CN105842711A - Differential base station, road side device, vehicle positioning device and differential positioning method - Google Patents
Differential base station, road side device, vehicle positioning device and differential positioning method Download PDFInfo
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- CN105842711A CN105842711A CN201610057620.8A CN201610057620A CN105842711A CN 105842711 A CN105842711 A CN 105842711A CN 201610057620 A CN201610057620 A CN 201610057620A CN 105842711 A CN105842711 A CN 105842711A
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- location
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
Abstract
The invention provides a differential base station, a road side device, a vehicle positioning device, a differential positioning system and a differential positioning method. The differential positioning system comprises a differential base station, a road side device and a vehicle positioning device. The differential base station is used for generating positioning correction data and transmitting to a remote server through the internet. The road side device is used for receiving the positioning correction data from the remote server and transmitting the positioning correction data to the vehicle positioning device through V2X communication. The vehicle positioning device is used for acquiring initial positioning data and correcting the initial positioning data based on the positioning correction data received from the road side device. According to the invention, the differential positioning system and the differential positioning method can allow a vehicle unit to quickly and stably acquire high precision positioning data by combining differential positioning technology with V2X communication technology.
Description
Technical field
The present invention relates to differential position field, particularly relate to a kind of difference base station, roadside device,
Vehicle positioning equipment, differential position system and Differential positioning method.
Background technology
GPS (Global Positioning System, global positioning system) location is intelligent transportation
Key technology in transportation system, has relatively broad application, a lot of prediction policies, collision avoidance to calculate
Method all relies on the positioning precision that GPS is higher.But, the positioning precision of civilian GPS is typically ten
Between several meters to tens meters, this drives for auxiliary and automatic Pilot is far from being enough.By difference
Divide localization method can be effectively improved the positioning precision of GPS, i.e. utilize difference base station to calculate
The correction data of GPS location data, are sent to carry GPS receiver device by radio
Rover station, after rover station receives these correction data, can position GPS according to these correction data
Data are modified, and make the positioning precision of GPS be improved.
At present, existing Differential positioning method is by sides such as mobile phone, radio station or the Internets mostly
Formula, it is achieved the communication between difference base station and rover station (such as board units).This needs at stream
Dynamic station is upper assembles the extra network equipment, such as, is received by mobile communication card or wireless network card
The correction data that difference base station sends, the communication mode between this difference base station and rover station is often
Can be affected by network signal, and be configured the corresponding network equipment (such as radio station) meeting correspondingly
Increase cost.
Summary of the invention
It is an object of the invention to provide a kind of difference base station, roadside device, vehicle positioning equipment,
Differential position system and Differential positioning method, determine so that board units can fast, stably obtain
The location data that position precision is higher.
For reaching above-mentioned purpose, the present invention provides a kind of difference base station for location.Described difference
Base station includes: positioning reference station module, is used for gathering location observation data；Observation data process mould
Block, for revising data according to described location observation data genaration location；Sending module is revised in location,
Data are revised for sending described location.
For reaching above-mentioned purpose, the present invention also provides for a kind of roadside device for location.Described road
Side apparatus includes: location corrected received module, is used for receiving location and revises data, protocol conversion mould
Block, is converted to V2X protocol format for the described location received is revised data, and location is revised
Sending module, revises data for sending described location by V2X communication.
For reaching above-mentioned purpose, the present invention also provides for a kind of vehicle positioning equipment.Described vehicle positioning
Equipment includes: locating module, is used for obtaining initial alignment data；Location corrected received module, uses
In revising data by V2X communications reception location；Location data correction module, for according to described
Location is revised data and is modified described initial alignment data.
For reaching above-mentioned purpose, the present invention also provides for a kind of differential position system based on V2X communication,
Described differential position system includes that foregoing difference base station, roadside device and vehicle positioning set
Standby.
For reaching above-mentioned purpose, the present invention also provides for a kind of communication system for communicating based on V2X
Differential positioning method, described communication system includes aforesaid difference base station, roadside device and vehicle-mounted
Location equipment.Described Differential positioning method includes: described difference base station generates location and revises data,
And by the Internet, data transmission is revised to remote server in described location；Described roadside device leads to
Cross the Internet and receive described location correction data from described remote server, and will by V2X communication
Described location is revised data and is sent to described vehicle positioning equipment；At the beginning of described vehicle positioning equipment obtains
Begin location data, and revises data to described according to the described location received from described roadside device
Initial alignment data are modified.
The differential position system based on V2X communication of present invention offer and Differential positioning method, pass through
Data are revised in the location that difference base station generates, and utilize the Internet to be sent to roadside device, by trackside
Location correction data are sent to vehicle positioning equipment, vehicle positioning by V2X communication technology by equipment
Equipment can be revised data according to the location received and be modified its initial alignment data, and then makes
Board units fast, stably obtains the location data that positioning precision is higher.
Accompanying drawing explanation
Fig. 1 is the differential position system based on V2X communication illustrating exemplary embodiment of the present one
Structural representation；
Fig. 2 is the differential position system based on V2X communication illustrating exemplary embodiment of the present two
In the structural representation of equipment；
Fig. 3 be illustrate exemplary embodiment of the present three for the communication system communicated based on V2X
The flow chart of Differential positioning method.
Drawing reference numeral illustrates:
100, difference base station；110, positioning reference station module；120, observation data processing module；
130, sending module is revised in the first location；200, roadside device；210, the first location corrected received
Module；220, protocol conversion module；230, sending module is revised in the second location；300, vehicle-mounted fixed
Position equipment；310, locating module；320, the second location corrected received module；330, location data
Correcting module.
Detailed description of the invention
The basic conception of the present invention be to provide a kind of difference base station, roadside device, vehicle positioning equipment,
Differential position system and Differential positioning method, data are revised by mutually in the location generated by difference base station
Networking is sent to roadside device, roadside device location correction data sent out by V2X communication technology
Giving vehicle positioning equipment, vehicle positioning equipment revises data to its initial alignment data according to location
It is modified, and then obtains the location data that positioning precision is higher.
Before illustrating technical scheme, the V2X communication technology used in this programme is entered
Row related description:
V2X (Vehicle to X, car information exchange to external world) is following intelligent transport system
Key technology, it makes energy between car and car, car and base station, base station and base station, car and pedestrian
Enough communication, thus obtain a series of transport information such as real-time road, road information, pedestrian information,
Improve drive safety, minimizing is blocked up, improve traffic efficiency, provide car entertainment information etc..V2X
The communication distance of communication technology is 300m～1000m, uses V2X communication technology in the range of this
Can fast, stably communicate.This programme based on this feature, by differential position with
V2X communication technology combines, and makes board units can fast, stably obtain positioning precision higher
Location data.
Below in conjunction with the accompanying drawings with embodiment to the difference base station of the present invention, roadside device, vehicle positioning
Equipment, differential position system and Differential positioning method are described in detail.
Embodiment one
Fig. 1 is the differential position system based on V2X communication illustrating exemplary embodiment of the present one
Structural representation, this differential position system can be used for making board units and difference base station quick, steady
Surely communicate, and then obtain the location data that positioning precision is higher.
With reference to Fig. 1, this differential position system includes difference base station 100, roadside device 200 and vehicle-mounted
Location equipment 300.Wherein, difference base station 100 is used for generating location and revises data, and by mutually
Location is repaiied by networking (such as wired ethernet, WIFI, 3G communication network and/or 4G communication network)
Correction data is sent to remote server；Roadside device 200 is revised for receiving location by the Internet
Data, and by V2X agreement, described location correction data are sent to vehicle positioning equipment；Vehicle-mounted
Location equipment 300 is used for obtaining initial alignment data by locating module, and according to from roadside device
The location that 200 receive is revised data and is modified initial alignment data.
This differential position system operationally, is received difference base station 100 by roadside device 200 and generates
Location revise data, then by V2X communication be sent to vehicle positioning equipment 300, vehicle positioning
Equipment 300 is made according to the initial alignment data that its locating module is obtained by this location correction data and being repaiied
Just, revised location data are made to have higher positioning precision.Vehicle positioning equipment 300 uses
This differential position system obtains the higher location data of positioning precision, pre-pithy in intelligent transportation
The data support that the auxiliary such as summary, collision avoidance algorithm is driven and automatic Pilot offer is good.
Difference base station 100, as base station, is arranged on the position of known precision coordinate, by location
Device obtains concrete location data, according to these location data, known coordinate and other be correlated with
Data, calculate corresponding location correction Data Concurrent and give roadside device 200.Roadside device 200
The fixed position of trackside can be arranged on, stably receive location and revise data, and led to by V2X
Letter sends.Meanwhile, roadside device 200 can be arranged on multiple position, sets increasing trackside
Standby 200 revise the coverage of data by the location of V2X communication transmission.Vehicle positioning is installed
The board units of equipment 300 near roadside device 200 (300m～1000m), can fast,
Stably receive the location correction data that roadside device 200 sends, revise data pair according to this location
After the initial alignment data that its locating module obtains make correction, just obtain positioning precision higher
Location data.
Embodiment two
Fig. 2 is the differential position system based on V2X communication illustrating exemplary embodiment of the present two
In the structural representation of equipment, this differential position system can be considered the difference of embodiment illustrated in fig. 1
The detailed description of the invention of alignment system.
First, the example arrangement of difference base station 100 is introduced.With reference to Fig. 2, difference base station 100
Revise send including positioning reference station module 110, observation data processing module 120 and the first location
Module 130.Wherein, positioning reference station module 110 is used for gathering location observation data, observes number
According to processing module 120 for the location observation data genaration gathered according to positioning reference station module 110
Data are revised in location, and sending module 130 is revised for being revised location by the Internet in the first location
Data are sent to roadside device 200.
Specifically, positioning reference station module 110 can include positioner, its positioning view gathered
Survey data and include the concrete location information of difference base station 100.Observation data processing module 120 is with fixed
Position base station module 110 is connected, and obtains status observation data from positioning reference station module 110, and
Combine with coordinate data and the related data of difference base station 100, calculate and generate location correction number
According to.First location is revised sending module 130 and is connected with observation data processing module 120, and it includes
The Internet link block (such as wired network adapter, wireless network card, 3G or 4G mobile communication card),
Location correction data are uploaded to corresponding remote network service device, is sent to by remote server
Roadside device 200.
Secondly, the example arrangement of roadside device 200 is introduced.With reference to Fig. 2, roadside device 200
Position to revise send including the first location corrected received module 210, protocol conversion module 220, second
Module 230.Wherein, the first location corrected received module 210 is for the remote service from the Internet
Obtaining location on device and revise data, protocol conversion module 220 is for by the first location corrected received mould
The location that block 210 receives is revised data and is converted to V2X protocol format, and the second location is revised and sent
Module 230 revises number for the location being converted to by protocol conversion module 220 by V2X communication
According to being sent to vehicle positioning equipment 23 so that neighbouring vehicle positioning equipment 300 can receive this
Data are revised in location.
Specifically, the first location corrected received module 210 receives location and revises data, the first location
Corrected received module 210 can be to revise, with the first location, the Internet that sending module 130 matches
Link block, utilizes the Internet to revise, from the first location, the network remote that sending module 130 is corresponding
Server receives location and revises data, thus realizes the first location corrected received module 210 and first
The stabilized communication between sending module 130 is revised in location, makes the location data can quickly and stably
Transmission.
Finally, the example arrangement of vehicle positioning equipment 300 is introduced.With reference to Fig. 2, vehicle positioning
Equipment 300 includes that locating module 310, second positions corrected received module 320 and location data are repaiied
Positive module 330.Locating module 310 is used for obtaining initial alignment data.Second location corrected received
Module 320 revises data for receiving location by V2X agreement from roadside device 200.Location number
Revise for the location received according to the second location corrected received module 320 according to correcting module 330
Initial alignment data are modified by data.Wherein, described vehicle positioning equipment 300 can be car
Carry integrated equipment or mobile device.
Second location corrected received module 320 is in roadside device 200 at vehicle positioning equipment 300
Neighbouring position time, second location corrected received module 320 can from second location revise send mould
Block 230 receives the location of V2X protocol format and revises data.Location data correction module 330 and the
Two location corrected received modules 320 are connected, and receive V2X from the second location corrected received module 320
After data are revised in the location of protocol format, it is carried out correspondingly dissection process, can obtain with
Data are revised in the location that the form of initial alignment data is corresponding.This location is revised data and be may be used for
Being modified initial alignment data, the positioning precision of the location data after making correction obtains effectively
Improve (this positioning precision can be brought up to sub-meter grade).
More preferably, foregoing location correction data include that data, puppet are revised in differential position location
One or more revised in data are positioned, by this away from Differential positioning correction data and phase difference
Initial alignment data are modified by the Differential positioning correction data of three kinds of modes, can obtain different essence
The location data of degree.The concrete mode of data is revised in location, can specifically should according to location data
Determine by the positioning precision needed for project.Such as, if the positioning precision needed for the data of location is relative
Relatively low, it is possible to use differential position location is revised data and is modified initial alignment data；If it is fixed
Positioning precision needed for bit data is of a relatively high, it is possible to use data are revised to just in phase difference location
The location data that begin are modified.
In the present embodiment, each parts of this differential position system can be made up of device of the prior art,
Such as, in the positioning reference station module 110 in difference base station 100 and vehicle positioning equipment 300
Locating module 310, can be made up of GPS positioner of the prior art, or other can obtain
Take the positioner matched of positional information, such as GPS (Global
Navigation Satellite System, GNSS) or Beidou satellite navigation system (BeiDou
Navigation Satellite System, BDS).
The difference base station of the embodiment of the present invention, roadside device, vehicle positioning equipment and based on V2X lead to
The differential position system of letter, is realized between board units and difference base station by V2X communication technology
Communication, data are revised by V2X protocol propelling in the location utilizing roadside device to be generated by difference base station
To vehicle positioning equipment, it is modified with the initial alignment data to vehicle positioning equipment, and then makes
Vehicle positioning equipment obtains the location data that positioning precision is higher.
Embodiment three
Fig. 3 be illustrate exemplary embodiment of the present three for the communication system communicated based on V2X
The flow chart of Differential positioning method, the executive agent of this Differential positioning method can be for shown in Fig. 1
The differential position system of embodiment.
With reference to Fig. 3, in step S31, difference base station 100 generates location and revises data, and by mutually
Network and location is revised data transmission to remote server.
In step S32, roadside device 200 receives location by the Internet from remote server and revises
Data, and by V2X communication, location correction data are sent to vehicle positioning equipment 300.
In step S31, vehicle positioning equipment 300 obtains initial alignment data, and according to from trackside
The location that equipment receives is revised data and is modified initial alignment data.
Further, the step of difference base station 100 generation location correction data includes: gather location
Observation data, and revise data according to location observation data genaration location.
Further, data are revised by V2X protocol propelling to vehicle-mounted in location by roadside device 200
The step of location equipment 300 includes: location correction data are converted to V2X protocol format, will
The location of V2X protocol format is revised data and is sent to vehicle positioning equipment 300 by V2X communication.
Further, this Differential positioning method also includes: vehicle positioning equipment 300 is from roadside device
Data are revised in the location receiving V2X protocol format.
Further, data are revised in location is that data, pseudo range difference location are revised in differential position location
Revise data and/or data are revised in phase difference location.
The Differential positioning method for communication system based on V2X communication of the embodiment of the present invention, logical
Cross the location that difference base station generates by roadside device revise data be pushed to by V2X communication vehicle-mounted fixed
Position equipment, and according to location correction data, the initial alignment data of vehicle positioning equipment are modified,
V2X communication technology is utilized to achieve communication quick, stable between board units and difference base station,
And then make board units fast, stably obtain the location data that positioning precision is higher.
It may be noted that according to the needs implemented, all parts/step described in this application can be torn open
It is divided into more components/steps, it is possible to by two or more components/steps or the part of components/steps
The components/steps that operational group synthesis is new, to realize the purpose of the present invention.
Above-mentioned the method according to the invention can realize in hardware, firmware, or is implemented as depositing
Store up the software in record medium (such as CD ROM, RAM, floppy disk, hard disk or magneto-optic disk)
Or computer code, or be implemented through original storage that network downloads at remotely record medium or
In nonvolatile machine readable media and the computer code in local recording medium will be stored in, from
And method described here can be stored in use general purpose computer, application specific processor or able to programme
Or the such software processes on the record medium of specialized hardware (such as ASIC or FPGA).Can
To understand, computer, processor, microprocessor controller or programmable hardware include storing or
Receive software or the storage assembly (such as, RAM, ROM, flash memory etc.) of computer code, when
When described software or computer code are by computer, processor or hardware access and execution, it is achieved
This processing method described.Additionally, when general purpose computer accesses for realizing the process being shown in which
Code time, general purpose computer is converted to for performing the process being shown in which by the execution of code
Special-purpose computer.
The above, the only detailed description of the invention of the present invention, but protection scope of the present invention is not
Be confined to this, any those familiar with the art in the technical scope that the invention discloses,
Change can be readily occurred in or replace, all should contain within protection scope of the present invention.Therefore, originally
The protection domain of invention should be as the criterion with described scope of the claims.
Claims (14)
1. the difference base station for location, it is characterised in that described difference base station includes:
Positioning reference station module, is used for gathering location observation data,
Observation data processing module, for revising data according to described location observation data genaration location,
Sending module is revised in location, is used for sending described location and revises data.
Difference base station the most according to claim 1, it is characterised in that described location is revised and sent out
Send module for sending institute by wired ethernet, WIFI, 3G communication network and/or 4G communication network
State location and revise data.
Difference base station the most according to claim 1 and 2, it is characterised in that the institute sent out
State location correction data and be stored in remote server.
4. the roadside device for location, it is characterised in that described roadside device includes:
Location corrected received module, is used for receiving location and revises data,
Protocol conversion module, is converted to V2X agreement for the described location received is revised data
Form,
Sending module is revised in location, revises data for sending described location by V2X communication.
Roadside device the most according to claim 4, it is characterised in that described location is revised and connect
Receive module for receiving institute by wired ethernet, WIFI, 3G communication network and/or 4G communication network
State location and revise data.
6. a vehicle positioning equipment, it is characterised in that described vehicle positioning equipment includes:
Locating module, is used for obtaining initial alignment data；
Location corrected received module, for revising data by V2X communications reception location；
Location data correction module, for revising data to described initial alignment number according to described location
According to being modified.
Vehicle positioning equipment the most according to claim 6, it is characterised in that described vehicle-mounted fixed
Position equipment is vehicle-mounted integrated equipment or mobile device.
Vehicle positioning equipment the most according to claim 6, it is characterised in that described location mould
Block obtains initial alignment data by GPS and/or dipper system.
9. a differential position system based on V2X communication, it is characterised in that described difference is fixed
Position system includes difference base station as claimed any one in claims 1 to 3, such as claim 4
Or the roadside device described in 5 and the vehicle positioning as according to any one of claim 6 to 8 set
Standby.
Differential position system the most according to claim 9, it is characterised in that described location
Revising data is that data are revised in differential position location, data and/or phase contrast are revised in pseudo range difference location
Location is divided to revise data.
11. 1 kinds of Differential positioning methods for communication system based on V2X communication, its feature exists
In, described communication system includes difference base station, roadside device and vehicle positioning equipment, described difference
Localization method includes:
Described difference base station generates location and revises data, and by the Internet, described location is revised number
According to sending to remote server；
Described roadside device receives described location by the Internet from described remote server and revises data,
And by V2X communication, described location correction data are sent to described vehicle positioning equipment；
Described vehicle positioning equipment obtains initial alignment data, and receives according to from described roadside device
To described location revise data described initial alignment data are modified.
12. according to Differential positioning method described in claim 11, it is characterised in that described difference base
The step of generation location correction data of standing includes:
Gather location observation data, and revise number according to location described in described location observation data genaration
According to.
13. according to Differential positioning method described in claim 11, it is characterised in that described trackside sets
Standby data of being revised described location are sent to the step bag of described vehicle positioning equipment by V2X communication
Include:
Data are revised in described location and are converted to V2X protocol format,
The location of described V2X protocol format is revised data and is sent to described car by V2X communication
Carry location equipment.
14. according to Differential positioning method according to any one of claim 11 to 13, and its feature exists
In, it is that data are revised in differential position location, number is revised in pseudo range difference location that data are revised in described location
According to and/or phase difference location revise data.
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| CN201610057620.8A CN105842711A (en) | 2016-01-27 | 2016-01-27 | Differential base station, road side device, vehicle positioning device and differential positioning method |
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