CN107272034A - A kind of reverse car seeking alignment system and method - Google Patents
A kind of reverse car seeking alignment system and method Download PDFInfo
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- CN107272034A CN107272034A CN201710581392.9A CN201710581392A CN107272034A CN 107272034 A CN107272034 A CN 107272034A CN 201710581392 A CN201710581392 A CN 201710581392A CN 107272034 A CN107272034 A CN 107272034A
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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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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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
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- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention relates to a kind of reverse car seeking alignment system and method, reverse car seeking alignment system includes base station, movement station, server and intelligent terminal；Base station is handled satellite-signal, obtains satellite orbit and clock error correction number, and by carrier phase smoothing pseudo-range, generation differential corrections and correction rate of change are transmitted to server and stored；Movement station is handled satellite-signal, and the first location data of generation is transmitted to server or combines the progress vehicle location of the first location data, generates Primary Location data；Also final location data is transmitted to intelligent terminal；Server is prestored location data, and the first location data or Primary Location data are corrected, and generates final location data；Intelligent terminal is shown to final location data.The present invention can in real time be corrected to the positioning of movement station, realize the high accuracy positioning in real time to vehicle, positioning signal is transmitted to intelligent terminal, be easy to user to carry out reverse car seeking.
Description
Technical field
The present invention relates to field of navigation technology, more particularly to a kind of reverse car seeking alignment system and method.
Background technology
With the development and the progress of society of the mankind, the social activities of people is more and more, and the trip of people is also increasingly
Many too busy to get away vehicles, increasing people has the automobile of oneself.Car owner tends to lose in large parking lot
Orientation, forgets the position of parking, so that vehicle can not be quickly found.This life just given people brings very big inconvenience.
Exist in present parking lot it is several can realize the intelligence system of reverse car seeking, part system is by by RFID
Card is bound with vehicle, the install sensor on parking stall, by recognizing that parking space information is realized then in conjunction with the facility in parking lot
Reverse car seeking；Part system is the action trail by substantial amounts of signal acquisition sensor collection vehicle, with this determination parking stall
Put and realize reverse car seeking.The shortcoming of these systems has：1st, substantial amounts of equipment has been put into parking lot, such as wireless localization apparatus,
RFID card, these equipment need regularly to safeguard, and some equipment volumes are big, power consumption is higher, cost is high, and these all increase
The operating cost in parking lot is added；2nd, the positioning precision of vehicle is low, and car owner can not be realized quickly reversely by these methods
Car is sought, the regular hour is wasted；3rd, the positioning that parking field device realizes vehicle is relied primarily on, it is impossible to realize autonomous positioning,
System may lose positioning and seek car function under emergency situations.
In the prior art, major technique is that whether have vehicle using in wireless parking stall measure card detection parking stall, utilizes nothing
The vehicles identifications card of line detects the vehicle in parking stall and information is uploaded into base station, and car owner is looked into by parking space guide screen and vehicle
Inquiry machine finds vacant parking stall and inquires about the parking stall stopped of the vehicle of oneself.
In the prior art, the nothing also by receiving several wireless terminals, the vehicle that several wireless signal acquiring units are sent
The information of line terminal, forms action trail of the vehicle in parking lot, and judges parking spot, realizes that reverse car seeking is positioned
Control.
In the prior art, also then parking card is taken to enter, the data of system by recognizing license plate number at Entrance
The parking card card number that the license plate number and parking card reading unit that processing unit recognizes Car license recognition unit are read is bound, and is led to
The letter unit information transmission that handles data processing unit is to control centre, and information is stored, then passed through by control centre
The parking stall number that is stored with and the parking space information memory cell of parking stall position, control is sent to by parking stall occupancy probe unit result of detection
Center, people carry out reverse car seeking by RFID positioning units.
Three kinds of above-mentioned technical schemes, are required for parking lot to put into substantial amounts of parking card and set up the control system of oneself
Unite, and the later stage is also required to input manpower and materials and goes to be safeguarded, certain financial burden is thus caused to parking lot.Pin
These deficiencies are proposed with new design philosophy and located in connection algorithm is improved so that the device has that precision is high, cost
The features such as low, small volume, low-power consumption.
The content of the invention
It is an object of the invention to provide a kind of reverse car seeking alignment system and method, technical problem to be solved is：Need
Want parking lot to put into substantial amounts of parking card and set up the control system of oneself, and the later stage be also required to input manpower and materials go into
Row is safeguarded, certain financial burden is thus caused to parking lot.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：A kind of reverse car seeking alignment system, including base station,
Movement station, server and intelligent terminal, (base station can without where be specifically put into), the movement station is placed on vehicle,
The base station and movement station with the server wireless connection；The movement station and the intelligent terminal wireless connection；
The base station, for receiving satellite-signal, is handled satellite-signal, obtains satellite orbit and clock error correction
Number, by carrier phase smoothing pseudo-range, generation differential corrections and correction rate of change are transmitted to server and stored；
The movement station, for receiving satellite-signal, is handled satellite-signal, generates the first location data, by the
One location data is transmitted to server or combines the progress vehicle location of the first location data, generation Primary Location data transfer to clothes
Business device；It is additionally operable to transmit final location data to intelligent terminal；
The server, for the location data that prestores, according to the location data that prestores, differential corrections and correction rate of change
First location data or Primary Location data are corrected, final location data is generated and transmits to movement station；
The intelligent terminal, for being shown to final location data.
The beneficial effects of the invention are as follows：Base station, movement station and server coordinate operation, can be carried out to the positioning of movement station
Correction in real time, realizes the high accuracy positioning in real time to vehicle, positioning signal is transmitted to intelligent terminal, is easy to user to carry out reverse
Seek car；And the system possesses small volume and the low advantage of cost, and system building is simple, can apply in a variety of occasions.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Further, the base station includes dual mode receiver, main control module and communication module；The dual mode receiver, master
Control module and communication module are sequentially connected, the communication module and server wireless connection；
The dual mode receiver, for receiving satellite-signal by antenna, sends satellite-signal to main control module；
The main control module, for satellite-signal carry out carrier phase smoothing pseudo-range processing, calculate differential corrections and
Correction rate of change；Differential corrections and correction rate of change are transmitted to server by communication module and stored.
Beneficial effect using above-mentioned further scheme is：Differential corrections and correction rate of change are transmitted to server
Stored, be easy to subsequent mobile stations to read differential corrections and correction rate of change, become using differential corrections and correction
Rate eliminates common error to common observation satellite, lifts the accuracy of positioning.
Further, the antenna is four helical antennas.
Beneficial effect using above-mentioned further scheme is：The sensitivity of four helical antennas is high, can be relatively easy to capture
Elevation angle satellite-signal, lifts the accuracy and real-time of positioning.
Further, the movement station includes outdoor positioning module and indoor positioning module, the outdoor positioning module and room
Interior locating module connection；The outdoor positioning module and indoor positioning module are placed on vehicle；(directly say that movement station is placed in vehicle
It is upper)
The outdoor positioning module, for receiving satellite-signal by antenna, is handled satellite-signal, generation first
Location data；Satellite number is obtained simultaneously, when satellite number is more than given threshold, the first location data is transmitted to server and carried out
Processing；When satellite number is less than given threshold, the first location data is transmitted to indoor positioning module；
The indoor positioning module, for receiving the first location data, while gather course angular data, acceleration information,
Geomagnetic data, barometric information and view data, by the first location data, course angular data, acceleration information, geomagnetic data, gas
Data and view data is pressed to carry out integrated treatment, generation Primary Location data transfer to server is handled.
Beneficial effect using above-mentioned further scheme is：Differential corrections are obtained by server and correction changes
Rate, eliminates common error, pseudo range observed quantity is after error correction, according to adding by difference matching algorithm to common observation satellite
Weigh least square method and resolve positioning, obtain the first location data and transmit to server or indoor positioning module；
Indoor positioning module does integration positions calculations to the course angular data of collection, acceleration information, geomagnetic data, with reference to
Barometric information, view data and the first location data, then according to Kalman filtering integrated navigation, export location information, realize
High-precision positioning to vehicle.
Further, the indoor positioning module includes gyro sensor, acceleration transducer, geomagnetic sensor, master control
Unit and communication unit, the gyro sensor, acceleration transducer, geomagnetic sensor and communication unit with the master control
Unit is connected, the communication unit and the server wireless connection；
The gyro sensor, for the course angular data of collection vehicle, by the course angle data transfer of collection to master
Control unit；
The acceleration transducer, for the acceleration information of collection vehicle, the acceleration information of collection is transmitted to master
Control unit；
The geomagnetic sensor, for the geomagnetic data around collection vehicle, the geomagnetic data of collection is transmitted to master control
Unit；
The main control unit, for being integrated positions calculations to course angular data, acceleration information and geomagnetic data, is obtained
Primary Location is carried out to the second location data.
Beneficial effect using above-mentioned further scheme is：Gyro sensor, acceleration transducer, geomagnetic sensor association
Allocation and transportation make, course angular data, acceleration information and geomagnetic data can be gathered in real time, according to course angular data, acceleration information and
Geomagnetic data can realize the real-time simple positioning of vehicle.
Further, the indoor positioning module also includes barograph sensor and camera；
The barograph sensor, for the barometric information around collection vehicle, the barometric information of collection is transmitted to master
Control unit；
The camera, for being shot around vehicle present position, generating view data, view data being passed
Transport to main control unit；(the two are put into proper in indoor positioning module)
The main control unit, to the first location data, the second location data, barometric information and view data
Reason, obtains Primary Location data, by communication unit by Primary Location data transfer to server.
Beneficial effect using above-mentioned further scheme is：With reference to the first location data, the second location data, barometric information
Handled with view data, data collection and analysis processing is carried out from every side, positioning precision is further lifted.
Another technical scheme that the present invention solves above-mentioned technical problem is as follows：A kind of reverse car seeking localization method, including with
Lower step：
Step S1. base stations receive satellite-signal, and satellite-signal is handled, and generation differential corrections and correction become
Rate is transmitted to server and stored；
Step S2. movement stations receive satellite-signal, and satellite-signal is handled, and the first location data are generated, by first
Location data is transmitted to server or combines the progress vehicle location of the first location data, generation Primary Location data transfer to service
Device；
Step S3. servers prestore location data, according to the location data that prestores, differential corrections and correction rate of change pair
First location data or Primary Location data are corrected, and are generated final location data and are transmitted to movement station；
Step S4. movement stations transmit final location data to intelligent terminal, and intelligent terminal is carried out to final location data
Display.
The beneficial effects of the invention are as follows：Base station, movement station and server coordinate operation, can be carried out to the positioning of movement station
Correction in real time, realizes the high accuracy positioning in real time to vehicle, positioning signal is transmitted to intelligent terminal, is easy to user to carry out reverse
Seek car；And the system possesses small volume and the low advantage of cost, and system building is simple, can apply in a variety of occasions.
Further, following steps are specifically included in the step S1：
Step S11. dual mode receivers receive satellite-signal by antenna, send satellite-signal to main control module；
Step S12. main control modules carry out carrier phase smoothing pseudo-range processing to satellite-signal, calculate differential corrections and change
Positive number rate of change；Differential corrections and correction rate of change are transmitted to server by communication module and stored.
Beneficial effect using above-mentioned further scheme is：Differential corrections and correction rate of change are transmitted to server
Stored, be easy to subsequent mobile stations to read differential corrections and correction rate of change, become using differential corrections and correction
Rate eliminates common error to common observation satellite, lifts the accuracy of positioning.
Further, following steps are specifically included in the step S2：
Step S21. outdoor positionings module receives satellite-signal by antenna, and satellite-signal is handled, generation first
Location data；Satellite number is obtained simultaneously, when satellite number is more than given threshold, the first location data is transmitted to server and carried out
Processing；When satellite number is less than given threshold, the first location data is transmitted to indoor positioning module；
Step S22. indoor positionings module receive the first location data, while gather course angular data, acceleration information,
Magnetic data, barometric information and view data, by the first location data, course angular data, acceleration information, geomagnetic data, air pressure
Data and view data carry out integrated treatment, and generation Primary Location data transfer to server is handled.
Beneficial effect using above-mentioned further scheme is：Outdoor positioning module and the running of indoor positioning module coordination；It is right
Intelligent terminal exports location information, realizes the high-precision positioning to vehicle.
Brief description of the drawings
Fig. 1 is a kind of module frame chart of reverse car seeking alignment system of the invention；
Fig. 2 is the module map of base station of the present invention；
Fig. 3 is the module frame chart of movement station of the present invention；
Fig. 4 is the module frame chart of indoor positioning module of the present invention；
Fig. 5 is a kind of flow chart of reverse car seeking localization method of the invention.
In accompanying drawing, the list of parts representated by each label is as follows：
1st, base station, 101, dual mode receiver, 102, main control module, 103, communication module；
2nd, movement station, 210, outdoor positioning module, 220, indoor positioning module；
221st, gyro sensor, 222, acceleration transducer, 223, geomagnetic sensor, 224, main control unit, 225, logical
Believe unit, 226, barograph sensor, 227, camera；
3rd, server, 4, intelligent terminal.
Embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing, the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
As shown in figure 1, a kind of reverse car seeking alignment system, including base station 1, movement station 2, server 3 and intelligent terminal
4, the movement station 2 is placed on vehicle, the base station 1 and movement station 2 with the wireless connection of server 3；The movement
Stand 2 with the wireless connection of intelligent terminal 4；
The base station 1, for receiving satellite-signal, is handled satellite-signal, obtains satellite orbit and clock correction changes
Positive number, by carrier phase smoothing pseudo-range, generation differential corrections and correction rate of change are transmitted to server 3 and stored；
The movement station 2, for receiving satellite-signal, is handled satellite-signal, generates the first location data, by the
One location data is transmitted to server 3 or combines the progress vehicle location of the first location data, and generation Primary Location data transfer is extremely
Server 3；It is additionally operable to transmit final location data to intelligent terminal 4；
The server 3, for the location data that prestores, changes according to the location data that prestores, differential corrections and correction
Rate is corrected to the first location data or Primary Location data, is generated final location data and is transmitted to movement station 2；
The intelligent terminal 4, for being shown to final location data.
In above-described embodiment, base station 1, movement station 2 and the coordinate operation of server 3 can be carried out real to the positioning of movement station 2
When correct, realize in real time to the high accuracy positioning of vehicle, positioning signal transmitted to intelligent terminal 4, be easy to user to carry out reverse
Seek car；And the system possesses small volume and the low advantage of cost, and system building is simple, can apply in a variety of occasions.
Optionally, as one embodiment of the present of invention：As shown in Fig. 2 the base station 1 include dual mode receiver 101,
Main control module 102 and communication module 103；The dual mode receiver 101, main control module 102 and communication module 103 are sequentially connected,
The communication module 103 and the wireless connection of server 3；
The dual mode receiver 101, for receiving satellite-signal by antenna, sends satellite-signal to main control module
102；
The main control module 102, for carrying out carrier phase smoothing pseudo-range processing to satellite-signal, calculates differential corrections
And correction rate of change；Differential corrections and correction rate of change are transmitted to server 3 by communication module 103 and deposited
Storage.
In above-described embodiment, main control module 102 reads the Big Dipper/GPS almanac datas and observation data according to satellite-signal,
Carrier phase detection is carried out with repairing；Satellite orbit and clock error correction number are obtained by clearance-type RTPPP in real time, by between epoch
Differential Self-Calibration model is handled satellite orbit and clock error correction number；Again by carrier phase smoothing pseudo-range algorithm to pseudorange
Observation carries out smothing filtering, eliminates pseudorange noise；
Satellite position can be calculated by almanac data, benchmark station coordinates has been demarcated in advance, can calculate precision station star away from,
According to difference algorithm is improved, differential corrections are calculated；Because the size of differential corrections can change over time,
Correction rate of change will also be calculated except calculating correction according to this situation base station；Differential corrections and correction are changed
Rate is transmitted to server 3 and stored, and is easy to subsequent mobile stations 2 to read differential corrections and correction rate of change, is utilized difference
Correction and correction rate of change eliminate common error to common observation satellite, lift the accuracy of positioning.
Optionally, as one embodiment of the present of invention：The antenna is four helical antennas.
In above-described embodiment, the sensitivity of four helical antennas is high, can be relatively easy to capture elevation angle satellite-signal, and lifting is fixed
The accuracy and real-time of position.
Optionally, as one embodiment of the present of invention：As shown in figure 3, the movement station 2 includes outdoor positioning module
210 and indoor positioning module 220, the outdoor positioning module 210 is connected with indoor positioning module 220；The outdoor positioning mould
Block 210 and indoor positioning module 220 are placed on vehicle；
The outdoor positioning module 210, for receiving satellite-signal by antenna, handles satellite-signal, generates
First location data；Satellite number is obtained simultaneously, and when satellite number is more than given threshold, the first location data is transmitted to server
3 are handled；When satellite number is less than given threshold, the first location data is transmitted to indoor positioning module 220；
The indoor positioning module 220, for receiving the first location data, while gathering course angular data, accelerating the number of degrees
According to, geomagnetic data, barometric information and view data, by the first location data, course angular data, acceleration information, geomagnetic data,
Barometric information and view data carry out integrated treatment, and generation Primary Location data transfer to server 3 is handled.
In above-described embodiment, outdoor positioning module 210 receives satellite-signal, and the Big Dipper/GPS ephemeris is read according to satellite-signal
Data and observation data, carry out carrier phase detection with repairing；Satellite orbit and clock correction are obtained by clearance-type RTPPP in real time
Correction, is handled satellite orbit and clock error correction number by Differential Self-Calibration model between epoch；Pass through carrier phase again
Smoothing pseudo range algorithm carries out smothing filtering to Pseudo-range Observations, eliminates pseudorange noise；
Differential corrections and correction rate of change are obtained by server 3, common observation defended by difference matching algorithm
Star eliminates common error, and pseudo range observed quantity is resolved according to weighted least-squares method and positioned after error correction, obtains first and determines
Position data transfer is to server 3 or indoor positioning module 220；
The course angular data of 220 pairs of collections of indoor positioning module, acceleration information, geomagnetic data do integration positions calculations,
With reference to barometric information, view data and the first location data, then according to Kalman filtering integrated navigation, location information is exported,
Realize the high-precision positioning to vehicle.
Optionally, as one embodiment of the present of invention：As shown in figure 4, the indoor positioning module 220 includes gyroscope
Sensor 221, acceleration transducer 222, geomagnetic sensor 223, main control unit 224 and communication unit 225, the gyroscope are passed
Sensor 221, acceleration transducer 222, geomagnetic sensor 223 and communication unit 225 are connected with the main control unit 224, institute
State communication unit 225 and the wireless connection of server 3；
The gyro sensor 221, for the course angular data of collection vehicle, by the course angle data transfer of collection extremely
Main control unit 224；
The acceleration transducer 222, for the acceleration information of collection vehicle, by the acceleration information of collection transmit to
Main control unit 224；
The geomagnetic sensor 223, for the geomagnetic data around collection vehicle, the geomagnetic data of collection is transmitted to master
Control unit 224；
The main control unit 224, for being integrated positioning fortune to course angular data, acceleration information and geomagnetic data
Calculate, obtain the second location data and carry out Primary Location.
In above-described embodiment, gyro sensor 221, acceleration transducer 222, the coordinate operation of geomagnetic sensor 223, energy
Course angular data, acceleration information and geomagnetic data are gathered in real time, according to course angular data, acceleration information and geomagnetic data energy
Realize the real-time simple positioning of vehicle.
Optionally, as one embodiment of the present of invention：The indoor positioning module 220 also includes barograph sensor
226 and camera 227；
The barograph sensor 226, for the barometric information around collection vehicle, by the barometric information of collection transmit to
Main control unit 224；
The camera 227, for being shot around vehicle present position, view data being generated, by picture number
According to transmitting to main control unit 224；
The main control unit 224, for entering to the first location data, the second location data, barometric information and view data
Row processing, obtains Primary Location data, by communication unit 225 by Primary Location data transfer to server 3.
In above-described embodiment, at the first location data, the second location data, barometric information and view data
Reason, carries out data collection and analysis processing, further lifts positioning precision from every side；
First location data.
Embodiment 2：
As shown in figure 5, a kind of reverse car seeking localization method, comprises the following steps：
Step S1. base stations 1 receive satellite-signal, and satellite-signal is handled, generation differential corrections and correction
Rate of change is transmitted to server 3 and stored；
Step S2. movement stations 2 receive satellite-signal, and satellite-signal is handled, and the first location data are generated, by first
Location data is transmitted to server 3 or combines the progress vehicle location of the first location data, generation Primary Location data transfer to clothes
Business device 3；
Step S3. servers 3 prestore location data, according to the location data that prestores, differential corrections and correction rate of change
First location data or Primary Location data are corrected, final location data is generated and transmits to movement station 2；
Step S4. movement stations 2 transmit final location data to intelligent terminal 4, and the final location data of 4 pairs of intelligent terminal is entered
Row display.
In above-described embodiment, base station 1, movement station 2 and the coordinate operation of server 3 can be carried out real to the positioning of movement station 2
When correct, realize in real time to the high accuracy positioning of vehicle, positioning signal transmitted to intelligent terminal 4, be easy to user to carry out reverse
Seek car；And the system possesses small volume and the low advantage of cost, and system building is simple, can apply in a variety of occasions.
Optionally, as one embodiment of the present of invention：Following steps are specifically included in the step S1：
Step S11. dual mode receivers 101 receive satellite-signal by antenna, send satellite-signal to main control module
102；
Step S12. main control modules 102 carry out carrier phase smoothing pseudo-range processing to satellite-signal, calculate differential corrections
And correction rate of change；Differential corrections and correction rate of change are transmitted to server 3 by communication module 103 and deposited
Storage.
In above-described embodiment, main control module 102 reads the Big Dipper/GPS almanac datas and observation data according to satellite-signal,
Carrier phase detection is carried out with repairing；Satellite orbit and clock error correction number are obtained by clearance-type RTPPP in real time, by between epoch
Differential Self-Calibration model is handled satellite orbit and clock error correction number；Again by carrier phase smoothing pseudo-range algorithm to pseudorange
Observation carries out smothing filtering, eliminates pseudorange noise；
Satellite position can be calculated by almanac data, benchmark station coordinates has been demarcated in advance, can calculate precision station star away from,
According to difference algorithm is improved, differential corrections are calculated；Because the size of differential corrections can change over time,
Correction rate of change will also be calculated except calculating correction according to this situation base station；Differential corrections and correction are changed
Rate is transmitted to server 3 and stored, and is easy to subsequent mobile stations 2 to read differential corrections and correction rate of change, is utilized difference
Correction and correction rate of change eliminate common error to common observation satellite, lift the accuracy of positioning.
Optionally, as one embodiment of the present of invention：Following steps are specifically included in the step S2：
Step S21. outdoor positionings module 210 receives satellite-signal by antenna, and satellite-signal is handled, generation the
One location data；Satellite number is obtained simultaneously, and when satellite number is more than given threshold, the first location data is transmitted to server 3
Handled；When satellite number is less than given threshold, the first location data is transmitted to indoor positioning module 220；
Step S22. indoor positionings module 220 receives the first location data, while gathering course angular data, accelerating the number of degrees
According to, geomagnetic data, barometric information and view data, by the first location data, course angular data, acceleration information, geomagnetic data,
Barometric information and view data carry out integrated treatment, and generation Primary Location data transfer to server 3 is handled.
In above-described embodiment, outdoor positioning module 210 receives satellite-signal, and the Big Dipper/GPS ephemeris is read according to satellite-signal
Data and observation data, carry out carrier phase detection with repairing；Satellite orbit and clock correction are obtained by clearance-type RTPPP in real time
Correction, is handled satellite orbit and clock error correction number by Differential Self-Calibration model between epoch；Pass through carrier phase again
Smoothing pseudo range algorithm carries out smothing filtering to Pseudo-range Observations, eliminates pseudorange noise；
Differential corrections and correction rate of change are obtained by server 3, common observation defended by difference matching algorithm
Star eliminates common error, and pseudo range observed quantity is resolved according to weighted least-squares method and positioned after error correction, obtains first and determines
Position data transfer is to server 3 or indoor positioning module 220；
The course angular data of 220 pairs of collections of indoor positioning module, acceleration information, geomagnetic data do integration positions calculations,
With reference to barometric information, view data and the first location data, then according to Kalman filtering integrated navigation, location information is exported,
Realize the high-precision positioning to vehicle.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (9)
1. a kind of reverse car seeking alignment system, it is characterised in that including base station (1), movement station (2), server (3) and intelligence
Terminal (4), the movement station (2) is placed on vehicle, and the base station (1) and movement station (2) are wireless with the server (3)
Connection；The movement station (2) and the intelligent terminal (4) wireless connection；
The base station (1), for receiving satellite-signal, is handled satellite-signal, obtains satellite orbit and clock error correction
Number, by carrier phase smoothing pseudo-range, generation differential corrections and correction rate of change are transmitted to server (3) and stored；
The movement station (2), for receiving satellite-signal, is handled satellite-signal, the first location data is generated, by first
Location data is transmitted to server (3) or combines the progress vehicle location of the first location data, and generation Primary Location data transfer is extremely
Server (3)；It is additionally operable to transmit final location data to intelligent terminal (4)；
The server (3), for the location data that prestores, according to the location data that prestores, differential corrections and correction rate of change
First location data or Primary Location data are corrected, final location data is generated and transmits to movement station (2)；
The intelligent terminal (4), for being shown to final location data.
2. a kind of reverse car seeking alignment system according to claim 1, it is characterised in that the base station (1) includes bimodulus
Receiver (101), main control module (102) and communication module (103)；The dual mode receiver (101), main control module (102) and
Communication module (103) is sequentially connected, the communication module (103) and server (3) wireless connection；
The dual mode receiver (101), for receiving satellite-signal by antenna, sends satellite-signal to main control module
(102)；
The main control module (102), for satellite-signal carry out carrier phase smoothing pseudo-range processing, calculate differential corrections and
Correction rate of change；Differential corrections and correction rate of change are transmitted to server (3) by communication module (103) and deposited
Storage.
3. a kind of reverse car seeking alignment system according to claim 2, it is characterised in that the antenna is four helical antennas.
4. according to a kind of any one of claims 1 to 3 reverse car seeking alignment system, it is characterised in that the movement station (2)
Including outdoor positioning module (210) and indoor positioning module (220), the outdoor positioning module (210) and indoor positioning module
(220) connect；The outdoor positioning module (210) and indoor positioning module (220) are placed on vehicle；
The outdoor positioning module (210), for receiving satellite-signal by antenna, is handled satellite-signal, generation the
One location data；Satellite number is obtained simultaneously, and when satellite number is more than given threshold, the first location data is transmitted to server
(3) handled；When satellite number is less than given threshold, the first location data is transmitted to indoor positioning module (220)；
The indoor positioning module (220), for receiving the first location data, while gather course angular data, acceleration information,
Geomagnetic data, barometric information and view data, by the first location data, course angular data, acceleration information, geomagnetic data, gas
Data and view data is pressed to carry out integrated treatment, generation Primary Location data transfer to server (3) is handled.
5. a kind of reverse car seeking alignment system according to claim 4, it is characterised in that the indoor positioning module (220)
Including gyro sensor (221), acceleration transducer (222), geomagnetic sensor (223), main control unit (224) and communication unit
First (225), the gyro sensor (221), acceleration transducer (222), geomagnetic sensor (223) and communication unit
(225) it is connected with the main control unit (224), the communication unit (225) and the server (3) wireless connection；
The gyro sensor (221), for the course angular data of collection vehicle, by the course angle data transfer of collection to master
Control unit (224)；
The acceleration transducer (222), for the acceleration information of collection vehicle, the acceleration information of collection is transmitted to master
Control unit (224)；
The geomagnetic sensor (223), for the geomagnetic data around collection vehicle, the geomagnetic data of collection is transmitted to master control
Unit (224)；
The main control unit (224), for being integrated positions calculations to course angular data, acceleration information and geomagnetic data,
Obtain the second location data and carry out Primary Location.
6. a kind of reverse car seeking alignment system according to claim 5, it is characterised in that the indoor positioning module (220)
Also include barograph sensor (226) and camera (227)；
The barograph sensor (226), for the barometric information around collection vehicle, the barometric information of collection is transmitted to master
Control unit (224)；
The camera (227), for being shot around vehicle present position, view data being generated, by view data
Transmit to main control unit (224)；
The main control unit (224), for being carried out to the first location data, the second location data, barometric information and view data
Processing, obtains Primary Location data, by communication unit (225) by Primary Location data transfer to server (3).
7. a kind of reverse car seeking localization method, it is characterised in that comprise the following steps：
Step S1. base stations (1) receive satellite-signal, and satellite-signal is handled, and generation differential corrections and correction become
Rate is transmitted to server (3) and stored；
Step S2. movement stations (2) receive satellite-signal, and satellite-signal is handled, and generate the first location data, first is determined
Position data transfer is to server (3) or combines the progress vehicle location of the first location data, and generation Primary Location data transfer extremely takes
Business device (3)；
Step S3. servers (3) prestore location data, according to the location data that prestores, differential corrections and correction rate of change pair
First location data or Primary Location data are corrected, and are generated final location data and are transmitted to movement station (2)；
Step S4. movement stations (2) transmit final location data to intelligent terminal (4), and intelligent terminal (4) is to final location data
Shown.
8. a kind of reverse car seeking localization method according to claim 7, it is characterised in that specifically included in the step S1 with
Lower step：
Step S11. dual mode receivers (101) receive satellite-signal by antenna, send satellite-signal to main control module
(102)；
Step S12. main control modules (102) to satellite-signal carry out carrier phase smoothing pseudo-range processing, calculate differential corrections and
Correction rate of change；Differential corrections and correction rate of change are transmitted to server (3) by communication module (103) and deposited
Storage.
9. a kind of reverse car seeking localization method according to claim 8, it is characterised in that specifically included in the step S2 with
Lower step：
Step S21. outdoor positionings module (210) receives satellite-signal by antenna, and satellite-signal is handled, generation first
Location data；Satellite number is obtained simultaneously, and when satellite number is more than given threshold, the first location data is transmitted to server (3)
Handled；When satellite number is less than given threshold, the first location data is transmitted to indoor positioning module (220)；
Step S22. indoor positionings module (220) receive the first location data, while gather course angular data, acceleration information,
Geomagnetic data, barometric information and view data, by the first location data, course angular data, acceleration information, geomagnetic data, gas
Data and view data is pressed to carry out integrated treatment, generation Primary Location data transfer to server (3) is handled.
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| CN201710581392.9A CN107272034A (en) | 2017-07-17 | 2017-07-17 | A kind of reverse car seeking alignment system and method |
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