CN107144867A - The accurate space-time bus connected network communication monitoring terminal of the Big Dipper and its method of work - Google Patents

The accurate space-time bus connected network communication monitoring terminal of the Big Dipper and its method of work Download PDF

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Publication number
CN107144867A
CN107144867A CN201710335712.2A CN201710335712A CN107144867A CN 107144867 A CN107144867 A CN 107144867A CN 201710335712 A CN201710335712 A CN 201710335712A CN 107144867 A CN107144867 A CN 107144867A
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mrow
msub
mover
bus
centerdot
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邢建平
田欣玉
李东辕
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Shandong University
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Shandong University
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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
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3629—Guidance using speech or audio output, e.g. text-to-speech
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3655—Timing of guidance instructions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3658—Lane guidance
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3661—Guidance output on an external device, e.g. car radio
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3688—Systems comprising multiple parts or multiple output devices (not client-server), e.g. detachable faceplates, key fobs or multiple output screens
    • 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
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
    • G08G1/127—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station
    • G08G1/13—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station the indicator being in the form of a map
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
    • G08G1/133—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams within the vehicle ; Indicators inside the vehicles or at stops
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G08G1/202—Dispatching vehicles on the basis of a location, e.g. taxi dispatching

Abstract

A kind of accurate space-time bus connected network communication monitoring terminal of the Big Dipper, including Big Dipper positioning unit, microminiature communication unit, vehicle computing unit, signal transmitting and receiving unit, display module, the microminiature communication unit, the Big Dipper positioning unit, the vehicle computing unit, the display module are sequentially connected, the vehicle computing unit connects the signal transmitting and receiving unit, and the microminiature communication unit connects the signal transmitting and receiving unit；The present invention is realized to the positioning of bus real-time and precise and bus and the communication at top level control center in traveling, so as to more accurately estimate bus arrival time so that passenger is no longer in the wait of blind information；Optimize bus scheduling so that public transit vehicle is reasonably and uniformly distributed on the line；Realize bus and the communication in semaphore control centre and mster-control centre of Traffic Administration Bureau, reasonable arrangement public traffic in priority communication strategy.

Description

The accurate space-time bus connected network communication monitoring terminal of the Big Dipper and its method of work
Technical field
The present invention relates to a kind of accurate space-time bus connected network communication monitoring terminal of Big Dipper and its method of work, belong to intelligence The technical field of traffic.
Background technology
Due to the economic society sustained and rapid development of China, particularly urbanization, the continuous improvement of motorization level, city Traffic problems are increasingly serious, and greatly developing urban public transport, the great people's livelihood as the relation vital interests of the people is asked Topic, causes the great attention and concern of governments at all levels.But, the present situation of China's public transport is made a general survey of, in all kinds of social motor vehicles , bicycle and bus contention road occupation power in the case of, public transit driving is not smooth, occasions a delay serious show As very universal, vehicle travel time length, punctuality are poor, service level is low, bus station blind information the shortcomings of be reluctant citizen Meaning selection bus trip.
Chinese patent literature CN105809952A discloses a kind of control method for avoiding public transit vehicle section from clustering round, control System, its positional information by collection vehicle in the process of moving, and report to scheduling backstage, backstage is then dispatched according to institute The spacing between all vehicles on positional information calculation public bus network is stated, and is set between the vehicle and fore-aft vehicle most Big spacing threshold value and minimum spacing threshold value, and threshold decision is carried out to the obtained spacing that calculates, finally dispatch backstage root According to the result of the threshold decision schedule information is issued to the vehicle.But, the collection vehicle described in the patent is in traveling During positional information when only referring to gather the vehicles while passing website, report the website to the scheduling backstage corresponding Positional information, the so positional information to vehicle can not be obtained in real time, have significant limitation, in the present invention using north Bucket difference and the method for inertial navigation integrated positioning can obtain the positional information of vehicle in real time.
The content of the invention
In view of the shortcomings of the prior art, the invention provides the accurate space-time bus connected network communication monitoring terminal of the Big Dipper；
Present invention also offers the method for work of the accurate space-time bus connected network communication monitoring terminal of the above-mentioned Big Dipper.
The present invention is realized to the logical of the bus real-time and precise positioning in traveling and bus and top level control center Letter, so as to more accurately estimate bus arrival time so that passenger is no longer in the wait of blind information；Optimize bus Scheduling so that public transit vehicle is reasonably and uniformly distributed on the line；Realize bus and semaphore control centre and Traffic Administration Bureau The communication in mster-control centre, reasonable arrangement public traffic in priority communication strategy.
The technical scheme is that：
The accurate space-time bus connected network communication monitoring terminal of the Big Dipper, including Big Dipper positioning unit, microminiature communication unit, car Carry computing unit, signal transmitting and receiving unit, display module, it is the microminiature communication unit, the Big Dipper positioning unit, described vehicle-mounted Computing unit, the display module are sequentially connected, and the vehicle computing unit connects the signal transmitting and receiving unit, the microminiature Communication unit connects the signal transmitting and receiving unit.
The microminiature communication unit includes the Big Dipper/GNSS pilot tones antenna and communication antenna, is defended for receiving the Big Dipper/GNSS Star signal and reception are with sending 3G/4G or WiFi signal.
The Big Dipper positioning unit is used to receive the Big Dipper satellite signal received by the Big Dipper/GNSS pilot tones antenna, difference meter Calculate, effective amendment is carried out to the systematic error in satellite fix, joint inertial navigation sensing data is eliminated in city because signal hides The situation for losing positioning target that gear is serious and produces, is combined positioning.
The vehicle computing unit is used to receive Big Dipper NTP time synchronizing signals, with traffic mster-control centre, bus platform Control centre's Real-Time Sharing bus location information, while indicating bus driver's adjustment traveling speed from measuring and calculating according to front-and-rear vehicle distance Degree, terminated line site location information, forecast will arrive at a station website.
The display module is used to show the adjustable strategies for driver's road speed, and display and the voice broadcast service next stop are arrived Website.
The signal transmitting and receiving unit is used to complete to communicate with the 3G/4G of traffic mster-control centre processor and and bus station The WiFi communication of platform control centre.
According to currently preferred, the Big Dipper positioning unit includes the multichannel Big Dipper/GPS receiver unit, inertial navigation and sensed Data acquisition unit, high-precision solving unit, ground enhancing data processor and Beidou navigation FPGA associated processors, it is described Microminiature communication unit connects the multichannel Big Dipper/GPS receiver unit, the multichannel Big Dipper/GPS receiver unit, described Inertial navigation sensing data collecting unit is all connected with the high-precision solving unit, the high-precision solving unit, the Beidou navigation FPGA associated processors, the vehicle computing unit are sequentially connected, and the ground enhancing data processor connects the Big Dipper and led Boat FPGA associated processors.
The multichannel Big Dipper/the GPS receiver unit is used to receive the satellite letter obtained via the Big Dipper/GNSS pilot tones antenna Number.
The inertial navigation sensing data collecting unit is used in satellite-signal serious shielding according to the angle change of bus And acceleration change obtains the motion track information of vehicle.
The high-precision solving unit is used to calculate processing Big Dipper satellite signal location information and inertial navigation location information.
The ground enhancing data processor is used for Difference Calculation, and effective repair is carried out to the systematic error in satellite fix Just.
The Beidou navigation FPGA associated processors are used to merge Big Dipper positioning, ground enhancing, inertial navigation positioning to public affairs Car is handed over to be combined positioning.
According to currently preferred, it is same that the vehicle computing unit includes the vehicle-mounted primary processor of bus, Big Dipper NTP times Walk processor, front-and-rear vehicle distance and indicate adjustable strategies unit and circuit, website virtual location computing unit, the Big Dipper from measuring and calculating Positioning unit connects the vehicle-mounted primary processor of bus, and the Big Dipper NTP time synchronizings device connects the bus car Carry primary processor, the vehicle-mounted primary processor of bus connect respectively the front-and-rear vehicle distance from measuring and calculating indicate adjustable strategies unit with And the circuit, website virtual location computing unit.
The vehicle-mounted primary processor of bus is used to receive Big Dipper NTP time synchronizing signals, with traffic mster-control centre, public affairs Platform control centre Real-Time Sharing bus location information is handed over, is adjusted according to bus front-and-rear vehicle distance from instruction travel speed is calculated Strategy, terminated line site location, sound broadcast.
The Big Dipper NTP time synchronizings device is used for each bus, each bus station and traffic master control Center processed carries out unified time service, makes it synchronous with standard time source.
The front-and-rear vehicle distance indicates that adjustable strategies unit is used for the front and rear car calculated according to traffic mster-control centre from measuring and calculating Distance proposes specific acceleration, deceleration adjustable strategies.
The circuit, website virtual location computing unit are used to match bus location information and bus routes map is believed Breath, judges that bus is located at the position of public bus network, website and sound broadcast that prediction bus will be reached.
According to currently preferred, the microminiature communication unit includes the Big Dipper/GNSS pilot tones antenna, communication antenna, institute State the Big Dipper/GNSS pilot tones antenna and connect the Big Dipper positioning unit, the communication antenna connects the signal transmitting and receiving unit.
The Big Dipper/GNSS pilot tones antenna is used to receive the Big Dipper/GNSS satellite signal.
The communication antenna is used to receiving and sending 3G/4G or WiFi signal.
According to currently preferred, the display module includes information screen display unit, TTS language processing units and LED Show and call out the stops unit, and the vehicle computing unit connects described information screen display unit, the TTS Language Processings list respectively Member, the TTS language processing units connect the LED and shown and call out the stops unit.
Described information screen display unit is used to show that front-and-rear vehicle distance indicates that adjustable strategies unit is directed to current vehicle speed from measuring and calculating And front-and-rear vehicle distance is from the road speed adjustable strategies of formulation, to play a part of pointing out driver.
The TTS language processing units are used to intelligently being converted into word into natural-sounding stream, carry out sound broadcast.
The LED shows and called out the stops unit for the site name that will reach website to be included in LED display.
According to currently preferred, the signal transmitting and receiving unit includes base band CPU, 3G/4G antenna and route and WiFi services Unit, the vehicle computing unit connects the base band CPU, and the base band CPU connects the 3G/4G antennas route, institute respectively State WiFi service units.
The base band CPU is used for data processing and storage, and major function is baseband coding/decoding, acoustic coding and voice Coding etc..
The 3G/4G antennas are route for providing wireless long-range data transfer function, are mainly used in realizing bus car Carry primary processor and the telecommunication in traffic mster-control centre.
The WiFi service units are used to provide wireless short-distance data-transformation facility, are mainly used in realizing that bus is vehicle-mounted Primary processor and the short-range communication of bus platform control centre.
The method of work of the above-mentioned accurate space-time bus connected network communication monitoring terminal of the Big Dipper, including：
(1) the communication monitoring terminal is arranged on each bus, and be numbered according to circuit；For example, with Exemplified by the bus of bus 1, numbering is 1-1,1-2 ..., 1-n；
(2) Annual distribution formula is calibrated：The accurate space-time bus connected network communication monitoring terminal of the Big Dipper is opened, it is total to traffic Control centre, bus platform control centre and all buses carry out unified time service；
(3) Big Dipper is positioned：All buses are positioned in real time；
(4) sub_meter position is carried out to all buses using ground Enhancement Method；
(5) data communication：The location information of all buses of acquisition is sent respectively by the signal transmitting and receiving unit To traffic mster-control centre, bus platform control centre；Calculate with the distance between car before and after bus all the way；By bus Location information is matched with the positional information of the parking area before bus platform, shows parking area；
(6) adjust with the distance between car before and after bus all the way；
(7) bus stop reporting.The road is loaded to the accurate space-time bus connected network communication monitoring terminal of the Big Dipper of the present invention All bus station positional informations of bus, the real-time position information and site location information for the bus that the Big Dipper is positioned is real When Rapid matching, the bus station that will reach is broadcasted by TTS language processing units and simultaneously forecasts to stand, and is shown in LED screen Show information of arriving at a station.
According to currently preferred, the specific localization method of the step (4) is：Led using Big Dipper Differential positioning and inertia The integrated positioning system that navigates carries out sub_meter position to all buses,
The Big Dipper Differential positioning sets up Kalman with INS alignment system using pipeline error propagation model Filtering Model system equation, coordinate system uses geographic coordinate system, and the earth is regarded as rotational ellipsoid, Kalman filter Linear model is as follows：
In formula (I)：Respectively state Vector, the respectively longitude error of user's estimated location, latitude error, height error, east orientation speed error, north orientation speed are missed Difference, sky orientation speed error, the east orientation of INS Platform, north orientation, day are to attitude error angle, Beidou receiver clock correction and frequency difference；Respectively Big Dipper Differential positioning and inertial navigation group Alignment system noise vector is closed, A is Big Dipper Differential positioning and INS alignment system matrix, and exponent number is equal to state vector XUDimension.
Observational equation：Z=HXU+V(II)
In formula (II)：Z is observation vector, includes pseudorange ρBi(i=1,2,3), height h pseudorange rates and front and rear filtering twice are surveyed The difference Δ ρ of the pseudorange of the dipper system obtainedBi(i=1,2,3)；V is observation noise vector, and each component is the sight of each observed quantity of correspondence Noise is surveyed, H is observing matrix；
If the state vector of estimation isΔXuFor the evaluated error of state vector, the then change of observational equation shown in formula (II) For following form
I.e.
Be admittedly by ECEF coordinate systems, i.e. heart, the expression formula of lower Big Dipper pseudorange expression formula and user to satellite distance according to Deploy according to Taylor series at current location (X, Y, Z) place, linearisation, then two formula corresponding amounts are subtracted each other, obtain under ECEF coordinate systems Pseudorange observation equation：
In formula (IV)：For user to the distance of jth satellite, (Xsj, Ysj,Zsj) it is position of the satellite in ECEF coordinate systems, (Δ X, Δ Y, Δ Z) is estimated location of the user in ECEF coordinate systems With the difference of actual position, ωρjFor pseudo range measurement noise,For user's clock correction equivalent distances error, Δ ρjFor jth satellite Pseudorange filtering information；
Above-mentioned ECEF coordinate systems coordinate representation is converted into geographic coordinate system to represent, the pseudorange observation equation under Department of Geography is obtained For
In formula (V)：λ、H is respectively the longitude, latitude and height of user, RNIt is for reference ellipsoid of earth latitude's The radius of curvature in prime vertical of point；Highly it is expressed as：
In formula (VI)：For Height Estimation value, ωhFor elevation carrection noise；
Pseudorange rates are the distance between the user that measurement is obtained and satellite rates of change, ifFor estimation Vector of the speed of related movement in ECEF coordinate systems between user and satellite, then pseudorange rates be expressed as：
In formula (VII)：For user and i-th satellite movement velocity in ECEF coordinate systems Interior vector；For the receiver user frequency difference equivalent distances rate error of estimation； Respectively direction cosines of the user to i-th satellite；
In addition, the pseudorange rate of change of Big Dipper measurement is expressed as
So, the pseudorange rates observational equation under ECEF coordinate systems is:
According to the Coordinate Conversion of geographic coordinate system to ECEF coordinate system battle array, have
So the pseudorange rates observational equation under Department of Geography is
The difference of the difference of the Big Dipper pseudorange measured with filtering twice and the difference of corresponding inertial navigation pseudorange is used as observed quantity, abbreviation For the difference of pseudorange；
The final observational equation tried to achieve under ECEF coordinate systems is that T is the interval time filtered twice：
Formula (XII) Far Left is the filtering information of the difference of pseudorange, is Δ L such as by this information flag, is obtained after coordinate transform The difference observational equation of pseudorange is under Department of Geography
In formula (XIII)：(X-, Y-, Z-)、(Xsi-, Ysi-, Zsi-), i=1,2,3 be user and satellite previous moment in ECEF Position under coordinate system, (Δ X-, Δ Y-, Δ Z-) be previous moment ECEF coordinate system error states estimate, from physical significance On be readily appreciated that It is residual after subtracting each other for user's clock correction equivalent distances error in front and rear pseudorange twice Poor item；
So by following formula
Draw the position (X, Y, Z) of user.
According to currently preferred, specific step of step (6) adjustment with the distance between car before and after bus all the way It is rapid as follows：The whole route of certain bus all the way is set as Lkm, the departing time interval of adjacent two buses of the route is The average speed of bus is that the spacing between V km/h, adjacent two buses is V*T km, the route on Th, the route On have L/ (V*T) bus；
Stroke distances between adjacent two buses are calculated according to public bus network, if front-and-rear vehicle distance is more than S from xmax Km, then remind the driver of a bus next to accelerate speed traveling, speed is brought up toIf front-and-rear vehicle distance is small etc. from x In SminKm, then remind driver's slow down of a bus next, and speed is reduced toIn this way, public affairs can be caused Hand over car to be evenly distributed on public bus network, do not result in several cars and reach some website together or waited so long not in some website To the situation of bus.
According to currently preferred, the step (5), data communication is specifically included：
A, the real-time position information of bus is transferred in the vehicle-mounted primary processor of the bus, by the bus car Carry primary processor to be transferred in the base band CPU, route by the 3G/4G antennas and transmit the real-time position information of bus To traffic mster-control centre processor, the real-time position information of bus is transferred to by bus platform control by WiFi service units Center processor processed；
B, in traffic mster-control centre, corresponding bus route is matched according to the numbering of this bus car-mounted terminal, The actual running distance of car before and after being determined according to the location information of front and rear two same routes buses according to the public bus network；
Parking area positional information before c, bus platform has been stored in bus platform control centre, when bus is reached When near bus platform, during the vehicle-carrying communication monitoring terminal of bus can be controlled by the realization of WiFi service units with bus platform The communication of the heart, shares the real-time positioning information of bus, and carrying out contrast with the positional information of parking area matches, that is, determines the public affairs Hand over the stop position of car and show screen display in platform.
According to currently preferred, the step (7), the bus stop reporting specific steps include：
The map of the memory storage public bus network of the accurate space-time bus connected network communication monitoring terminal of the Big Dipper, and on map Bus platform position is labeled with, the real-time position information for the bus that step (4) is obtained is determined on public bus network map Position, when position of bus is close to bus platform position, the bus station that will reach is broadcasted and pre- by TTS language processing units The next stop is reported, and the unit that by LED shows and call out the stops shows information of arriving at a station.
Beneficial effects of the present invention are：
1st, this bus vehicle-carrying communication monitoring terminal is named with the route of bus, the convenient front and rear car to calculating bus Distance, so as to formulate train operation adjustment strategy so that be evenly distributed in per all vehicles of road bus on the road public bus network, Several cars are not resulted in reach some website together or wait so long less than the situation of bus in some website.
2nd, the integrated positioning to bus is realized in the positioning of the fusion Big Dipper, Differential positioning and inertial navigation positioning, and in public affairs Hand over and directly calculated in the vehicle-mounted Beidou navigation FPGA combined calculation processors of car, complete the acquisition to bus positional information, save Time for being communicated by car-mounted terminal with traffic mster-control centre, obtain more real-time position.
3rd, Big Dipper Differential positioning combination inertial navigation carries out real-time sub_meter position to the bus in traveling, not only can be with Systematic error in satellite fix is effectively corrected, the urban central zone seriously blocked in satellite-signal, can be with Movement locus is determined according to the angle change of public transit vehicle and acceleration conversion, the situation of target loss is not resulted in, more Accurately realize the positioning to public transit vehicle.
Brief description of the drawings
Fig. 1 is the structured flowchart of the accurate space-time bus connected network communication monitoring terminal of the Big Dipper；
Fig. 2 is the overall structure diagram of bus, bus platform and traffic mster-control centre；
Fig. 3 is the schematic flow sheet of the accurate space-time bus connected network communication monitoring terminal method of work of the Big Dipper.
Embodiment
The present invention is described in detail with reference to embodiment and Figure of description, but not limited to this.
Embodiment 1,
The accurate space-time bus connected network communication monitoring terminal of the Big Dipper, including Big Dipper positioning unit, microminiature communication unit, car Carry computing unit, signal transmitting and receiving unit, display module, it is the microminiature communication unit, the Big Dipper positioning unit, described vehicle-mounted Computing unit, the display module are sequentially connected, and the vehicle computing unit connects the signal transmitting and receiving unit, the microminiature Communication unit connects the signal transmitting and receiving unit.
The microminiature communication unit includes the Big Dipper/GNSS pilot tones antenna and communication antenna, is defended for receiving the Big Dipper/GNSS Star signal and reception are with sending 3G/4G or WiFi signal.
The Big Dipper positioning unit is used to receive the Big Dipper satellite signal received by the Big Dipper/GNSS pilot tones antenna, difference meter Calculate, effective amendment is carried out to the systematic error in satellite fix, joint inertial navigation sensing data is eliminated in city because signal hides The situation for losing positioning target that gear is serious and produces, is combined positioning.
The vehicle computing unit is used to receive Big Dipper NTP time synchronizing signals, with traffic mster-control centre, bus platform Control centre's Real-Time Sharing bus location information, while indicating bus driver's adjustment traveling speed from measuring and calculating according to front-and-rear vehicle distance Degree, terminated line site location information, forecast will arrive at a station website.
The display module is used to show the adjustable strategies for driver's road speed, and display and the voice broadcast service next stop are arrived Website.
The signal transmitting and receiving unit is used to complete to communicate with the 3G/4G of traffic mster-control centre processor and and bus station The WiFi communication of platform control centre.
The Big Dipper positioning unit includes the multichannel Big Dipper/GPS receiver unit, inertial navigation sensing data collecting unit, high-precision Solving unit, ground enhancing data processor and Beidou navigation FPGA associated processors are spent, the microminiature communication unit connects Connect the multichannel Big Dipper/GPS receiver unit, the multichannel Big Dipper/GPS receiver unit, inertial navigation sensing data collection Unit is all connected with the high-precision solving unit, the high-precision solving unit, the Beidou navigation FPGA associated processors, institute State vehicle computing unit to be sequentially connected, the ground enhancing data processor connects the Beidou navigation FPGA associated processors.
The multichannel Big Dipper/the GPS receiver unit is used to receive the satellite letter obtained via the Big Dipper/GNSS pilot tones antenna Number.
The inertial navigation sensing data collecting unit is used in satellite-signal serious shielding according to the angle change of bus And acceleration change obtains the motion track information of vehicle.
The high-precision solving unit is used to calculate processing Big Dipper satellite signal location information and inertial navigation location information.
The ground enhancing data processor is used for Difference Calculation, and effective repair is carried out to the systematic error in satellite fix Just.
The Beidou navigation FPGA associated processors are used to merge Big Dipper positioning, ground enhancing, inertial navigation positioning to public affairs Car is handed over to be combined positioning.
The vehicle computing unit includes the vehicle-mounted primary processor of bus, Big Dipper NTP time synchronizings device, front-and-rear vehicle distance Adjustable strategies unit and circuit, website virtual location computing unit are indicated from measuring and calculating, the Big Dipper positioning unit connection is described The vehicle-mounted primary processor of bus, the Big Dipper NTP time synchronizings device connects the vehicle-mounted primary processor of bus, the public affairs Hand over the vehicle-mounted primary processor of car to connect the front-and-rear vehicle distance respectively and indicate that adjustable strategies unit and the circuit, website are empty from measuring and calculating Intend position calculation unit.
The vehicle-mounted primary processor of bus is used to receive Big Dipper NTP time synchronizing signals, with traffic mster-control centre, public affairs Platform control centre Real-Time Sharing bus location information is handed over, is adjusted according to bus front-and-rear vehicle distance from instruction travel speed is calculated Strategy, terminated line site location, sound broadcast.
The Big Dipper NTP time synchronizings device is used for each bus, each bus station and traffic master control Center processed carries out unified time service, makes it synchronous with standard time source.
The front-and-rear vehicle distance indicates that adjustable strategies unit is used for the front and rear car calculated according to traffic mster-control centre from measuring and calculating Distance proposes specific acceleration, deceleration adjustable strategies.
The circuit, website virtual location computing unit are used to match bus location information and bus routes map is believed Breath, judges that bus is located at the position of public bus network, website and sound broadcast that prediction bus will be reached.
The microminiature communication unit includes the Big Dipper/GNSS pilot tones antenna, communication antenna, the Big Dipper/GNSS pilot tones day Line connects the Big Dipper positioning unit, and the communication antenna connects the signal transmitting and receiving unit.
The Big Dipper/GNSS pilot tones antenna is used to receive the Big Dipper/GNSS satellite signal.
The communication antenna is used to receiving and sending 3G/4G or WiFi signal.
The display module shows and called out the stops unit, institute including information screen display unit, TTS language processing units and LED State vehicle computing unit and connect described information screen display unit, the TTS language processing units, the TTS Language Processings respectively Unit connects the LED and shown and call out the stops unit.
Described information screen display unit is used to show that front-and-rear vehicle distance indicates that adjustable strategies unit is directed to current vehicle speed from measuring and calculating And front-and-rear vehicle distance is from the road speed adjustable strategies of formulation, to play a part of pointing out driver.
The TTS language processing units are used to intelligently being converted into word into natural-sounding stream, carry out sound broadcast.
The LED shows and called out the stops unit for the site name that will reach website to be included in LED display.
The signal transmitting and receiving unit includes base band CPU, 3G/4G antenna and route and WiFi service units, the vehicle computing Unit connects the base band CPU, and the base band CPU connects the 3G/4G antennas route, the WiFi service units respectively.
The base band CPU is used for data processing and storage, and major function is baseband coding/decoding, acoustic coding and voice Coding etc..
The 3G/4G antennas are route for providing wireless long-range data transfer function, are mainly used in realizing bus car Carry primary processor and the telecommunication in traffic mster-control centre.
The WiFi service units are used to provide wireless short-distance data-transformation facility, are mainly used in realizing that bus is vehicle-mounted Primary processor and the short-range communication of bus platform control centre.
Embodiment 2,
The method of work of the accurate space-time bus connected network communication monitoring terminal of the Big Dipper as described in Example 1, including：
(1) the communication monitoring terminal is arranged on each bus, and be numbered according to circuit；With bus Exemplified by 1 bus, numbering is 1-1,1-2 ..., 1-n；
(2) Annual distribution formula is calibrated：The accurate space-time bus connected network communication monitoring terminal of the Big Dipper is opened, it is total to traffic Control centre, bus platform control centre and all buses carry out unified time service；
(3) Big Dipper is positioned：All buses are positioned in real time；
(4) sub_meter position is carried out to all buses using ground Enhancement Method；
(5) data communication：The location information of all buses of acquisition is sent respectively by the signal transmitting and receiving unit To traffic mster-control centre, bus platform control centre；Calculate with the distance between car before and after bus all the way；By bus Location information is matched with the positional information of the parking area before bus platform, shows parking area；
(6) adjust with the distance between car before and after bus all the way；
(7) bus stop reporting.
Embodiment 3,
The method of work of the accurate space-time bus connected network communication monitoring terminal of the Big Dipper as described in Example 2, its difference is, The specific localization method of the step (4) is：Using Big Dipper Differential positioning and INS alignment system to all public transport Car carries out sub_meter position,
The Big Dipper Differential positioning sets up Kalman with INS alignment system using pipeline error propagation model Filtering Model system equation, coordinate system uses geographic coordinate system, and the earth is regarded as rotational ellipsoid, Kalman filter Linear model is as follows：
In formula (I)：Respectively state Vector, the respectively longitude error of user's estimated location, latitude error, height error, east orientation speed error, north orientation speed are missed Difference, sky orientation speed error, the east orientation of INS Platform, north orientation, day are to attitude error angle, Beidou receiver clock correction and frequency difference；Respectively Big Dipper Differential positioning and inertial navigation group Alignment system noise vector is closed, A is Big Dipper Differential positioning and INS alignment system matrix, and exponent number is equal to state vector XUDimension.
Observational equation：Z=HXU+V(II)
In formula (II)：Z is observation vector, includes pseudorange ρBi(i=1,2,3), height h pseudorange rates and front and rear filtering twice are surveyed The difference Δ ρ of the pseudorange of the dipper system obtainedBi(i=1,2,3)；V is observation noise vector, and each component is the sight of each observed quantity of correspondence Noise is surveyed, H is observing matrix；
If the state vector of estimation isΔXuFor the evaluated error of state vector, the then change of observational equation shown in formula (II) For following form
I.e.
Be admittedly by ECEF coordinate systems, i.e. heart, the expression formula of lower Big Dipper pseudorange expression formula and user to satellite distance according to Deploy according to Taylor series at current location (X, Y, Z) place, linearisation, then two formula corresponding amounts are subtracted each other, obtain under ECEF coordinate systems Pseudorange observation equation：
In formula (IV)：For user to the distance of jth satellite, (Xsj, Ysj,Zsj) it is position of the satellite in ECEF coordinate systems, (Δ X, Δ Y, Δ Z) is estimated location of the user in ECEF coordinate systems With the difference of actual position, ωρjFor pseudo range measurement noise,For user's clock correction equivalent distances error, Δ ρjFor jth satellite Pseudorange filtering information；
Above-mentioned ECEF coordinate systems coordinate representation is converted into geographic coordinate system to represent, the pseudorange observation equation under Department of Geography is obtained For
In formula (V)：λ、H is respectively the longitude, latitude and height of user, RNIt is for reference ellipsoid of earth latitude's The radius of curvature in prime vertical of point；Highly it is expressed as：
In formula (VI)：For Height Estimation value, ωhFor elevation carrection noise；
Pseudorange rates are the distance between the user that measurement is obtained and satellite rates of change, ifFor estimation Vector of the speed of related movement in ECEF coordinate systems between user and satellite, then pseudorange rates be expressed as：
In formula (VII)：For user and i-th satellite movement velocity in ECEF coordinate systems Interior vector；For the receiver user frequency difference equivalent distances rate error of estimation； Respectively direction cosines of the user to i-th satellite；
In addition, the pseudorange rate of change of Big Dipper measurement is expressed as
So, the pseudorange rates observational equation under ECEF coordinate systems is:
According to the Coordinate Conversion of geographic coordinate system to ECEF coordinate system battle array, have
So the pseudorange rates observational equation under Department of Geography is
The difference of the difference of the Big Dipper pseudorange measured with filtering twice and the difference of corresponding inertial navigation pseudorange is used as observed quantity, abbreviation For the difference of pseudorange；
The final observational equation tried to achieve under ECEF coordinate systems is that T is the interval time filtered twice：
Formula (XII) Far Left is the filtering information of the difference of pseudorange, is Δ L such as by this information flag, is obtained after coordinate transform The difference observational equation of pseudorange is under Department of Geography
In formula (XIII)：(X-, Y-, Z-)、(Xsi-, Ysi-, Zsi-), i=1,2,3 be user and satellite previous moment in ECEF Position under coordinate system, (Δ X-, Δ Y-, Δ Z-) be previous moment ECEF coordinate system error states estimate, from physical significance On be readily appreciated that It is residual after subtracting each other for user's clock correction equivalent distances error in front and rear pseudorange twice Poor item；
So by following formula
Draw the position (X, Y, Z) of user.
Embodiment 4,
The method of work of the accurate space-time bus connected network communication monitoring terminal of the Big Dipper as described in Example 2, its difference is, Step (6) adjustment the comprising the following steps that with the distance between car before and after bus all the way：
The whole route of certain bus all the way is set as Lkm, the departing time interval of adjacent two buses of the route is The average speed of bus is that the spacing between V km/h, adjacent two buses is V*T km, the route on Th, the route On have L/ (V*T) bus；
Stroke distances between adjacent two buses are calculated according to public bus network, if front-and-rear vehicle distance is more than S from xmax Km, then remind the driver of a bus next to accelerate speed traveling, speed is brought up toIf front-and-rear vehicle distance is small etc. from x In SminKm, then remind driver's slow down of a bus next, and speed is reduced to
Embodiment 5,
The method of work of the accurate space-time bus connected network communication monitoring terminal of the Big Dipper as described in Example 2, its difference is, The step (5), data communication is specifically included：
A, the real-time position information of bus is transferred in the vehicle-mounted primary processor of the bus, by the bus car Carry primary processor to be transferred in the base band CPU, route by the 3G/4G antennas and transmit the real-time position information of bus To traffic mster-control centre processor, the real-time position information of bus is transferred to by bus platform control by WiFi service units Center processor processed；
B, in traffic mster-control centre, corresponding bus route is matched according to the numbering of this bus car-mounted terminal, The actual running distance of car before and after being determined according to the location information of front and rear two same routes buses according to the public bus network；
Parking area positional information before c, bus platform has been stored in bus platform control centre, when bus is reached When near bus platform, during the vehicle-carrying communication monitoring terminal of bus can be controlled by the realization of WiFi service units with bus platform The communication of the heart, shares the real-time positioning information of bus, and carrying out contrast with the positional information of parking area matches, that is, determines the public affairs Hand over the stop position of car and show screen display in platform.
Embodiment 6,
The method of work of the accurate space-time bus connected network communication monitoring terminal of the Big Dipper as described in Example 2, its difference is, The step (7), the bus stop reporting specific steps include：
The map of the memory storage public bus network of the accurate space-time bus connected network communication monitoring terminal of the Big Dipper, and on map Bus platform position is labeled with, the real-time position information for the bus that step (4) is obtained is determined on public bus network map Position, when position of bus is close to bus platform position, the bus station that will reach is broadcasted and pre- by TTS language processing units The next stop is reported, and the unit that by LED shows and call out the stops shows information of arriving at a station.

Claims (10)

1. the accurate space-time bus connected network communication monitoring terminal of the Big Dipper, it is characterised in that the terminal includes Big Dipper positioning unit, micro- Miniature communication unit, vehicle computing unit, signal transmitting and receiving unit, display module, the microminiature communication unit, the Big Dipper are determined Bit location, the vehicle computing unit, the display module are sequentially connected, and the vehicle computing unit connects the signal transmitting and receiving Unit, the microminiature communication unit connects the signal transmitting and receiving unit.
2. the accurate space-time bus connected network communication monitoring terminal of the Big Dipper according to claim 1, it is characterised in that the north The positioning unit that struggles against includes the multichannel Big Dipper/GPS receiver unit, inertial navigation sensing data collecting unit, high-precision solving unit, ground Strengthen data processor and Beidou navigation FPGA associated processors, the microminiature communication unit connects the multichannel north Bucket/GPS receiver unit, the multichannel Big Dipper/GPS receiver unit, the inertial navigation sensing data collecting unit are all connected with described High-precision solving unit, the high-precision solving unit, the Beidou navigation FPGA associated processors, the vehicle computing unit It is sequentially connected, the ground enhancing data processor connects the Beidou navigation FPGA associated processors.
3. the accurate space-time bus connected network communication monitoring terminal of the Big Dipper according to claim 1, it is characterised in that the car Carrying computing unit includes the vehicle-mounted primary processor of bus, Big Dipper NTP time synchronizings device, front-and-rear vehicle distance from measuring and calculating instruction adjustment Policy unit and circuit, website virtual location computing unit, the Big Dipper positioning unit connect the vehicle-mounted main place of bus Device is managed, the Big Dipper NTP time synchronizings device connects the vehicle-mounted primary processor of bus, the vehicle-mounted main process task of bus Device connects the front-and-rear vehicle distance and indicates that adjustable strategies unit and the circuit, website virtual location calculate single from measuring and calculating respectively Member.
4. the accurate space-time bus connected network communication monitoring terminal of the Big Dipper according to claim 1, it is characterised in that described micro- Miniature communication unit includes the Big Dipper/GNSS pilot tones antenna, communication antenna, and the Big Dipper/GNSS pilot tones antenna connects the Big Dipper Positioning unit, the communication antenna connects the signal transmitting and receiving unit.
5. the accurate space-time bus connected network communication monitoring terminal of the Big Dipper according to claim 1, it is characterised in that described aobvious Show that module shows and called out the stops unit, the vehicle computing unit including information screen display unit, TTS language processing units and LED Described information screen display unit, the TTS language processing units are connected respectively, and the TTS language processing units connect the LED Show and call out the stops unit.
6. according to the accurate space-time bus connected network communication monitoring terminal of the Big Dipper described in claim 1, it is characterised in that the signal Transmit-Receive Unit includes base band CPU, 3G/4G antenna and route and WiFi service units, and the vehicle computing unit connects the base band CPU, the base band CPU connect the 3G/4G antennas route, the WiFi service units respectively.
7. the method for work of the accurate space-time bus connected network communication monitoring terminal of the Big Dipper as claimed in any one of claims 1 to 6, Characterized in that, the method for work includes：
(1) the communication monitoring terminal is arranged on each bus, and be numbered according to circuit；
(2) Annual distribution formula is calibrated：The accurate space-time bus connected network communication monitoring terminal of the Big Dipper is opened, to traffic master control Center, bus platform control centre and all buses carry out unified time service；
(3) Big Dipper is positioned：All buses are positioned in real time；
(4) sub_meter position is carried out to all buses using ground Enhancement Method；
(5) data communication：The location information of all buses of acquisition is respectively sent to by the signal transmitting and receiving unit to hand over Logical mster-control centre, bus platform control centre；Calculate with the distance between car before and after bus all the way；By the positioning of bus Information is matched with the positional information of the parking area before bus platform, shows parking area；
(6) adjust with the distance between car before and after bus all the way；
(7) bus stop reporting.
8. the method for work of the accurate space-time bus connected network communication monitoring terminal of the Big Dipper as claimed in claim 7, it is characterised in that The specific localization method of the step (4) is：Using Big Dipper Differential positioning and INS alignment system to all public transport Car carries out sub_meter position,
The Big Dipper Differential positioning sets up Kalman filtering with INS alignment system using pipeline error propagation model Model system equation, coordinate system uses geographic coordinate system, and the earth is regarded as rotational ellipsoid, and Kalman filter is linear Model is as follows：
<mrow> <msub> <mover> <mi>X</mi> <mo>&amp;CenterDot;</mo> </mover> <mi>U</mi> </msub> <mo>=</mo> <msub> <mi>AX</mi> <mi>U</mi> </msub> <mo>+</mo> <mi>W</mi> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mi>I</mi> <mo>)</mo> </mrow> </mrow>
In formula (I)：Respectively state to Amount, respectively the longitude error of user's estimated location, latitude error, height error, east orientation speed error, north orientation speed error, Sky orientation speed error, the east orientation of INS Platform, north orientation, day are to attitude error angle, Beidou receiver clock correction and frequency difference；W=[0 0 0 ωve ωvn ωvu ωφe ωφn ωφu 0 ωΔf] it is respectively Big Dipper Differential positioning and INS alignment system Noise vector, A is Big Dipper Differential positioning and INS alignment system matrix, and exponent number is equal to state vector XUDimension；
Observational equation：Z=HXU+V (II)
In formula (II)：Z is observation vector, includes pseudorange ρBi(i=1,2,3), height h pseudorange rates and front and rear filtering twice are measured The difference Δ ρ of the pseudorange of dipper systemBi(i=1,2,3)；V is observation noise vector, and each component is made an uproar for the observation of each observed quantity of correspondence Sound, H is observing matrix；
If the state vector of estimation isΔXuFor the evaluated error of state vector, then observational equation shown in formula (II) be changed into as Lower form
<mrow> <mi>Z</mi> <mo>=</mo> <mi>H</mi> <mrow> <mo>(</mo> <msub> <mover> <mi>X</mi> <mo>^</mo> </mover> <mi>u</mi> </msub> <mo>+</mo> <msub> <mi>&amp;Delta;X</mi> <mi>u</mi> </msub> <mo>)</mo> </mrow> <mo>+</mo> <mi>V</mi> </mrow>
I.e.
<mrow> <mi>Z</mi> <mo>-</mo> <mi>H</mi> <msub> <mover> <mi>X</mi> <mo>^</mo> </mover> <mi>u</mi> </msub> <mo>=</mo> <msub> <mi>H&amp;Delta;X</mi> <mi>u</mi> </msub> <mo>+</mo> <mi>V</mi> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mi>I</mi> <mi>I</mi> <mi>I</mi> <mo>)</mo> </mrow> </mrow>
It is that the expression formula foundation of lower Big Dipper pseudorange expression formula and user to satellite distance is safe admittedly by ECEF coordinate systems, i.e. heart Strangle series at current location (X, Y, Z) place to deploy, linearisation, then two formula corresponding amounts are subtracted each other, obtain the pseudorange under ECEF coordinate systems Observational equation：
<mrow> <msub> <mi>&amp;Delta;&amp;rho;</mi> <mi>j</mi> </msub> <mo>=</mo> <mfrac> <mrow> <mi>X</mi> <mo>-</mo> <msub> <mi>X</mi> <mrow> <mi>s</mi> <mi>j</mi> </mrow> </msub> </mrow> <msub> <mi>r</mi> <mi>j</mi> </msub> </mfrac> <mi>&amp;Delta;</mi> <mi>X</mi> <mo>+</mo> <mfrac> <mrow> <mi>Y</mi> <mo>-</mo> <msub> <mi>Y</mi> <mrow> <mi>s</mi> <mi>j</mi> </mrow> </msub> </mrow> <msub> <mi>r</mi> <mi>j</mi> </msub> </mfrac> <mi>&amp;Delta;</mi> <mi>Y</mi> <mo>+</mo> <mfrac> <mrow> <mi>Z</mi> <mo>-</mo> <msub> <mi>Z</mi> <mrow> <mi>s</mi> <mi>j</mi> </mrow> </msub> </mrow> <msub> <mi>r</mi> <mi>j</mi> </msub> </mfrac> <mi>&amp;Delta;</mi> <mi>Z</mi> <mo>-</mo> <mi>c</mi> <mo>&amp;CenterDot;</mo> <mi>&amp;Delta;</mi> <mover> <mi>t</mi> <mo>~</mo> </mover> <mo>-</mo> <msub> <mi>&amp;omega;</mi> <mrow> <mi>&amp;rho;</mi> <mi>j</mi> </mrow> </msub> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mi>I</mi> <mi>V</mi> <mo>)</mo> </mrow> </mrow>
In formula (IV)：For user to the distance of jth satellite, (Xsj,Ysj, Zsj) it is position of the satellite in ECEF coordinate systems, (Δ X, Δ Y, Δ Z) is estimated location of the user in ECEF coordinate systems and true The difference of real position, ωρjFor pseudo range measurement noise,For user's clock correction equivalent distances error, Δ ρjFor jth satellite Pseudorange filtering information；
Above-mentioned ECEF coordinate systems coordinate representation is converted into geographic coordinate system to represent, the pseudorange observation equation obtained under Department of Geography is
In formula (V)：λ、H is respectively the longitude, latitude and height of user, RNIt is for reference ellipsoid of earth latitudePoint Radius of curvature in prime vertical；Highly it is expressed as：
<mrow> <mi>h</mi> <mo>-</mo> <mover> <mi>h</mi> <mo>^</mo> </mover> <mo>=</mo> <mo>-</mo> <mi>&amp;Delta;</mi> <mi>h</mi> <mo>+</mo> <msub> <mi>&amp;omega;</mi> <mi>h</mi> </msub> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mi>V</mi> <mi>I</mi> <mo>)</mo> </mrow> </mrow>
In formula (VI)：For Height Estimation value, ωhFor elevation carrection noise；
Pseudorange rates are the distance between the user that measurement is obtained and satellite rates of change, ifFor estimation user Vector of the speed of related movement in ECEF coordinate systems between satellite, then pseudorange rates be expressed as：
<mrow> <mtable> <mtr> <mtd> <mrow> <msub> <mover> <mi>&amp;rho;</mi> <mo>&amp;CenterDot;</mo> </mover> <mrow> <mi>u</mi> <mi>i</mi> </mrow> </msub> <mo>=</mo> <mfenced open = "(" close = ")"> <mtable> <mtr> <mtd> <msub> <mi>e</mi> <mrow> <mi>i</mi> <mn>1</mn> </mrow> </msub> </mtd> <mtd> <msub> <mi>e</mi> <mrow> <mi>i</mi> <mn>2</mn> </mrow> </msub> </mtd> <mtd> <msub> <mi>e</mi> <mrow> <mi>i</mi> <mn>3</mn> </mrow> </msub> </mtd> </mtr> </mtable> </mfenced> <msup> <mfenced open = "(" close = ")"> <mtable> <mtr> <mtd> <msub> <mover> <mover> <mi>X</mi> <mo>^</mo> </mover> <mo>&amp;CenterDot;</mo> </mover> <mrow> <mi>u</mi> <mi>s</mi> </mrow> </msub> </mtd> <mtd> <msub> <mover> <mover> <mi>Y</mi> <mo>^</mo> </mover> <mo>&amp;CenterDot;</mo> </mover> <mrow> <mi>u</mi> <mi>s</mi> </mrow> </msub> </mtd> <mtd> <msub> <mover> <mover> <mi>Z</mi> <mo>^</mo> </mover> <mo>&amp;CenterDot;</mo> </mover> <mrow> <mi>u</mi> <mi>s</mi> </mrow> </msub> </mtd> </mtr> </mtable> </mfenced> <mi>T</mi> </msup> <mo>+</mo> <mi>c</mi> <mo>&amp;CenterDot;</mo> <mi>&amp;Delta;</mi> <mover> <mi>f</mi> <mo>^</mo> </mover> <mo>=</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>e</mi> <mrow> <mi>i</mi> <mn>1</mn> </mrow> </msub> <mo>&amp;CenterDot;</mo> <msub> <mover> <mover> <mi>X</mi> <mo>^</mo> </mover> <mo>&amp;CenterDot;</mo> </mover> <mrow> <mi>u</mi> <mi>s</mi> </mrow> </msub> <mo>+</mo> <msub> <mi>e</mi> <mrow> <mi>i</mi> <mn>2</mn> </mrow> </msub> <mo>&amp;CenterDot;</mo> <msub> <mover> <mover> <mi>Y</mi> <mo>^</mo> </mover> <mo>&amp;CenterDot;</mo> </mover> <mrow> <mi>u</mi> <mi>s</mi> </mrow> </msub> <mo>+</mo> <msub> <mi>e</mi> <mrow> <mi>i</mi> <mn>3</mn> </mrow> </msub> <mo>&amp;CenterDot;</mo> <msub> <mover> <mover> <mi>Z</mi> <mo>^</mo> </mover> <mo>&amp;CenterDot;</mo> </mover> <mrow> <mi>u</mi> <mi>s</mi> </mrow> </msub> <mo>+</mo> <mi>c</mi> <mo>&amp;CenterDot;</mo> <mi>&amp;Delta;</mi> <mover> <mi>f</mi> <mo>^</mo> </mover> <mo>=</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>e</mi> <mrow> <mi>i</mi> <mn>1</mn> </mrow> </msub> <mo>&amp;CenterDot;</mo> <mrow> <mo>(</mo> <mrow> <mover> <mi>X</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>-</mo> <msub> <mover> <mi>X</mi> <mo>&amp;CenterDot;</mo> </mover> <mrow> <mi>s</mi> <mi>i</mi> </mrow> </msub> </mrow> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>e</mi> <mrow> <mi>i</mi> <mn>2</mn> </mrow> </msub> <mo>&amp;CenterDot;</mo> <mrow> <mo>(</mo> <mrow> <mover> <mi>Y</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>-</mo> <msub> <mover> <mi>Y</mi> <mo>&amp;CenterDot;</mo> </mover> <mrow> <mi>s</mi> <mi>i</mi> </mrow> </msub> </mrow> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>e</mi> <mrow> <mi>i</mi> <mn>3</mn> </mrow> </msub> <mo>&amp;CenterDot;</mo> <mrow> <mo>(</mo> <mrow> <mover> <mi>Z</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>-</mo> <msub> <mover> <mi>Z</mi> <mo>&amp;CenterDot;</mo> </mover> <mrow> <mi>s</mi> <mi>i</mi> </mrow> </msub> </mrow> <mo>)</mo> </mrow> <mo>+</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>e</mi> <mrow> <mi>i</mi> <mn>1</mn> </mrow> </msub> <mo>&amp;CenterDot;</mo> <mi>&amp;Delta;</mi> <mover> <mi>X</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>+</mo> <msub> <mi>e</mi> <mrow> <mi>i</mi> <mn>2</mn> </mrow> </msub> <mo>&amp;CenterDot;</mo> <mi>&amp;Delta;</mi> <mover> <mi>Y</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>+</mo> <msub> <mi>e</mi> <mrow> <mi>i</mi> <mn>3</mn> </mrow> </msub> <mo>&amp;CenterDot;</mo> <mi>&amp;Delta;</mi> <mover> <mi>Z</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>+</mo> <mi>c</mi> <mo>&amp;CenterDot;</mo> <mi>&amp;Delta;</mi> <mover> <mi>f</mi> <mo>^</mo> </mover> </mrow> </mtd> </mtr> </mtable> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mrow> <mi>V</mi> <mi>I</mi> <mi>I</mi> </mrow> <mo>)</mo> </mrow> </mrow>
In formula (VII)：For user and i-th satellite movement velocity in ECEF coordinate systems Vector；For the receiver user frequency difference equivalent distances rate error of estimation； Respectively direction cosines of the user to i-th satellite；
In addition, the pseudorange rate of change of Big Dipper measurement is expressed as
<mrow> <msub> <mover> <mi>&amp;rho;</mi> <mo>&amp;CenterDot;</mo> </mover> <mrow> <mi>B</mi> <mi>i</mi> </mrow> </msub> <mo>=</mo> <msub> <mi>e</mi> <mrow> <mi>i</mi> <mn>1</mn> </mrow> </msub> <mo>&amp;CenterDot;</mo> <mrow> <mo>(</mo> <mover> <mi>X</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>-</mo> <msub> <mover> <mi>X</mi> <mo>&amp;CenterDot;</mo> </mover> <mrow> <mi>s</mi> <mi>i</mi> </mrow> </msub> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>e</mi> <mrow> <mi>i</mi> <mn>2</mn> </mrow> </msub> <mo>&amp;CenterDot;</mo> <mrow> <mo>(</mo> <mover> <mi>Y</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>-</mo> <msub> <mover> <mi>Y</mi> <mo>&amp;CenterDot;</mo> </mover> <mrow> <mi>s</mi> <mi>i</mi> </mrow> </msub> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>e</mi> <mrow> <mi>i</mi> <mn>3</mn> </mrow> </msub> <mo>&amp;CenterDot;</mo> <mrow> <mo>(</mo> <mover> <mi>Z</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>-</mo> <msub> <mover> <mi>Z</mi> <mo>&amp;CenterDot;</mo> </mover> <mrow> <mi>s</mi> <mi>i</mi> </mrow> </msub> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>&amp;omega;</mi> <mrow> <mi>&amp;rho;</mi> <mi>i</mi> </mrow> </msub> <mo>+</mo> <mi>c</mi> <mo>&amp;CenterDot;</mo> <mi>&amp;Delta;</mi> <mover> <mi>f</mi> <mo>^</mo> </mover> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mi>V</mi> <mi>I</mi> <mi>I</mi> <mi>I</mi> <mo>)</mo> </mrow> </mrow>
So, the pseudorange rates observational equation under ECEF coordinate systems is:
<mrow> <msub> <mover> <mi>&amp;rho;</mi> <mo>&amp;CenterDot;</mo> </mover> <mrow> <mi>B</mi> <mi>i</mi> </mrow> </msub> <mo>-</mo> <msub> <mover> <mi>&amp;rho;</mi> <mo>&amp;CenterDot;</mo> </mover> <mrow> <mi>u</mi> <mi>i</mi> </mrow> </msub> <mo>-</mo> <mi>c</mi> <mo>&amp;CenterDot;</mo> <mi>&amp;Delta;</mi> <mover> <mi>f</mi> <mo>^</mo> </mover> <mo>=</mo> <msub> <mi>e</mi> <mrow> <mi>i</mi> <mn>1</mn> </mrow> </msub> <mo>&amp;CenterDot;</mo> <mi>&amp;Delta;</mi> <mover> <mi>X</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>+</mo> <msub> <mi>e</mi> <mrow> <mi>i</mi> <mn>2</mn> </mrow> </msub> <mo>&amp;CenterDot;</mo> <mi>&amp;Delta;</mi> <mover> <mi>Y</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>+</mo> <msub> <mi>e</mi> <mrow> <mi>i</mi> <mn>3</mn> </mrow> </msub> <mo>&amp;CenterDot;</mo> <mi>&amp;Delta;</mi> <mover> <mi>Z</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>+</mo> <msub> <mi>&amp;omega;</mi> <mrow> <mi>&amp;rho;</mi> <mi>i</mi> </mrow> </msub> <mo>+</mo> <mi>c</mi> <mo>&amp;CenterDot;</mo> <mi>&amp;Delta;</mi> <mover> <mi>f</mi> <mo>^</mo> </mover> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mi>I</mi> <mi>X</mi> <mo>)</mo> </mrow> </mrow>
According to the Coordinate Conversion of geographic coordinate system to ECEF coordinate system battle array, have
So the pseudorange rates observational equation under Department of Geography is
The difference of the difference of the Big Dipper pseudorange measured with filtering twice and the difference of corresponding inertial navigation pseudorange is referred to as pseudo- as observed quantity Away from its difference；
The final observational equation tried to achieve under ECEF coordinate systems is that T is the interval time filtered twice：
<mrow> <mtable> <mtr> <mtd> <mrow> <msub> <mi>&amp;Delta;&amp;rho;</mi> <mrow> <mi>I</mi> <mi>i</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>&amp;Delta;&amp;rho;</mi> <mrow> <mi>B</mi> <mi>i</mi> </mrow> </msub> <mo>=</mo> <mrow> <mo>&amp;lsqb;</mo> <mrow> <mfrac> <mrow> <mi>X</mi> <mo>-</mo> <msub> <mi>X</mi> <mrow> <mi>s</mi> <mi>i</mi> </mrow> </msub> </mrow> <msub> <mi>r</mi> <mi>i</mi> </msub> </mfrac> <mi>T</mi> <mfrac> <mrow> <mo>(</mo> <mrow> <mi>&amp;Delta;</mi> <mi>X</mi> <mo>-</mo> <msub> <mi>&amp;Delta;X</mi> <mo>-</mo> </msub> </mrow> <mo>)</mo> </mrow> <mi>T</mi> </mfrac> <mo>+</mo> <mfrac> <mrow> <mi>Y</mi> <mo>-</mo> <msub> <mi>Y</mi> <mrow> <mi>s</mi> <mi>i</mi> </mrow> </msub> </mrow> <msub> <mi>r</mi> <mi>i</mi> </msub> </mfrac> <mi>T</mi> <mfrac> <mrow> <mo>(</mo> <mrow> <mi>&amp;Delta;</mi> <mi>Y</mi> <mo>-</mo> <msub> <mi>&amp;Delta;Y</mi> <mo>-</mo> </msub> </mrow> <mo>)</mo> </mrow> <mi>T</mi> </mfrac> <mo>+</mo> <mfrac> <mrow> <mi>Z</mi> <mo>-</mo> <msub> <mi>Z</mi> <mrow> <mi>s</mi> <mi>i</mi> </mrow> </msub> </mrow> <msub> <mi>r</mi> <mi>i</mi> </msub> </mfrac> <mi>T</mi> <mfrac> <mrow> <mo>(</mo> <mrow> <mi>&amp;Delta;</mi> <mi>Z</mi> <mo>-</mo> <msub> <mi>&amp;Delta;Z</mi> <mo>-</mo> </msub> </mrow> <mo>)</mo> </mrow> <mi>T</mi> </mfrac> </mrow> <mo>&amp;rsqb;</mo> </mrow> <mo>+</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mrow> <mo>&amp;lsqb;</mo> <mrow> <mrow> <mo>(</mo> <mrow> <mfrac> <mrow> <mi>X</mi> <mo>-</mo> <msub> <mi>X</mi> <mrow> <mi>s</mi> <mi>i</mi> </mrow> </msub> </mrow> <msub> <mi>r</mi> <mi>i</mi> </msub> </mfrac> <mo>-</mo> <mfrac> <mrow> <msub> <mi>X</mi> <mo>-</mo> </msub> <mo>-</mo> <msub> <mi>X</mi> <mrow> <mi>s</mi> <mi>i</mi> <mo>-</mo> </mrow> </msub> </mrow> <msub> <mi>r</mi> <mrow> <mi>i</mi> <mo>-</mo> </mrow> </msub> </mfrac> </mrow> <mo>)</mo> </mrow> <mi>&amp;Delta;</mi> <mi>X</mi> <mo>+</mo> <mrow> <mo>(</mo> <mrow> <mfrac> <mrow> <mi>Y</mi> <mo>-</mo> <msub> <mi>Y</mi> <mrow> <mi>s</mi> <mi>i</mi> </mrow> </msub> </mrow> <msub> <mi>r</mi> <mi>i</mi> </msub> </mfrac> <mo>-</mo> <mfrac> <mrow> <msub> <mi>Y</mi> <mo>-</mo> </msub> <mo>-</mo> <msub> <mi>Y</mi> <mrow> <mi>s</mi> <mi>i</mi> <mo>-</mo> </mrow> </msub> </mrow> <msub> <mi>r</mi> <mrow> <mi>i</mi> <mo>-</mo> </mrow> </msub> </mfrac> </mrow> <mo>)</mo> </mrow> <mi>&amp;Delta;</mi> <mi>Y</mi> <mo>+</mo> <mrow> <mo>(</mo> <mrow> <mfrac> <mrow> <mi>Z</mi> <mo>-</mo> <msub> <mi>Z</mi> <mrow> <mi>s</mi> <mi>i</mi> </mrow> </msub> </mrow> <msub> <mi>r</mi> <mi>i</mi> </msub> </mfrac> <mo>-</mo> <mfrac> <mrow> <msub> <mi>Z</mi> <mo>-</mo> </msub> <mo>-</mo> <msub> <mi>Z</mi> <mrow> <mi>s</mi> <mi>i</mi> <mo>-</mo> </mrow> </msub> </mrow> <msub> <mi>r</mi> <mrow> <mi>i</mi> <mo>-</mo> </mrow> </msub> </mfrac> </mrow> <mo>)</mo> </mrow> <mi>&amp;Delta;</mi> <mi>Z</mi> </mrow> <mo>&amp;rsqb;</mo> </mrow> <mo>-</mo> <mi>c</mi> <mfrac> <mrow> <mi>d</mi> <mi>&amp;Delta;</mi> <mi>t</mi> </mrow> <mrow> <mi>d</mi> <mi>t</mi> </mrow> </mfrac> <mi>T</mi> <mo>-</mo> <msub> <mi>&amp;Delta;&amp;omega;</mi> <mrow> <mi>&amp;rho;</mi> <mi>i</mi> </mrow> </msub> <mo>&amp;ap;</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mrow> <mo>&amp;lsqb;</mo> <mrow> <msub> <mi>e</mi> <mrow> <mi>i</mi> <mn>1</mn> </mrow> </msub> <mi>T</mi> <mo>&amp;CenterDot;</mo> <mi>&amp;Delta;</mi> <mover> <mi>X</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>+</mo> <msub> <mi>e</mi> <mrow> <mi>i</mi> <mn>2</mn> </mrow> </msub> <mi>T</mi> <mo>&amp;CenterDot;</mo> <mi>&amp;Delta;</mi> <mover> <mi>Y</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>+</mo> <msub> <mi>e</mi> <mrow> <mi>i</mi> <mn>3</mn> </mrow> </msub> <mi>T</mi> <mo>&amp;CenterDot;</mo> <mi>&amp;Delta;</mi> <mover> <mi>Z</mi> <mo>&amp;CenterDot;</mo> </mover> </mrow> <mo>&amp;rsqb;</mo> </mrow> <mo>+</mo> <mrow> <mo>&amp;lsqb;</mo> <mrow> <mrow> <mo>(</mo> <mrow> <msub> <mi>e</mi> <mrow> <mi>i</mi> <mn>1</mn> </mrow> </msub> <mo>-</mo> <msub> <mi>e</mi> <mrow> <mi>i</mi> <mn>1</mn> <mo>-</mo> </mrow> </msub> </mrow> <mo>)</mo> </mrow> <mi>&amp;Delta;</mi> <mi>X</mi> <mo>+</mo> <mrow> <mo>(</mo> <mrow> <msub> <mi>e</mi> <mrow> <mi>i</mi> <mn>2</mn> </mrow> </msub> <mo>-</mo> <msub> <mi>e</mi> <mrow> <mi>i</mi> <mn>2</mn> <mo>-</mo> </mrow> </msub> </mrow> <mo>)</mo> </mrow> <mi>&amp;Delta;</mi> <mi>Y</mi> <mo>+</mo> <mrow> <mo>(</mo> <mrow> <msub> <mi>e</mi> <mrow> <mi>i</mi> <mn>3</mn> </mrow> </msub> <mo>-</mo> <msub> <mi>e</mi> <mrow> <mi>i</mi> <mn>3</mn> <mo>-</mo> </mrow> </msub> </mrow> <mo>)</mo> </mrow> <mi>&amp;Delta;</mi> <mi>Z</mi> </mrow> <mo>&amp;rsqb;</mo> </mrow> <mo>-</mo> <mi>c</mi> <mfrac> <mrow> <mi>d</mi> <mi>&amp;Delta;</mi> <mi>t</mi> </mrow> <mrow> <mi>d</mi> <mi>t</mi> </mrow> </mfrac> <mi>T</mi> <mo>-</mo> <msub> <mi>&amp;Delta;&amp;omega;</mi> <mrow> <mi>&amp;rho;</mi> <mi>i</mi> </mrow> </msub> </mrow> </mtd> </mtr> </mtable> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mrow> <mi>X</mi> <mi>I</mi> <mi>I</mi> </mrow> <mo>)</mo> </mrow> </mrow>
Formula (XII) Far Left is the filtering information of the difference of pseudorange, is Δ L such as by this information flag, geography is obtained after coordinate transform The difference observational equation of pseudorange is under system
In formula (XIII)：(X-, Y-, Z-)、(Xsi-, Ysi-, Zsi-), i=1,2,3 be user and satellite previous moment in ECEF coordinates Position under system, (Δ X-, Δ Y-, Δ Z-) for the estimate of previous moment ECEF coordinate system error states, the appearance from physical significance It is readily understood Residual error after subtracting each other for user's clock correction equivalent distances error in front and rear pseudorange twice ；
So by following formula
<mrow> <msqrt> <mrow> <msup> <mrow> <mo>(</mo> <msub> <mi>X</mi> <mrow> <mi>s</mi> <mi>i</mi> </mrow> </msub> <mo>-</mo> <mi>X</mi> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>Y</mi> <mrow> <mi>s</mi> <mi>i</mi> </mrow> </msub> <mo>-</mo> <mi>Y</mi> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>Z</mi> <mrow> <mi>s</mi> <mi>i</mi> </mrow> </msub> <mo>-</mo> <mi>Z</mi> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow> </msqrt> <mo>+</mo> <mi>c</mi> <mo>&amp;CenterDot;</mo> <mi>&amp;Delta;</mi> <mover> <mi>t</mi> <mo>~</mo> </mover> <mo>=</mo> <msub> <mi>&amp;Delta;&amp;rho;</mi> <mrow> <mi>I</mi> <mi>i</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>&amp;Delta;&amp;rho;</mi> <mrow> <mi>B</mi> <mi>i</mi> </mrow> </msub> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mi>X</mi> <mi>I</mi> <mi>V</mi> <mo>)</mo> </mrow> </mrow>
Draw the position (X, Y, Z) of user.
9. the method for work of the accurate space-time bus connected network communication monitoring terminal of the Big Dipper as claimed in claim 7, it is characterised in that Step (6) adjustment the comprising the following steps that with the distance between car before and after bus all the way：
The whole route of certain bus all the way is set as Lkm, the departing time interval of adjacent two buses of the route is Th, should The average speed of bus is that the spacing between V km/h, adjacent two buses is to have on V*T km, the route on route L/ (V*T) bus；
Stroke distances between adjacent two buses are calculated according to public bus network, if front-and-rear vehicle distance is more than S from xmaxKm, then The driver of a bus below is reminded to accelerate speed traveling, speed is brought up toIt is equal to if front-and-rear vehicle distance is small from x SminKm, then remind driver's slow down of a bus next, and speed is reduced to
10. the method for work of the accurate space-time bus connected network communication monitoring terminal of the Big Dipper as claimed in claim 7, its feature exists In the step (5), data communication is specifically included：
A, the real-time position information of bus is transferred in the vehicle-mounted primary processor of the bus, by the vehicle-mounted master of the bus Processor is transferred in the base band CPU, and the real-time position information of bus is transferred into friendship by 3G/4G antennas route The real-time position information of bus, is transferred in bus platform control by logical mster-control centre's processor by WiFi service units Heart processor；
B, in traffic mster-control centre, corresponding bus route is matched according to the numbering of this bus car-mounted terminal, according to The actual running distance of car before and after the location information of front and rear two same routes buses is determined according to the public bus network；
Parking area positional information before c, bus platform has been stored in bus platform control centre, when bus reaches public transport When near platform, the vehicle-carrying communication monitoring terminal of bus can be realized and bus platform control centre by WiFi service units Communication, shares the real-time positioning information of bus, and carrying out contrast with the positional information of parking area matches, that is, determines the bus Stop position and platform show screen display.
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CN110335461A (en) * 2019-05-09 2019-10-15 南京行者易智能交通科技有限公司 A kind of acquisition methods and device of the practical execution information of public transport shift
CN110335556A (en) * 2019-07-03 2019-10-15 桂林电子科技大学 It is mobile to explain platform and its control method, control system, computer media
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CN111489094A (en) * 2020-04-15 2020-08-04 云南电网有限责任公司曲靖供电局 Beidou power grid safety production management method and system
CN112908034A (en) * 2021-01-15 2021-06-04 中山大学南方学院 Intelligent bus safe driving behavior auxiliary supervision system and control method

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CN108898824B (en) * 2018-07-25 2021-06-29 公安部交通管理科学研究所 Intersection bus signal priority control system and control method based on C-V2X
CN108898824A (en) * 2018-07-25 2018-11-27 公安部交通管理科学研究所 A kind of intersection bus signal priority control system and control method based on C-V2X
CN109541661A (en) * 2018-11-13 2019-03-29 中国联合网络通信集团有限公司 A kind of localization method and device
CN110210303A (en) * 2019-04-29 2019-09-06 山东大学 A kind of accurate lane of Beidou vision fusion recognizes and localization method and its realization device
CN110335461A (en) * 2019-05-09 2019-10-15 南京行者易智能交通科技有限公司 A kind of acquisition methods and device of the practical execution information of public transport shift
CN110211377A (en) * 2019-05-29 2019-09-06 西安航天三沃机电设备有限责任公司 A kind of vehicle behavior identification device towards non-at-scene law enforcement
CN110335556A (en) * 2019-07-03 2019-10-15 桂林电子科技大学 It is mobile to explain platform and its control method, control system, computer media
CN111126835A (en) * 2019-12-23 2020-05-08 航天科技控股集团股份有限公司 Public vehicle management method based on Beidou satellite positioning
CN111126835B (en) * 2019-12-23 2023-04-18 航天科技控股集团股份有限公司 Public vehicle management method based on Beidou satellite positioning
CN111489094A (en) * 2020-04-15 2020-08-04 云南电网有限责任公司曲靖供电局 Beidou power grid safety production management method and system
CN111489094B (en) * 2020-04-15 2024-01-23 云南电网有限责任公司曲靖供电局 Beidou power grid safety production management method and system
CN112908034A (en) * 2021-01-15 2021-06-04 中山大学南方学院 Intelligent bus safe driving behavior auxiliary supervision system and control method

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