CN106842273A - The pure electronic logistic car alignment system of low speed - Google Patents
The pure electronic logistic car alignment system of low speed Download PDFInfo
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- CN106842273A CN106842273A CN201611255789.0A CN201611255789A CN106842273A CN 106842273 A CN106842273 A CN 106842273A CN 201611255789 A CN201611255789 A CN 201611255789A CN 106842273 A CN106842273 A CN 106842273A
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- 238000012544 monitoring process Methods 0.000 claims abstract description 55
- 208000011580 syndromic disease Diseases 0.000 claims abstract description 5
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000013500 data storage Methods 0.000 claims description 6
- 230000004807 localization Effects 0.000 claims description 6
- 210000000352 storage cell Anatomy 0.000 claims description 6
- 230000004913 activation Effects 0.000 claims description 4
- 241001269238 Data Species 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 abstract 1
- 238000003786 synthesis reaction Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 210000004027 cell Anatomy 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
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- 238000013481 data capture Methods 0.000 description 1
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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
-
- 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
- G01S19/49—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 whereby the further system is an inertial position system, e.g. loosely-coupled
Abstract
The present invention provides a kind of pure electronic logistic car alignment system of low speed, including monitoring central platform and install long-range three moulds locating and monitoring module onboard additional, the long-range three moulds locating and monitoring module includes GSM mobile modules, GPS module and gyroscope functional module, position related syndrome information for obtaining Current vehicle, the long-range three moulds locating and monitoring module is also connected to the vehicle in-car can buses of pure electric automobile, velocity information and battery information for obtaining vehicle, the travel speed that the long-range three moulds locating and monitoring module passes through combination vehicle, position and movement track where determining vehicle.The position data that the present invention passes through acquisition synthesis, with reference to the travel speed of vehicle, position and movement track where determining vehicle.
Description
Technical field
The present invention relates to a kind of logistic car positioner, especially it is related to a kind of pure electronic logistic car alignment system of low speed.
Background technology
With the development of express delivery, increasing people begins to use, and the thing followed is exactly that express delivery person applies various traffic
Instrument shuttles in streets and lanes, for everybody provides logistics service.
Electric motor car is more and more used by express delivery person, the appearance of particularly micro- pure electronic logistics automobile in face, is even more subject to
The favor of more express mail companies.These pure electronic logistic cars are mainly run in the guide in the urban environment of the FX such as housing-group, speed
Not high, operating range is not far.
But how more accurately to determine the position of pure electronic thing logistic car, really become new problem, tradition
Vehicle positioning system all rely on gps satellite positioning greatly, but in view of the characteristics of logistic car, really cannot often obtain effectively fixed
Position information, it is to obtain the data for being simultaneously greater than equal to more than 4 multiple satellites that satellite fix is most important, when reception antenna is built
Build thing viaduct the barrier such as the woods cannot just be properly positioned when blocking, and logistic car exactly just shuttles in such city
In environment, logistics company wishes that obtaining these positioning data of vehicles is managed, and particularly some logistics companies buying is pure electronic
Automobile, rents express delivery person and uses, so their positions and situation of remote just more concerned with logistic car.
GSM architectures are by customer position information (the longitude and latitude seat of the Network Capture mobile terminal of mobile operator
Mark), under the support of electronic map platform, provide a user with data, it is however generally that, the number of base stations of moving table measuring is more,
Certainty of measurement is higher, and it is obvious that positioning performance improves the moon.GSM is positioned due to based on mobile communication base station, affected by environment larger,
Suburb and rural area can be by running fixes at 10-20 meters, and in city because high-lager building is more, radio propagation environment is bad,
Positioning precision is poor.
GPS location+GSM architectures+gyroscope Pattern localization can be very good to solve the logistic car under complex environment
Orientation problem, due to being known that the travel direction of Current vehicle using gyroscope pattern, now in conjunction with electric motor car
The velocity information that bus is sent out, it is possible to know location information, therefore be the system for adapting to logistic car location requirement.
The content of the invention
The invention provides a kind of pure electronic logistic car alignment system of low speed, the pure electronic thing in housing-group area of concentration is solved
The orientation problem of vehicle is flowed, existing GPS location has GSM to position again after GPS failures, also has top after GSM positioning goes wrong
Spiral shell instrument inertial positioning.It is also coupled to simultaneously in vehicle in-car bus, obtains vehicle correct velocity information and battery information, and will letter
Breath is sent to remote center, and remote center carries out position treatment again, reaches the management to logistics vehicles.
The system includes monitoring central platform and installs long-range three moulds locating and monitoring module onboard additional, this long-range three mould
Being accessed in locating and monitoring module has GSM mobile modules for architecture, and GPS module obtains satellite location data and gyroscope work(
Energy module is obtained for current automobile attitude, obtains the position related syndrome information of Current vehicle, long-range three moulds locating and monitoring mould
Block also accesses the velocity information and battery information of the vehicle in-car can buses acquisition vehicle of pure electric automobile, comprehensive by obtaining
Position data, with reference to the travel speed of vehicle, position and movement track where determining vehicle.
Existing vehicle GPS cannot see multiple after under running into housing-group or overpass or below the woods due to blocking
Satellite, just cannot effectively obtain and be accurately positioned, and can solve the problems, such as very big with reference to the architecture of GSM network, confirm substantially
Position, if in conjunction with gyroscope function, obtaining the attitude of Current vehicle, it is possible to solve short in GSM poor signals or GSM
Under temporary off-grid state, vehicle position information.
Its technical scheme is as described below：
A kind of pure electronic logistic car alignment system of low speed, including monitoring central platform is determined with long-range three mould for installing additional onboard
Position monitoring module, the long-range three moulds locating and monitoring module includes GSM mobile modules, GPS module and gyroscope functional module, uses
In the position related syndrome information for obtaining Current vehicle, the long-range three moulds locating and monitoring module is also connected to pure electric automobile
Vehicle in-car can buses, velocity information and battery information for obtaining vehicle, the long-range three moulds locating and monitoring module passes through
With reference to the travel speed of vehicle, position and movement track where determining vehicle.
The long-range three moulds locating and monitoring module is provided with MCU controllers, and the MCU controllers are also associated with location Calculation
Unit, location data Effective judgement unit, data storage cell and data is activation control unit, the location data validity
Judging unit judges to believe using which according to the location data information of GSM mobile modules, GPS module and gyroscope functional module
Cease to be defined as the accurate information of Current vehicle position.
The gyroscope functional module by SPI data ports obtain pick up the car current X Y Z triaxial coordinates information and angle
Degree information.
The localization computation unit be used for calculate have from upper one determine position GPS and GSM base station location informations to work as
Preceding time period, the distance of the angle direction traveling in three-axis reference；The data storage cell is currently needed for for storage
The parameter of setting, and storage 600 location informations currently in newest effective 600 seconds, each location information includes current
GPS latitude and longitude informations, GSM base station informations, gyroscope angle information, velocity information, and by after gyroscope location Calculation
Latitude and longitude information.
The long-range three moulds locating and monitoring module sends one time 10 seconds for every 10 seconds after positioning is started to monitoring central platform
Location data, and every 10 seconds receive a subcenter positioning and rectifying data, while it is per second collection gps data, a GSM bases
Stand data, gyro data.
The monitoring central platform is provided with the electronic map of the positional information of the display pure electronic logistic car of low speed, if receiving
The effectively GPS location of the pure electronic logistic car of low speed, just directly shows in electronic map；If no, but have no less than 4 bases
The base station position information stood, just connects electronic map and obtains current positional information；If base station is less than 4, gyroscope is just used
The location information for calculating is used as current location information.
Under the instrument desk of car, its power line is connected on the battery of in-car the remote monitoring module；It is provided with GSM
The gps antenna of mobile module is mounted in front windshield lower section；The GSM antenna of GPS module is provided with mounted in front windshield top；
The gyroscope for being provided with the gyroscope functional module is fixed in the plane of instrument desk；In-car CAN is connected to remote monitoring
In module；Sim cards are inserted on remote monitoring module, and the IP of monitoring central platform is set onto remote monitoring module.
The present invention has following function：Firstth, GSM network dialing, the function of GPRS network information transfer, GSM base stations are determined
Position LAC LOC information, be sent to center；The location information of the secondth, GPS is obtained；3rd, the vehicle traveling side that gyroscope is obtained
To；4th, in-car total line drawing vehicle speed automobile batteries information；5th, the GPS information for receiving and gyroscope calculate initial point
Calibration；6th, work as front direction, running time and vehicle speed using what gyroscope was calculated, calculate in this period and upper one
Position spacing and angle spacing between secondary GPS location, and upload to center；7th, center receive GSM location datas GPS determine
Position Shuo Ju gyroscopes location data carries out active position selection；8th, center is received in the express delivery part of information combination each car
Hold, provide a user with information.
Brief description of the drawings
Fig. 1 is system block diagram of the invention；
Fig. 2 is the long-range three moulds locating and monitoring terminal block diagram；
Fig. 3 is the reference coordinate schematic diagram of gyroscope positioning；
Fig. 4 is the operating diagram of the long-range three moulds locating and monitoring module；
Fig. 5 is the operating diagram of the monitoring central platform；
Fig. 6 is the scheme of installation of the long-range three moulds locating and monitoring module.
Specific embodiment
As shown in figure 1, the pure electronic logistic car alignment system of low speed, including monitoring central platform and install additional onboard
Long-range three moulds locating and monitoring module, the long-range three moulds locating and monitoring module includes GSM mobile modules, GPS module and gyroscope
Functional module, the position related syndrome information for obtaining Current vehicle, the long-range three moulds locating and monitoring module is also connected to
The vehicle in-car can buses of pure electric automobile, velocity information and battery information for obtaining vehicle, the long-range three moulds positioning
The travel speed that monitoring module passes through combination vehicle, position and movement track where determining vehicle.
Wherein, architecture refers to that in gsm module, after insertion SIM, GSM can be carried out with base station in the course of the work
Information exchange, can obtain movable signal, for example：
MCC, Mobile Country Code, mobile country code (China is 460)；
MNC, Mobile Network Code, (China Mobile is 0 to mobile network code, and CHINAUNICOM is 1, China Telecom
For 2)；
LAC, Location Area Code, location area code；
CID, Cell Identity, base station number；
BSSS, Base station signal strength, base station signal strength.
Due to obtaining these signal inputs to electronic map platform, it is possible to obtain the longitude and latitude with architecture as foundation
Degree information.
As shown in Fig. 2 the long-range three moulds locating and monitoring module is provided with MCU controllers, the MCU controllers are also connected with
There are localization computation unit, location data Effective judgement unit, data storage cell and data is activation control unit, the positioning
Data validity judging unit judges according to the location data information of GSM mobile modules, GPS module and gyroscope functional module
Which information to be defined as the accurate information of Current vehicle position using.
Wherein, GPS location receiver module is the location data for receiving satellite, and his time is 1 second 1 time, letter
Effective number of satellite is pointed out in breath, whether data can use.If it find that data are unavailable, or number of satellite is less than 4, should
This thinks that the location data is invalid.
Gyro module data capture unit by the SPI mouthfuls of current X of acquisition vehicle Y Z triaxial coordinate information, and angle
Information.
Location data Effective judgement unit to be judged according to current 3 location data informations using which information come
It is defined as the accurate information of Current vehicle position.
Can data receipt units, the accurate velocity information and battery information of Current vehicle are obtained from in-car bus
Localization computation unit, has GPS the and GSM base station location informations for determining position from upper one for calculating.To current
Time period, the distance of the angle direction traveling in three-axis reference.
Data storage cell will store the current parameter for having to setting, also store current newest effective 600 seconds
600 times interior location informations, each location information include current GPS latitude and longitude informations (containing whether effective information), GSM base stations letter
Breath, gyroscope angle information, velocity information, the latitude and longitude information after gyroscope location Calculation.
The every ten Miao Xiang centers of data is activation control unit send the location information in a time 10 seconds.Carried per group information simultaneously
Time sequence number, and wait the positioning correction data of center loopback.If receiving the correction data of effective correspondence time, own
Initial reset is proceeded positioning action by data to this latest data.
Because logistic car loiters, and GSM mobile handset network is also very flourishing, so the place that can not be positioned completely is also compared
Few, the time is also shorter, it is possible to rectify a deviation at any time, then deviation is also just few.
If Fig. 4 is the operation block diagram of the long-range three moulds locating and monitoring module.Long-range three moulds locating and monitoring module is starting
After positioning, the location data of every 10 Miao Xiang centers transmission one time 10 seconds, the positioning and rectifying data for receiving a subcenter in every 10 seconds, together
When it is per second collection gps data, GSM base station datas, gyro data.If effective gps satellite is received, by gyroscope
Location Calculation is reset on this longitude and latitude referring initially to point data；Before positioning valid data next time are received, according to top
Spiral shell instrument computing formula is calculated.
If GPS is invalid, because gyroscope is being calculated always, so current longitude and latitude, Mei Yimiao still can be obtained
Reference point longitude and latitude can use rough mode to estimate.A is the original reference point set out, and B is changing coordinates point, as shown in figure 3,
Know A point coordinates, the angle of BAX is α, and the distance of AB is Z.Z can be obtained by speed.α angles are served according to gyroscope
Angle is worth to
The longitude of B points should be A. longitudes+Z*COS (α)；
The latitude of B points should be B. latitudes+Z*Sin (α).
Then using this 1 second value as new reference point coordinates, continuing to calculate, until the 10th second.
Because pure electronic logistic car accordingly compares concentration in delivery place, it is possible to according to the calculation of above-mentioned rectangular coordinate system
Method is calculated, the Surface Problems without considering the earth.
As shown in figure 5, the monitoring central platform will mainly utilize the positional information work(of electronic map in terms of positioning
Can, if receiving effectively GPS location, just directly shown in electronic map, if it did not, still there is the base more than 4 base stations
Station location information, just connection electronic map obtains current positional information, if base station is just calculated less than 4 with gyroscope
Location information as current location information.
This product in terms of the positioning for solving the problems, such as logistic car, when GPS can receive the data of more than 4 satellites,
Just it is defined by GPS, if not, when GSM there are more than 4 base stations, being defined by GSM, but all return utilize gyroscope in any case
The angle and vehicle speed of acquisition calculate position, and constantly adjustment.Due to after GSM off-grids or transmission fault, location information and
The positioning tuningout information that center sends cannot all be obtained, therefore have store function in monitoring module, be stored 600 seconds, 10 minutes
Information, once network recovery, can immediately be sent to center by the information after trawlnet, reduce the loss of location information.
Because logistic car is walked in city, there is cell phone network to cover substantially, extreme case will not be very long, so completely
Situation also very short time of gyroscope is relied on, thus it is not high to the required precision of gyroscope, and such totle drilling cost is not high, beneficial to popularization
It is practical.Logistics company can be controlled for logistic car in which cell or road section scope, it is possible to reach real requirement.
Due to installing this equipment, it is ensured that pure electronic logistic car car carries out effective positional operand in various urban environments
Make, no matter car is in housing-group or under tree, or under conditions of closely room environmental is descended, center can see this car
Positional information, center can also read information of the vehicle on battery electric quantity, and the situation to vehicle also how many degree electricity is reminded
Express delivery person's reasonable arrangement stroke, therefore be very beneficial for the operation management of express mail company.
Remote monitoring module 1 is mounted under the instrument desk of car according in Fig. 6 when using, power line is linked to the battery of in-car
On, then gps antennas 2 and gsm antennas 3 are attached separately to front windshield above and below, gyroscope 4 is fixed on the flat of instrument desk
On face, in-car can buses are linked on remote monitoring module 1.Sim cards are inserted on remote monitoring module, the IP at center is set and is arrived
On remote monitoring module, re-power, center receives data or sends data.
Claims (7)
1. the pure electronic logistic car alignment system of a kind of low speed, it is characterised in that：Including monitoring central platform and installing additional onboard
Long-range three moulds locating and monitoring module, the long-range three moulds locating and monitoring module includes GSM mobile modules, GPS module and gyroscope
Functional module, the position related syndrome information for obtaining Current vehicle, the long-range three moulds locating and monitoring module is also connected to
The vehicle in-car can buses of pure electric automobile, velocity information and battery information for obtaining vehicle, the long-range three moulds positioning
The travel speed that monitoring module passes through combination vehicle, position and movement track where determining vehicle.
2. the pure electronic logistic car alignment system of low speed according to claim 1, it is characterised in that：The long-range three moulds positioning
Monitoring module is provided with MCU controllers, and the MCU controllers are also associated with localization computation unit, location data Effective judgement
Unit, data storage cell and data is activation control unit, the location data Effective judgement unit move mould according to GSM
The location data information of block, GPS module and gyroscope functional module, judges to be defined as using which information where Current vehicle
The accurate information of position.
3. the pure electronic logistic car alignment system of low speed according to claim 1, it is characterised in that：The gyroscope function mould
Block by SPI data ports obtain pick up the car current X Y Z triaxial coordinates information and angle information.
4. the pure electronic logistic car alignment system of low speed according to claim 2, it is characterised in that：The localization computation unit
There are GPS the and GSM base station location informations for determining position from upper one to current slot for calculating, in three-axis reference
The distance of angle direction traveling；The parameter that the data storage cell is currently needed for setting for storage, and storage is current most
600 location informations in new effective 600 seconds, each location information include current GPS latitude and longitude informations, GSM base station informations,
Gyroscope angle information, velocity information, and by the latitude and longitude information after gyroscope location Calculation.
5. the pure electronic logistic car alignment system of low speed according to claim 1, it is characterised in that：The long-range three moulds positioning
Monitoring module sends the location data of a time 10 seconds to monitoring central platform in every 10 seconds, and connect for every 10 seconds after positioning is started
The positioning and rectifying data of a subcenter are received, while collection per second gps data, GSM base station datas, a gyro data.
6. the pure electronic logistic car alignment system of low speed according to claim 1, it is characterised in that：The monitoring central platform
The electronic map of the positional information of the display pure electronic logistic car of low speed is provided with, if receiving the pure electronic logistic car of low speed effectively
GPS location, just directly shows in electronic map；If no, but have the base station position information no less than 4 base stations, just connect
Electronic map obtains current positional information；If base station is less than 4, the location information that gyroscope is calculated just is used as current
Location information.
7. the pure electronic logistic car alignment system of low speed according to claim 1, it is characterised in that：The remote monitoring module
Under the instrument desk of car, its power line is connected on the battery of in-car；The gps antenna of GSM mobile modules is provided with mounted in preceding
Windshield lower section；The GSM antenna of GPS module is provided with mounted in front windshield top；It is provided with the gyroscope function mould
The gyroscope of block is fixed in the plane of instrument desk；In-car CAN is connected on remote monitoring module；Sim cards are inserted in remotely
On monitoring module, and the IP of monitoring central platform is set onto remote monitoring module.
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| CN201611255789.0A CN106842273A (en) | 2016-12-30 | 2016-12-30 | The pure electronic logistic car alignment system of low speed |
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| CN201611255789.0A CN106842273A (en) | 2016-12-30 | 2016-12-30 | The pure electronic logistic car alignment system of low speed |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110570652A (en) * | 2019-07-30 | 2019-12-13 | 深圳市天彦通信股份有限公司 | vehicle fake plate detection reminding method and related product |
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| CN105865461A (en) * | 2016-04-05 | 2016-08-17 | 武汉理工大学 | Automobile positioning system and method based on multi-sensor fusion algorithm |
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