CN105824037A - Method for accurately positioning traveling vehicle in intelligent traffic system - Google Patents
Method for accurately positioning traveling vehicle in intelligent traffic system Download PDFInfo
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- CN105824037A CN105824037A CN201510842862.3A CN201510842862A CN105824037A CN 105824037 A CN105824037 A CN 105824037A CN 201510842862 A CN201510842862 A CN 201510842862A CN 105824037 A CN105824037 A CN 105824037A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- Radar, Positioning & Navigation (AREA)
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention relates to an accurate positioning method based on the fusion of the satellite differential positioning technology and the wireless broadband data communication technology, and aims to provide the high-accuracy positioning information for a vehicle that is travelling at a high speed. According to the invention, the pseudo-range differential positioning technology, the RTK differential positioning technology and a broadband data communication system are integrated and then a positioning system based on the satellite differential positioning technology and the wireless broadband data communication network is provided. As a result, the real-time and stable information from the sub-meter level to the centimeter level, including the accurate position, the speed and the time information, is provided for the vehicle travelling at the high speed. Therefore, the vehicle can be positioned and tracked on the lane level. According to the technical scheme of the invention, the system comprises a base station part and a movable terminal part. The base station part is arranged on a base station around a road, and is composed of a GNSS reference station receiving system and a wireless broadband communication module. The mobile terminal part is installed on the vehicle and is composed of a GNSS mobile station receiving system and a wireless broadband communication module.
Description
Technical field
The present invention relates to a kind of merge pseudo range difference, satellite difference localization method that RTK differential technique communicates with broadband wireless data, it is intended to provide high-precision location information for the vehicle in running at high speed.Mobile vehicle be applicable to intelligent transportation exports exact position, speed and temporal information in real time.
Background technology
Advanced person's electronic information technology is applied in transportation by intelligent transportation system, it is achieved efficient value-added service, and wherein a lot of business are all based on vehicle position information, a basic platform during therefore alignment system is intelligent transportation system.Intelligent transportation system can use NAVSTAR, provides location-based service by space-based satellite for surface car.At present, GNSS (satellite positioning navigation) receiver being assemblied on vehicle can only rely on self reception satellite-signal to complete One-Point Location (SPP), and its positional information precision is generally between 2 meters ~ 10 meters.The precision of this rank may be used for common navigation and the business the highest to required precision.But increasing innovative service requires the positioning precision of at least sub-meter grade in intelligent transportation, such as fine control of traffic and road, safety assistant driving, collaborative, the unmanned assisting navigation of bus or train route etc., the positioning precision of currently used this localization method is the most notable not enough.
Driver in scorch process if there is tired or scatterbrained situation, it is easy to have an accident.In terms of safety assistant driving, if it is possible to provide being accurately positioned on road of mobile vehicle, it will help safer driving behavior, reduce accident rate.Advanced intelligent transportation system has the highest demand in terms of the safety assistant driving such as vehicle collision avoidance prompting, lane change danger prompting, spacing danger prompting and in automatic Pilot assisting navigation, and these application are required to the positioning service that can stablize the real-time acquisition above precision of at least sub-meter grade, so the SPP satellite fix platform that at present vehicle uses is unable to reach the performance requirement in terms of safe driving.
RTK(Real-time and Dynamic) technology be a kind of for dynamic terminal provide precision positioning satellite difference location technology, in the present invention, RTK refers to based on pseudorange or the differential technique of a kind of relative localization of carrier-phase measurement, it is possible to obtain the positioning precision of up to Centimeter Level.Pseudo range difference is also a kind of satellite difference location technology, using the teaching of the invention it is possible to provide the up to positioning precision of decimeter grade.In pseudo range difference, base station broadcast pseudo range difference correcting value, movement station utilizes pseudo range difference correcting value to calibrate the pseudo-range measurements of local receiver, then calculates the PVT(Position, Velocity and Time of movement station) information.In RTK difference, base station broadcast pseudorange and carrier-phase measurement, and movement station utilizes these data, carries out calculus of differences in conjunction with local pseudorange or carrier phase observed quantity, thus obtain the high precision position information of movement station.
Summary of the invention
The invention solves the problems that and technical problem is that: for business demand in above-mentioned intelligent transportation and existing deficiency, pseudo range difference and RTK differential position and Wireless Broadband Communication Systems are merged, there is provided a kind of based on differential satellite location technology with the alignment system of wireless broadband communication network, the sub-meter grade accurate PVT information to Centimeter Level of real-time stabilization is provided for the vehicle in running at high speed, realize the vehicle locating and tracking in track rank, and the related service for higher provides basic data.
This author has consulted existing patent of invention and technical literature data, similar technical scheme does not the most occur.The technical solution adopted in the present invention is: a kind of precise positioning method of driving vehicle in intelligent transportation having merged pseudo range difference, RTK differential satellite location technology and wireless broadband communication network, it is characterized in that: this system includes base station part and mobile terminal part, base station is partially installed on along the base station that near roads sets up, mobile terminal part is then arranged on vehicle, wherein:
Base station part includes that a GNSS base station receives system and wireless broadband communication module, and GNSS base station receives system and differential data is sent to wireless broadband communication module, and wireless broadband communication module is responsible for being broadcasted receiving data；
Mobile terminal part includes that a GNSS movement station receives system and wireless broadband communication module, wireless broadband communication module is responsible for receiving data, and forward the data to GNSS movement station reception system, GNSS movement station receives system and receives difference information, and completes pseudo range difference or the RTK Differential positioning of vehicle；
Described base station part passes through radio communication and mobile terminal partial link.
The GNSS base station of described base station part receives the high precision position information of the known home base stations of system, and it is configured to base station mode of operation, one or more navigation satellites signal of real-time reception GPS, GLONASS, the Big Dipper or Galileo, pseudo range difference correcting value is calculated based on locally known high precision position information, also obtain current pseudorange, carrier phase observed quantity information, and transmit these information to wireless broadband communication module.
The data transmission format that the GNSS base station of described base station part receives between system and wireless broadband communication module is RTCM, user-defined format or other standards form.
The wireless broadband communication module of described base station part is configured with 3G, 4G or broadband wireless communications function, for completely broadcasting the difference information receiving system from GNSS base station.
The wireless broadband communication module of described movement station part is configured with the broadband wireless communications function identical with base station, for receiving the difference information that base station is broadcast, and is completely transmitted to GNSS movement station reception system.
Described GNSS movement station receives system and is configured to movement station mode of operation, one or more navigation satellites signal of real-time reception GPS, GLONASS, the Big Dipper or Galileo, and combine the difference information that base station transmission comes, calculate the precise position information of Current vehicle in real time.
The Differential positioning of described GNSS movement station reception system is based on pseudo range difference or RTK difference, when including pseudorange, carrier phase observed quantity in difference information, uses RTK carrier phase or pseudo range difference location；When the observed quantity information such as pseudorange, carrier phase is unavailable, pseudo-range corrections amount is used to carry out Differential positioning.
The invention has the beneficial effects as follows: the present invention merges pseudo range difference, RTK difference and broadband wireless data communication technology, can real-time stabilization provide sub-meter grade or the positioning precision of Centimeter Level for mobile vehicle, provide the support of foundation location data for increasing innovative service in intelligent transportation.
By obtaining high-precision location information, it is possible to mobile vehicle is navigated to concrete track.Can be realized as applying based on track level overspeed prompting, in violation of rules and regulations assisting automobile driver, bend deceleration prompting etc. in terms of safety assistant driving；The application such as track level navigation, rationally lane change prompting timely just can be provided in terms of intelligence precision navigation；In terms of automatic Pilot and control, it is possible to realize the application such as the speed controlling of track level, safe driving assist control.
Accompanying drawing explanation
Fig. 1 is the system deployment figure of this example
Fig. 2 is the system framework of this example
Fig. 3 is the system framework of the GNSS reception system of mobile terminal
Detailed description of the invention
Below in conjunction with embodiment, technical scheme is described in further detail.Obviously, described embodiment is only a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, all other embodiments that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into the scope of protection of the invention.
Fig. 1 is the system deployment figure of this example, and base station 1-1 can be the traditional base station of 3G/4G wireless communication system, it is also possible to be for the custom-designed certain base station of native system.Base station 1-1 fixes and sets up by road, and the distance between the 1-1 of base station for ensureing positioning precision, can be usually no more than 10 kilometers from hundreds of rice to several kilometers.Base station 1-1 receives GNSS satellite signal, and is responsible for the differential datas such as broadcast pseudo range difference correcting value, pseudorange and carrier phase observed quantity.Mobile terminal 1-2 is arranged on vehicle, and mobile terminal 1-2 receives GNSS satellite signal, receives the differential data that base station 1-1 broadcasts simultaneously, calculates current exact position, speed and the temporal information of mobile vehicle the most in real time.
Fig. 2 illustrates the system framework of this example, including base station part 2-1 and mobile terminal part 2-6.Base station part 2-1 is contained on the 1-1 of base station, receives system 2-2 and wireless broadband communication module 2-3 including a GNSS base station, and GNSS receives system 2-2 and is configured to base station mode of operation.Base station mode of operation in the present invention refers to that GNSS receives system and receives navigation satellite signal, and is responsible for calculating difference information, and is sent out by difference information.Base station 2-1 has stored the high precision position information of home base stations 1-1, and this position can be obtained by Technology of Precision Measurement in advance when disposing.
GNSS reference receiver 2-2 can be the multi-mode satellite receiver of single-frequency point or multifrequency point.Because having GPS, GLONASS, the Big Dipper or tetra-kinds of satellite systems of Galileo at present, if single-frequency point single mode receiver, then GNSS receiver 2-2 can only receive the signal of single satellite system therein.If the multimode rake receiver of multifrequency point, GNSS receiver 2-2 can receive the signal of two or more satellite systems.Receiver 2-2 passes through satellite earth antenna 2-4 real-time reception satellite-signal, and the positional information of the satellite-signal estimation base station 1-1 arrived according to real-time reception, the observed quantities such as the pseudorange and the carrier phase that simultaneously calculate current visible satellite, wherein pseudorange can be further by smoothing the phase of carrier wave.Receiver 2-2 compares precise position information known to the 1-1 of base station and the position currently estimated, and calculates pseudo range difference correcting value.The data such as pseudo range difference correcting value, pseudorange and carrier phase observed quantity are sent as broadband communicating module 2-3 by receiver 2-2.It should be noted that the differential data that receiver 2-2 can send is not limited in above-mentioned several, it is also possible to send the difference informations such as satellite clock correction correcting value, ionosphere corrections amount.
The data output format of receiver 2-2 uses RTCM standard.It should be noted that the transmission data form between receiver 2-2 and communication module 2-3 is not limited to RTCM, it is also possible to use other international standard forms or self-defining data form instead.After broadband communicating module 2-3 receives these differential datas, it is considered as a kind of business datum packing, is broadcasted by antenna 2-5.This broadband communicating module 2-3 uses the data channel of 3G or 4G communication network to broadcast these difference informations.It should be noted that broadband communicating module 2-3 can also select other kinds of wide-band communication system to broadcast for data.
Mobile terminal part 2-6 is arranged on vehicle, receives system 2-8 and wireless broadband communication module 2-7 including a GNSS movement station.Wireless communication module 2-7 is configured with the communication system identical with communication module 2-3, the business datum including difference information broadcast from base station 2-1 is received by antenna 2-9, obtain the differential data of RTCM format after unpacking, and send into GNSS movement station reception system 2-8.GNSS receives the multi-mode satellite receiver that system 2-8 can be single-frequency point or multifrequency point, is configured to movement station mode of operation.In the present invention, movement station mode of operation refers to that GNSS receives system and receives navigation satellite signal, and receives difference information simultaneously, utilizes the satellite-signal of local reception and difference information jointly to calculate the high precision position of mobile terminal, speed and temporal information.GNSS receives system 2-8 and receives the differential data sent from communication module 2-7, receives satellite-signal by satellite antenna 2-10 simultaneously.GNSS receives system 2-8 and utilizes differential data and satellite-signal, calculates the precise position information of Current vehicle in real time.
Fig. 3 illustrates the system framework of the GNSS reception system of mobile terminal.Satellite reception module 3-1 is responsible for real-time reception GNSS satellite signal, complete to capture, follow the tracks of, synchronize and the function such as text parsing, the data such as the observed quantity obtained and navigation message will be admitted to RTK locating module 3-5 or pseudo range difference locating module 3-6, resolve for realizing the position of Differential positioning.WiMAX receiver module 3-2 is responsible for receiving the business data packet containing difference information from base station, after unpacking, difference information is sent into differential data receiver module 3-3, differential data receiver module 3-3 is responsible for parsing further to difference information and separation, including isolating the information such as pseudo range difference correcting value, pseudorange and carrier phase observed quantity.Judging module 3-4 is responsible in the difference information judging to receive whether containing available pseudorange or carrier phase observed quantity.If comprised, then entering RTK locating module 3-5, without comprising, then entering pseudo range difference locating module 3-6.
The data that the pseudorange of RTK location 3-5 use base station offer or carrier phase observation data and satellite reception module 3-1 are sent into, use double difference or three difference modes to calculate the accurate PVT information of mobile terminal.Pseudo range difference correcting value is added the pseudorange observed quantity of this locality by pseudo range difference locating module 3-6, and the pseudo-range measurements after recycling difference correction completes PVT and resolves.
Thered is provided the embodiment of the present invention above is a kind of based on differential satellite location technology with the alignment system of wireless broadband communication network, it is described in detail, principle and the embodiment of the present invention are set forth by specific case used herein, and the explanation of above example is only intended to help to understand method and the core concept thereof of the present invention；Simultaneously for one of ordinary skill in the art, according to the thought of the present invention, the most all will change, in sum, this specification content should not be construed as limitation of the present invention.
Claims (7)
1. the precise positioning method of driving vehicle in intelligent transportation having merged pseudo range difference, RTK differential satellite location technology and wireless broadband communication network, it is characterized in that: this system includes base station part (2-1) and mobile terminal part (2-6), base station part (2-1) is arranged on base station (1-1), mobile terminal part (2-6) is then arranged on vehicle, wherein:
Base station part (2-1) includes that a GNSS base station receives system (2-2) and wireless broadband communication module (2-3), GNSS base station receives system (2-2) and differential data is sent to wireless broadband communication module (2-3), and wireless broadband communication module (2-3) is responsible for being broadcasted receiving data；
Mobile terminal part (2-6) includes that a GNSS movement station receives system (2-8) and wireless broadband communication module (2-7), wireless broadband communication module (2-7) is responsible for receiving data, and forward the data to GNSS movement station reception system (2-8), GNSS movement station receives system (2-8) and receives difference information, and completes pseudo range difference or the RTK Differential positioning of vehicle；
Described base station part (2-1) is linked by radio communication and mobile terminal part (2-6).
2. according to the base station part described in right 1, it is characterized in that: GNSS base station receives the high precision position information of system (2-2) known home base stations (1-1), and it is configured to base station mode of operation, one or more navigation satellites signal of real-time reception GPS, GLONASS, the Big Dipper or Galileo, pseudo range difference correcting value is calculated based on locally known high precision position information, also obtain current pseudorange, carrier phase observed quantity information, and transmit these information to wireless broadband communication module (2-3).
3. according to the base station part described in right 1, it is characterised in that: the data transmission format that GNSS base station receives between system (2-2) and wireless broadband communication module 2-3 is RTCM, user-defined format or other standards form.
4. according to the base station part described in right 1, it is characterised in that: wireless broadband communication module (2-3) is configured with 3G, 4G or broadband wireless communications function, for completely broadcasting the difference information receiving system (2-2) from GNSS base station.
5. according to the movement station part described in right 1, it is characterized in that: wireless broadband communication module (2-7) is configured with the broadband wireless communications function identical with wireless broadband communication module (2-3), for receiving the difference information that wireless broadband communication module (2-3) is broadcasted, and completely it is transmitted to GNSS movement station reception system (2-8).
6. according to the movement station part described in right 1, it is characterized in that: GNSS movement station receives system (2-8) and is configured to movement station mode of operation, one or more navigation satellites signal of real-time reception GPS, GLONASS, the Big Dipper or Galileo, and combine the difference information that base station (2-1) sends, calculate the precise position information of Current vehicle in real time.
7. according to the movement station part described in right 1, it is characterized in that: GNSS movement station receives the Differential positioning of system (2-8) based on pseudo range difference or RTK difference, when difference information includes pseudorange, carrier phase observed quantity, use RTK carrier phase or pseudo range difference location；When the observed quantity information such as pseudorange, carrier phase is unavailable, pseudo-range corrections amount is used to carry out Differential positioning.
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| CN106324645A (en) * | 2016-08-19 | 2017-01-11 | 付寅飞 | Vehicle accuracy positioning method based on inertial navigation and satellite differential positioning |
| CN106405577A (en) * | 2016-09-28 | 2017-02-15 | 北京中交创新投资发展有限公司 | RTCM message conversion method and device |
| CN106597479A (en) * | 2016-11-23 | 2017-04-26 | 武汉大学 | Method for estimating movement speed of ionospheric disturbance by utilizing Beidou base station array data |
| CN106680854A (en) * | 2017-01-17 | 2017-05-17 | 桂林电子科技大学 | Low cost and high precision positioning system and method |
| CN106932796A (en) * | 2017-01-12 | 2017-07-07 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | GPS moving base station position coordinates Fast Calibration systems |
| CN106971621A (en) * | 2017-04-11 | 2017-07-21 | 武汉光谷西铂科技有限公司 | A kind of evaluation method based on the continuous change lanes of RTK |
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| CN107422351A (en) * | 2017-08-02 | 2017-12-01 | 湖南省测绘科技研究所 | A kind of GNSS decimeter grade Differential positioning methods based on virtual grid |
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| CN108700666A (en) * | 2017-06-16 | 2018-10-23 | 华为技术有限公司 | A kind of localization method, equipment and system |
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| CN109073758A (en) * | 2016-12-13 | 2018-12-21 | 苏州宝时得电动工具有限公司 | From mobile device, automatic working system, network RTK positioning system, calculate equipment and operation method |
| CN106932796A (en) * | 2017-01-12 | 2017-07-07 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | GPS moving base station position coordinates Fast Calibration systems |
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| CN108700666A (en) * | 2017-06-16 | 2018-10-23 | 华为技术有限公司 | A kind of localization method, equipment and system |
| CN107422351A (en) * | 2017-08-02 | 2017-12-01 | 湖南省测绘科技研究所 | A kind of GNSS decimeter grade Differential positioning methods based on virtual grid |
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| CN109099912A (en) * | 2017-08-11 | 2018-12-28 | 黄润芳 | Outdoor accurate positioning air navigation aid, device, electronic equipment and storage medium |
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