China Beidou satellite navigation system because GNSS in certain time period it is possible that certain deviation, can make
The location information received in the process of moving at vehicle is inaccurate, leads to the row of the vehicle shown in traffic congestion toll collection system
The case where path is not consistent with the path of actual travel is sailed, vehicle toll can be caused mistake occur.In a practical situation, city is more
Have that there are GNSS signal unfavorable conditions, roadside unit at this moment may be used and carry out auxiliary positioning, roadside unit is sent out using DSRC technology
The stationary positioned information of current vehicle position is sent to be used for vehicle location to board units.But vehicle once leaves road in this case
After the limited communication zone of side unit, GNSS is positioned still in bad or there are certain deviations.
Roadside unit, abbreviation RSU (english abbreviation of Road Side Unit) are mounted on trackside, using DSRC technology, with
Board units (OBU, On Board Unit) are communicated, and realize testing vehicle register identification, the equipment of electronics deduction of points.DSRC
(Dedicated Short Range Communication dedicated short-range communication technology) is a kind of efficient wireless communication skill
The identification and two-way of (being usually tens of rice) to the mobile target under high-speed motion may be implemented in the domain of specific cell in art
Letter, real-time, the accurate and reliable transmitted in both directions of a small range image, voice-and-data may be implemented in it.
Invention content
In view of the deficiencies in the prior art, the object of the present invention is to provide a kind of methods of correction vehicle location deviation
And system, the deviation of GNSS signal is corrected.
To achieve the above objectives, the technical solution adopted by the present invention is：A method of correction vehicle location deviation, including
Following steps：
Correction system sends GNSS correction instructions to roadside unit；
Roadside unit receives the GNSS correction instructions, changes the broadcast message set originally, and broadcasted, described
Broadcast message includes control information and GNSS location information；
Board units are interacted with roadside unit, obtain the control information and GNSS location letter of the roadside unit broadcast
Breath；
Board units change location data according to the control information and GNSS location information.
Further, the GNSS correction instructions include：Authentication content, control information, correction parameter and routing information, it is described
Legitimacy of the authentication content for roadside unit certification correction system.
Further, before correction system sends GNSS correction instructions to roadside unit, the roadside unit records simultaneously
Self poisoning information is sent to correction system；When roadside unit is broadcasted, the road of road where roadside unit also broadcasts it
Diameter information.
Further, the routing information includes：Path ID, path course.
Further, board units receive the routing information of roadside unit broadcast, and the path broadcasted according to roadside unit
Information changes the routing information of itself.
Further, the correction data source of the correction system includes：The GNSS inspections installed in roadside unit in system
The data that survey module or special GNSS measuring stations are provided；
Correction data transmission process includes：Correction data is transmitted to correction by GNSS detection modules or special GNSS measuring stations
System, correction system must correct conclusion, then send correction instruction to roadside unit.
A kind of system of correction vehicle location deviation, including following device：
Correction system, for sending GNSS correction instructions to roadside unit；
Roadside unit for receiving the GNSS correction instructions, the broadcast message that modification was set originally, and is broadcasted,
The broadcast message includes control information and GNSS location information；Roadside unit is for recording and sending itself to correction system
Location information；
Board units obtain the control information and GNSS of the roadside unit broadcast for being interacted with roadside unit
Location information, and location data is changed according to the control information and GNSS location information.
Further, the GNSS correction instructions include：Authentication content, control information, correction parameter and routing information, it is described
Legitimacy of the authentication content for roadside unit certification correction system.
Further, the roadside unit is for recording and sending self poisoning information to correction system, and roadside unit is also
Routing information for road where broadcasting it.
Further, the routing information includes：Path ID, path course.
Further, board units are additionally operable to receive the routing information of roadside unit broadcast, and are broadcasted according to roadside unit
Routing information change the routing information of itself.
Further, the correction system is additionally operable to receive the GNSS detection modules installed in roadside unit or special GNSS
The data that measuring station is provided are analyzed to obtain correction conclusion, form GNSS correction instructions.
Effect of the invention is that：It, can using a kind of method and system of correction vehicle location deviation of the present invention
Effectively to correct the mistake of vehicle location caused by the deviation because of GNSS signal, and board units is enable accurately to confirm vehicle
Path where.
Description of the drawings
Fig. 1 is the flow chart of method described in the specific embodiment of the invention；
Fig. 2 is the structure chart of system described in the specific embodiment of the invention；
Fig. 3 is the structure chart of roadside unit described in the specific embodiment of the invention.
Specific implementation mode
The invention will be further described with reference to the accompanying drawings and detailed description.
As shown in Figure 1, a kind of method of correction vehicle location deviation, includes the following steps：
Step S1：Correction system obtains the deviation of signal of some region of GNSS, and sends GNSS corrections to roadside unit
Instruction instructs Bao Shi：
Authentication content, the legitimacy for roadside unit certification correction system；
Control information, correction parameter and routing information.
Step S2：Roadside unit receives the GNSS correction instructions, changes the broadcast message set originally, and carries out wide
It broadcasts, the broadcast message includes control information and GNSS location information；Broadcast is by DSRC communication modes, specific to realization side
Method presses specified time interval, is not stopped paying out on fixed channel and send data frame, this data frame, 5.8G frequency ranges in this way can be by state
Interior ETC standards, 5.9G frequency ranges in this way can be by WAVE standards.Broadcast refers to sending out same data information by communications protocol
Give all board units (region that the oriented antenna of roadside unit is covered) for passing by specific communications region.It is examined for safety
Consider, further include that board units are authenticated the legitimacy of roadside unit, such as in WAVE standards, broadcast have passed through roadside unit label
Name.
Step S3：Board units are interacted with roadside unit, obtain roadside unit broadcast the control information and
GNSS location information；
Step S4：Board units change location data according to the control information and GNSS location information；
In the present embodiment, the roadside unit is arranged beside road, for recording and sending itself to correction system
Location information, and receive the GNSS correction instructions that the correction system is sent out, it is interacted for same board units；The vehicle
Carrier unit is mounted on a vehicle, and vehicle running path is positioned and identified for GNSS.
The correction data source of correction system and data transmission procedure：Including but not limited to roadside unit is installed in system
GNSS detection modules (most of situation roadside unit can be installed), the data that special GNSS measuring stations are provided are transmitted to school
Positive system, correction system must correct conclusion, form GNSS correction instructions, and correction instruction is sent to specific roadside unit.
In the present embodiment, when the roadside unit is broadcasted, the routing information of road where also broadcasting it, path letter
Breath includes：Path ID, path course.Board units receive the routing information, and change itself according to the routing information
Routing information.
As shown in Fig. 2, the specific embodiment of the invention also disclose it is a kind of correction vehicle location deviation system, including with
Lower device：
Correction system 11 is carried for receiving the GNSS detection modules installed in roadside unit or special GNSS measuring stations
The data of confession are analyzed to obtain correction conclusion；For sending GNSS correction instructions to roadside unit；
Roadside unit 12, for recording and sending self poisoning information to correction system；For receiving the GNSS corrections
Instruction is changed the broadcast message set originally, and is broadcasted, and the broadcast message includes control information and GNSS location letter
Breath；
Board units 13, for being interacted with roadside unit, obtain roadside unit broadcast the control information and
GNSS location information, and location data is changed according to the control information and GNSS location information.
In the present embodiment, the GNSS correction instructions include：Authentication content, control information, correction parameter and routing information,
Legitimacy of the authentication content for roadside unit certification correction system.Road where the roadside unit also broadcasts it
Routing information, the routing information include：Path ID, path course.Board units receive the path letter of roadside unit broadcast
Breath, and the routing information of itself is changed according to the routing information that roadside unit is broadcasted.
As shown in figure 3, the specific embodiment of the invention also discloses a kind of roadside unit of correction vehicle location deviation, packet
Include main system 31, DSRC modules 32, power management module 33, GNSS detection modules 34, communication module.
Wherein, the main system includes primary processor, SDRAM (Synchronous Dynamic Random Access
Memory, synchronous DRAM), NANDFLASH, wherein NANDFLASH is one kind of Flash memories, have capacity
It is larger, the advantages that speed is fast is rewritten, the storage of mass data is suitable for, thus be in the industry cycle more and more widely used.
It is additionally provided with information radio unit in the DSRC modules, for the board units broadcast corrections letter into certain area
Breath, GNSS location information and routing information；
The GNSS detection modules are for detecting GNSS signal；
The communication module includes WWAN modules 35, Ethernet interface 36, RS485 interfaces 37, is used for and correction system
Communication, receives the GNSS correction instructions that correction system issues, and the WWAN is wireless wide area network (Wireless Wide Area
Network)；
In addition, the roadside unit further includes the DC-DC power source 38 of same power module connection, connection DC-DC power source, with
Waterproof port 40 on the too protection circuit 39 of network interface and RS485 interfaces, and protection circuit.
The present invention is received real for deviation of signal problem existing for GNSS by the communication module in roadside unit RSU
When instructed for GNSS correction for drifts, and by DSRC modules the received location information and control information of broadcast outward,
And interacted with the board units OBU of neighbouring vehicle, positioning correcting is carried out to vehicular traffic, to correct this deviation, while road
Also carried in the information of side unit RSU broadcast road residing for roadside unit RSU routing information (include the ID numbers of road,
Direction of road etc. road information), to ensure that the vehicle driving trace information that board units recognize is correct, realizes and press road
The correct execution of diameter charge.
Device of the present invention is not limited to the embodiment described in specific implementation mode, those skilled in the art according to
Technical scheme of the present invention obtains other embodiments, also belongs to the scope of the technical innovation of the present invention.
Claims (8)
1. a kind of method of correction vehicle location deviation, includes the following steps：
Correction system sends GNSS correction instructions to roadside unit；
Roadside unit receives the GNSS correction instructions, changes the broadcast message set originally, and broadcasted, the broadcast
Information includes control information and GNSS location information；
Board units are interacted with roadside unit, obtain the control information and GNSS location information of the roadside unit broadcast；
Board units change location data according to the control information and GNSS location information；When roadside unit is broadcasted,
The routing information of road where roadside unit also broadcasts it, the routing information includes path ID, path course；Board units
Receive the routing information of roadside unit broadcast, and the routing information of itself is changed according to the routing information that roadside unit is broadcasted.
2. the method as described in claim 1, characterized in that the GNSS correction instructions include：Authentication content, control information,
Correction parameter and routing information, legitimacy of the authentication content for roadside unit certification correction system.
3. method as claimed in claim 1 or 2, it is characterized in that：In correction system GNSS correction instructions are sent to roadside unit
Before, the roadside unit records and sends self poisoning information to correction system.
4. the method as described in claim 1, characterized in that the correction data source of the correction system includes：System Road
The data that the GNSS detection modules or special GNSS measuring stations installed in side unit are provided；
Correction data transmission process includes：Correction data is transmitted to correction system by GNSS detection modules or special GNSS measuring stations
System, correction system must correct conclusion, then send correction instruction to roadside unit.
5. a kind of system of correction vehicle location deviation, including following device：
Correction system, for sending GNSS correction instructions to roadside unit；
Roadside unit for receiving the GNSS correction instructions, the broadcast message that modification was set originally, and is broadcasted, described
Broadcast message include control information and GNSS location information；
Board units obtain the control information and GNSS location of the roadside unit broadcast for being interacted with roadside unit
Information, and location data is changed according to the control information and GNSS location information；Roadside unit is additionally operable to road where broadcasting it
The routing information on road, the routing information include path ID, path course；The board units are additionally operable to receive trackside list
The routing information of member broadcast, and the routing information of itself is changed according to the routing information that roadside unit is broadcasted.
6. system as claimed in claim 5, characterized in that the GNSS correction instructions include：Authentication content, control information,
Correction parameter and routing information, legitimacy of the authentication content for roadside unit certification correction system.
7. such as system described in claim 5 or 6, it is characterized in that：The roadside unit is for recording and being sent out to correction system
Send self poisoning information.
8. system as claimed in claim 5, characterized in that the correction system is additionally operable to receive and be installed in roadside unit
The data that GNSS detection modules or special GNSS measuring stations are provided are analyzed to obtain correction conclusion, form GNSS corrections and refer to
It enables.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410841749.9A CN105807295B (en) | 2014-12-30 | 2014-12-30 | A kind of method and system of correction vehicle location deviation |
| PCT/CN2015/094475 WO2016107303A1 (en) | 2014-12-30 | 2015-11-12 | Method and system for correcting vehicle position offset |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410841749.9A CN105807295B (en) | 2014-12-30 | 2014-12-30 | A kind of method and system of correction vehicle location deviation |
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| Publication Number | Publication Date |
|---|---|
| CN105807295A CN105807295A (en) | 2016-07-27 |
| CN105807295B true CN105807295B (en) | 2018-07-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410841749.9A Active CN105807295B (en) | 2014-12-30 | 2014-12-30 | A kind of method and system of correction vehicle location deviation |
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| CN (1) | CN105807295B (en) |
| WO (1) | WO2016107303A1 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108347437A (en) * | 2018-02-05 | 2018-07-31 | 长沙智能驾驶研究院有限公司 | Differential calibration data transmission method, roadside unit, board units and storage medium |
| CN111398892A (en) * | 2019-01-02 | 2020-07-10 | 中国移动通信有限公司研究院 | Vehicle positioning method and device and vehicle-mounted terminal |
| CN110133697B (en) * | 2019-05-05 | 2021-05-14 | 惠州市德赛西威智能交通技术研究院有限公司 | GPS high-precision positioning method based on RSU detection technology |
| CN111832774B (en) * | 2020-06-02 | 2024-04-12 | 深圳市金溢科技股份有限公司 | Track tracking method of network vehicle, cloud platform and network vehicle OBU |
| CN113840226B (en) * | 2020-06-23 | 2023-10-03 | 维沃移动通信有限公司 | Information transmission method and device and communication equipment |
| US11558716B2 (en) * | 2020-08-21 | 2023-01-17 | Hyundai Motor Company | Device and method for positioning personal mobility vehicle |
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| CN201514475U (en) * | 2009-10-16 | 2010-06-23 | 远鼎股份有限公司 | Positioning correction device |
| CN101915928A (en) * | 2010-07-14 | 2010-12-15 | 中国电子科技集团公司第十研究所 | Method and device for double-star time difference/frequency difference combined positioning |
| CN102854521A (en) * | 2012-08-14 | 2013-01-02 | 东莞市泰斗微电子科技有限公司 | Assisted positioning device evaluation system |
| CN104101891A (en) * | 2014-06-30 | 2014-10-15 | 北京邮电大学 | Satellite positioning method and apparatus |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US9606241B2 (en) * | 2013-02-21 | 2017-03-28 | Apple Inc. | Sensor-assisted location fix |
| CN204360576U (en) * | 2014-12-30 | 2015-05-27 | 北京握奇智能科技有限公司 | A kind of roadside unit for correcting vehicle location deviation |
-
2014
- 2014-12-30 CN CN201410841749.9A patent/CN105807295B/en active Active
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2015
- 2015-11-12 WO PCT/CN2015/094475 patent/WO2016107303A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201514475U (en) * | 2009-10-16 | 2010-06-23 | 远鼎股份有限公司 | Positioning correction device |
| CN101915928A (en) * | 2010-07-14 | 2010-12-15 | 中国电子科技集团公司第十研究所 | Method and device for double-star time difference/frequency difference combined positioning |
| CN102854521A (en) * | 2012-08-14 | 2013-01-02 | 东莞市泰斗微电子科技有限公司 | Assisted positioning device evaluation system |
| CN104101891A (en) * | 2014-06-30 | 2014-10-15 | 北京邮电大学 | Satellite positioning method and apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105807295A (en) | 2016-07-27 |
| WO2016107303A1 (en) | 2016-07-07 |
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Effective date of registration: 20211220 Address after: 101318 Room 201, floor 2, building 2, courtyard 3, Anqing street, airport economic core area, Shunyi District, Beijing Patentee after: Beijing qihuitong Technology Co.,Ltd. Address before: 100102 Beijing Chaoyang District Wangjing Lize Zhongyuan 101 Qiming International Building West Eight Floors Patentee before: BEIJING WATCHSMART TECHNOLOGIES Co.,Ltd. |