CN107484139A - A kind of car networking Cooperative Localization Method and device based on geographical location information - Google Patents

A kind of car networking Cooperative Localization Method and device based on geographical location information Download PDF

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Publication number
CN107484139A
CN107484139A CN201710693654.0A CN201710693654A CN107484139A CN 107484139 A CN107484139 A CN 107484139A CN 201710693654 A CN201710693654 A CN 201710693654A CN 107484139 A CN107484139 A CN 107484139A
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China
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probability
geographical location
cars
location information
coordinate
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CN201710693654.0A
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Chinese (zh)
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CN107484139B (en
Inventor
王生楚
罗峰
张琳
张玉鹏
巩译
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北京邮电大学
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    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W4/00Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02Services making use of location information
    • H04W4/04Services making use of location information using association of physical positions and logical data in a dedicated environment, e.g. buildings or vehicles
    • H04W4/046Services making use of location information using association of physical positions and logical data in a dedicated environment, e.g. buildings or vehicles involving vehicles, e.g. floating traffic data [FTD] or vehicle traffic prediction
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining 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
    • G01S19/42Determining position
    • G01S19/45Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00Network-specific arrangements or communication protocols supporting networked applications
    • H04L67/12Network-specific arrangements or communication protocols supporting networked applications adapted for proprietary or special purpose networking environments, e.g. medical networks, sensor networks, networks in a car or remote metering networks
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W64/00Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Abstract

The invention discloses a kind of car networking Cooperative Localization Method and device based on geographical location information;Methods described includes:The geographical location information of target area is obtained, generates R trees corresponding to the geographical location information;Obtain one group of first coordinate corresponding to the two cars in the target area;Based on the R trees and first coordinate, the probability that the communication path between two cars is los path is calculated;When the probability is more than or equal to predetermined threshold value, the ranging information of the two cars is obtained;Multiple ranging informations between different vehicle in the target area are obtained, ranging information collection is generated using the multiple ranging information;Using the ranging information collection and the GNSS location informations obtained in advance, positioning result is obtained by co-positioned.The present invention is sufficiently used geographical location information, solves in car networking co-positioned that NLOS paths influence on locating effect, effectively increases the co-positioned precision in car networking.

Description

A kind of car networking Cooperative Localization Method and device based on geographical location information

Technical field

The present invention relates to field of locating technology, particularly relates to a kind of car networking co-positioned side based on geographical location information Method and device.

Background technology

In car networking environment, location aware technology is one of direction studied emphatically.It is satellite-based in car networking Alignment system mainly has a GPS (GNSS), including the GPS in the U.S., the dipper system of China, Russia GLONASS and the Galileo system of European Union.These systems can provide round-the-clock, real-time, continuous, a wide range of interior positioning clothes Business, but their use is larger by environmental restrictions, for example, in complicated landforms such as high building valley, avenues, what GNSS was sent Signal is stopped that the receivable satellite-signal of receiver is faint or the receivable number of satellite of receiver is reduced, and so holds very much Easily cause can not position or locating effect difference phenomenon.

Co-positioned is the method to solve the above problems.Co-positioned is not only believed by the use of GNSS information as priori Breath, more relative distance, car car cooperate by between ranging acquisition vehicle.For initial position (GNSS obtains position) preferably Ground vehicle, they provide help in co-positioned for other vehicles, act on playing similar satellite.And for initial position not Vehicle well, help by other vehicles, obtain more preferable positioning result.

But co-positioned is higher to the accuracy requirement of the ranging information between vehicle.Especially in urban environment, car Los path (LOS path) between is easy to be blocked by building, and transmission signal regards by the way that reflection, diffraction and scattering etc. are non- Reached away from path (NLOS paths) when receiving signal vehicle, there be larger prolong arrival time (TOA) relative to air line distance Late, it is converted into after distance, larger positive disturbance is generated on actual distance.And the essence of co-positioned algorithm is to rely on car Measured value between comes out the coordinate setting of vehicle for priori, therefore the presence in NLOS paths is car networking co-positioned A major challenge.Current existing co-positioned algorithm is mostly only focused in lifting positioning precision, does not account for NLOS paths pair The influence of co-positioned effect.

The content of the invention

In view of this, it is an object of the invention to propose a kind of car networking Cooperative Localization Method based on geographical location information And device, effectively improve the co-positioned precision in car networking.

Based on a kind of above-mentioned purpose car networking Cooperative Localization Method based on geographical location information provided by the invention, bag Include:

The geographical location information of target area is obtained, generates R trees corresponding to the geographical location information;Obtain the target One group of first coordinate corresponding to two cars in region;

Based on the R trees and first coordinate, the probability that the communication path between two cars is los path is calculated;

When the probability is more than or equal to predetermined threshold value, the ranging letter of the two cars is obtained based on first coordinate Breath;Multiple ranging informations between different vehicle in the target area are obtained, are given birth to using the multiple ranging information Into ranging information collection;

Using the ranging information collection and the GNSS location informations obtained in advance, the vehicle in car networking cooperate and determined Position.

In some embodiments, the communication lines for being based on the R trees and first coordinate, calculating between two cars Footpath is the probability of los path, including:

One group of first coordinate be:(x1,y1) and (x2,y2);Respectively with (x1,y1) and (x2,y2) it is the center of circle, and pass through Some radiuses of some concentric circles and maximum concentric circles, draw and take A probability region of acquisition, one is chosen in each probability region Represent a little, acquisition represents point set:v1,m=(v1,1, v1,2... v1,m) and v2,n=(v2,1, v2,2... v2,n), m=n=A;

Angle, θ, radius r and probability density function according to shared by each probability region, pass through formulaCalculate and by after result of calculation normalized, obtain the true of two cars The Making by Probability Sets p that position is in the Probability Region1,m=(p1,1, p1,2..., p1,m) and p2,n=(p2,1, p2,2..., p1,n), m =n=A;

Point set v is represented by described1,mAnd v2,nIn the representative point corresponding to be connected two-by-two, obtain A altogether2It is individual virtual logical Believe path;According to the R trees, the virtual communication path is judged, the described virtual logical of los path will be judged as The result of determination in letter path is arranged to 1, and the result of determination that will be judged as the virtual communication path of obstructed path is set For 0, generation result of determination set lm,n=(l1,n, l1,2... l1,n, l2,n, l2,2... l2,n..., lm,1, lm,2... lm,n), m=n =A;

Calculate the probability that the communication path between two cars is los path

In some embodiments, the selection one in each probability region represents a little, including:

The geometric center for choosing the probability region represents a little as described.

In some embodiments, methods described also includes:

One group of second coordinate corresponding to the two cars in the target area is obtained from the positioning result;

The car networking Cooperative Localization Method based on geographical location information is performed again, wherein, make second coordinate Replace first coordinate;

It is repeated several times and performs foregoing two step.

In some embodiments, methods described also includes:

When the probability is less than predetermined threshold value, terminates positioning or re-execute the car connection based on geographical location information Net Cooperative Localization Method.

On the other hand, present invention also offers a kind of car networking co-positioned device based on geographical location information, including:

First acquisition module, for obtaining the geographical location information of target area, it is corresponding to generate the geographical location information R trees;

Second acquisition module, for obtaining one group of first coordinate corresponding to the two cars in the target area;

Execution module, for based on the R trees and first coordinate, the communication path calculated between two cars to be sighting distance The probability in path;

Generation module, for when the probability is more than or equal to predetermined threshold value, obtaining the ranging information of the two cars;Obtain Multiple ranging informations between different vehicle in the target area are taken, ranging information is generated using multiple ranging informations Collection;

Locating module, for using the ranging information collection and the GNSS location informations obtained in advance, in car networking Vehicle carries out co-positioned.

In some embodiments, the execution module is specifically used for:One group of first coordinate be:(x1,y1) and (x2, y2);Respectively with (x1,y1) and (x2,y2) it is the center of circle, and by some concentric circles and some radiuses of maximum concentric circles, draw to take and obtain A probability region is obtained, one is chosen in each probability region and is represented a little, acquisition represents point set:v1,m=(v1,1, v1,2... v1,m) and v2,n=(v2,1, v2,2... v2,n), m=n=A;Angle, θ, radius r according to shared by each probability region and general Rate density function, passes through formulaCalculate and by result of calculation normalized Afterwards, the Making by Probability Sets p that the actual position of two cars is in the Probability Region is obtained1,m=(p1,1, p1,2..., p1,m) and p2,n= (p2,1, p2,2..., p1,n), m=n=A;Point set v is represented by described1,mAnd v2,nIn the representative point corresponding to two two-phases Even, A is obtained altogether2Individual virtual communication path;According to the R trees, the virtual communication path is judged, will be judged as sighting distance The result of determination of the virtual communication path in path is arranged to 1, will be judged as the virtual communication road of obstructed path The result of determination in footpath is arranged to 0, generation result of determination set lm,n=(l1,n, l1,2... l1,n, l2,n, l2,2... l2,n..., lm,1, lm,2... lm,n), m=n=A;Calculate the probability that the communication path between two cars is los path

In some embodiments, the execution module is specifically used for:Choose the geometric center conduct of the probability region It is described to represent a little.

In some embodiments, shown device also includes:Iteration execution module, for being obtained from the positioning result One group of second coordinate corresponding to two cars in the target area;The car networking cooperation based on geographical location information is performed again Positioning, wherein, second coordinate is replaced first coordinate;It is repeated several times and performs foregoing two step.

In some embodiments, the locating module is additionally operable to:When the probability is less than predetermined threshold value, terminate positioning Or re-execute the car networking co-positioned based on geographical location information.

From the above it can be seen that the car networking Cooperative Localization Method provided by the invention based on geographical location information and Device, geographical location information is sufficiently used, solves in car networking co-positioned that NLOS paths influence on locating effect, Effectively increase the co-positioned precision in car networking.

Brief description of the drawings

In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with Other accompanying drawings are obtained according to these accompanying drawings.

Fig. 1 is the car networking Cooperative Localization Method flow chart based on geographical location information of the embodiment of the present invention;

Fig. 2 is the geographical location information exemplary plot in the embodiment of the present invention;

Fig. 3 is the R tree schematic diagrames in the embodiment of the present invention;

Fig. 4 is the probability region schematic diagram that acquisition is divided in the embodiment of the present invention;

Fig. 5 is that NLOS paths/LOS path schematic diagram is judged in the embodiment of the present invention;

Fig. 6 is the iterative execution schematic flow sheet of the method for the embodiment of the present invention:

Fig. 7 is the car networking co-positioned apparatus structure schematic diagram based on geographical location information of the embodiment of the present invention.

Embodiment

For the object, technical solutions and advantages of the present invention are more clearly understood, below in conjunction with specific embodiment, and reference Accompanying drawing, the present invention is described in more detail.

It should be noted that all statements for using " first " and " second " are for differentiation two in the embodiment of the present invention The non-equal entity of individual same names or non-equal parameter, it is seen that " first " " second " should not only for the convenience of statement The restriction to the embodiment of the present invention is interpreted as, subsequent embodiment no longer illustrates one by one to this.

The embodiments of the invention provide a kind of car networking Cooperative Localization Method based on geographical location information.With reference to figure 1, it is The car networking Cooperative Localization Method flow chart based on geographical location information of the embodiment of the present invention.

The car networking Cooperative Localization Method based on geographical location information, comprises the following steps:

Step 101, the geographical location information for obtaining target area, generate R trees corresponding to the geographical location information.

In this step, the geographical location information of target area is obtained by prior art first.In the present embodiment, with (other existing geographical location information acquisition sides in other embodiments, can also be used exemplified by OpenStretMap technologies Method), respective regions are intercepted from OpenStretMap, export osm files, as shown in Figure 2.Interception area is included in osm files The profile information of interior owned building and geographical position information.

On the basis of the geographical location information of acquisition, R trees corresponding to whole map are built.R trees are a kind of tree data knots Structure, it is solved higher dimensional space is searched for the problems such as well.R trees are extension of the B-tree in higher dimensional space, are a balanced trees, The theory for having used space to split.R trees employ a kind of method for being referred to as MBR (Minimal Bounding Rectangle), It can be translated as " minimum boundary rectangle ".Space is framed with rectangle (rectangle) since leafy node, node is more past On, the space framed is bigger, and space is split with this.In the present embodiment, the R trees of generation are as shown in figure 3, can from figure To find out, R trees remain geographical location information with the structure set, and are easy to retrieval and inquiry.

One group of first coordinate corresponding to two cars in step 102, the acquisition target area.

In this step, the two cars v mutually in communication radius is determined in target area1And v2, and pass through GPS Location technology, the gps coordinate for getting two cars are respectively (x1,y1) and (x2,y2), as one group of first described coordinate.

Step 103, based on the R trees and first coordinate, the communication path calculated between two cars is los path Probability.

In this step, it is assumed that the first coordinate obtained based on GPS positioning technology is the Gauss point using true coordinate as average Cloth, then in the case where obtaining the first coordinate, the true coordinate of two cars is also the Gaussian Profile using the first coordinate as average. And assume that abscissa and ordinate are independently distributed, i.e. x~N (x02) and y~N (y02).Assuming that determined based on GPS The gps coordinate of position technical limit spacing is (x0,y0), then the probability density function of true coordinate (x, y) is:

Respectively with (x1,y1) and (x2,y2) it is the center of circle, and by some concentric circles and some radiuses of maximum concentric circles, draw Take and obtain A probability region;In the present embodiment, respectively with (x1,y1) and (x2,y2) it is the center of circle, each stroke takes acquisition 18 respectively Probability region.One is chosen in each probability region to represent a little;As preferable, the geometric center of the probability region is chosen Represented a little as described.Acquisition represents point set:v1,m=(v1,1, v1,2... v1,18) and v2,n=(v2,1, v2,2... v2,18).Draw The distribution map for the probability region separately won is with reference to shown in figure 4.With reference to figure 4, with (x1,y1) center of circle division probability region be distributed as Example, the probability region for dividing to obtain are fan-shaped or partial sector, then accordingly, fan-shaped angle is probability residing for probability region Angle, θ shared by region, fan-shaped radius residing for probability region are radius r (as shown in Figure 4, r1, r2, r3 of probability region Corresponding to different concentric circles).

Angle, θ, radius r and probability density function according to shared by each probability region, pass through formulaIts probability is calculated, the result of calculation in 18 regions is expressed as p '1,m= (p’1,1, p '1,2..., p '1,m) and p '2,n=(p '2,1, p '2,2..., p '1,n), after normalized, obtain two cars The Making by Probability Sets p that is in the Probability Region of actual position1,m=(p1,1, p1,2..., p1,m) and p2,n=(p2,1, p2,2..., p1,n)。

Point set v is represented by described1,mAnd v2,nIn the representative point corresponding to be connected two-by-two, obtain 18*18=324 altogether Individual virtual communication path.Then, according to the R trees, virtual communication path every described is judged, it is NLOS roads to judge it Footpath or LOS path, decision process are referred to shown in Fig. 5.By sentencing for the virtual communication path for being judged as los path Determine result and be arranged to 1, the result of determination for the virtual communication path for being judged as obstructed path is arranged to 0, generation is sentenced Determine results set lm,n=(l1,1, l1,2... l1,18, l2,1, l2,2... l2,18..., l18,1, l18,2... l18,18)。

So v1And v2Between link be LOS probability be

Step 104, when the probability is more than or equal to predetermined threshold value, obtain the ranging information of the two cars;Obtain institute Multiple ranging informations between different vehicle in target area are stated, ranging information is generated using the multiple ranging information Collection.

In this step, a threshold value t is set, works as pLOS>During t, then it is assumed that the communication path between two cars is LOS path, then Two cars v1And v2Between communication path can be used for positioning.Then, the ranging information for obtaining two cars is calculated;The ranging is believed Breath is TOA of the prior art (Time of arrival), and it is the distance that transmitting-receiving elapsed time acquisition is completed based on electromagnetic wave Data.Then, by repeat step 101 to step 104, obtaining different vehicle in target area (can carry out the two of TOA rangings Car) between multiple ranging informations, multiple ranging informations of acquisition are then integrated into generation ranging information collection.

Work as pLOS<During t, then it is assumed that the communication path between two cars is NLOS paths, then two cars v1And v2Between it is logical Letter path can cause positioning result inaccurate, therefore it cannot be used for positioning;It is then corresponding, terminate positioning, or return to step 101 The method for re-executing the present embodiment.

Step 105, using the ranging information collection and the GNSS location informations obtained in advance, the vehicle in car networking is entered Row co-positioned.

In this step, using the ranging information collection obtained in abovementioned steps, and the GNSS location informations being obtained ahead of time are combined, Just co-positioned can be carried out to the vehicle in car networking.In this step, when carrying out the process of co-positioned, its survey used The ranging information concentrated away from information both corresponds to LOS path, and this obviously can effectively improve the precision of co-positioned.

As seen from the above-described embodiment, the car networking Cooperative Localization Method of the invention based on geographical location information, is cooperating On the basis of positioning, geographical location information is considered into.By acquire the map building in orientation range position, The information such as profile, size.A kind of area sampling method based on geographical location information is proposed, and applies it to co-positioned It is central.Vehicle location is not confined to a specific point by the method for the present invention, but is extended to one piece of region, and in this region The interior sampled point that fixed qty is chosen according to certain rule, these sampled points represent the position of corresponding vehicle with certain probability Put.Full connection is done between sampled point between Adjacent vehicles, is fixed the sample path of quantity.For every sample path, I It is judged for LOS path or NLOS paths by geographical location information, Adjacent vehicles are calculated by mutually multiplying accumulating etc. Between path belong to LOS probability, it is then thought as LOS path higher than the threshold value set, otherwise it is assumed that it is NLOS paths.Then The positioning in NLOS paths is abandoned, is positioned using only coordinate corresponding to LOS path, the cooperation effectively increased in car networking is determined Position precision.

In certain embodiments, after the ranging information of the acquisition two cars in the step 104 of previous embodiment, Further, one group of second coordinate corresponding to the two cars in the target area is obtained from the positioning result;Hold again The car networking Cooperative Localization Method based on geographical location information of row previous embodiment;In the process of implementation, described second is made to sit Mark replaces first coordinate;It is repeated several times and performs foregoing two step.Wherein, because target area does not change, then holding During row, repeat and perform step 102 to step 104.The schematic flow sheet of the present embodiment is with reference to shown in figure 6.

In the present embodiment, based on by the combination of area sampling method and co-positioned algorithm, it is proposed that being based on region The iterative Cooperative Localization Method of sampling, reduces the possibility of algorithm diverging failure, while improves positioning precision.Specifically, In positioning each time, algorithm iteration several times is carried out, the initial estimation position using the result of last time positioning as current iteration Put, reevaluate LOS path/NLOS path probabilities between vehicle, be input in the middle of current iteration, until algorithmic statement or Reach stop condition, the positioning result of kind is done in then output.By such a mode, the initial estimated location of each iteration is compared It is once all more accurate, so as to which positional accuracy is also obviously improved.

As an alternative embodiment, on the basis of foregoing iterative Cooperative Localization Method, implement to save Flow, if being judged as LOS path, follow-up co-positioned is carried out using the ranging information is obtained when performing first;If sentence Break as non-LOS path, then follow-up co-positioned is carried out without using the ranging information.In the method for the present embodiment, only make Ranging information is obtained with a TOA ranging, during successive iterations, only decides whether to use the acquisition according to judged result Ranging information.

Based on same inventive concept, the embodiment of the present invention additionally provides a kind of car networking cooperation based on geographical location information Positioner.It is that the car networking co-positioned apparatus structure based on geographical location information of the embodiment of the present invention is illustrated with reference to figure 7 Figure.

The shown car networking co-positioned device based on geographical location information, including:

First acquisition module 701, for obtaining the geographical location information of target area, generate the geographical location information pair The R trees answered;

Second acquisition module 702, for obtaining one group of first coordinate corresponding to the two cars in the target area;

Execution module 703, for based on the R trees and first coordinate, the communication path calculated between two cars is The probability of los path;

Generation module 704, the ranging for when the probability is more than or equal to predetermined threshold value, obtaining the two cars are believed Breath;Multiple ranging informations between different vehicle in the target area are obtained, are surveyed using multiple ranging information generations Away from information collection;

Locating module 705, for using the ranging information collection and the GNSS location informations obtained in advance, in car networking Vehicle carry out co-positioned.

Specifically, the execution module 703 is used for:One group of first coordinate be:(x1,y1) and (x2,y2);Respectively with (x1,y1) and (x2,y2) it is the center of circle, and by some concentric circles and some radiuses of maximum concentric circles, draw and take A probability of acquisition Region, one is chosen in each probability region and is represented a little, obtains and represents point set:v1,m=(v1,1, v1,2... v1,m) and v2,n =(v2,1, v2,2... v2,n), m=n=A;Angle, θ, radius r and probability density letter according to shared by each probability region Number, passes through formulaCalculate and by after result of calculation normalized, obtain two The Making by Probability Sets p that the actual position of car is in the Probability Region1,m=(p1,1, p1,2..., p1,m) and p2,n=(p2,1, p2,2..., p1,n), m=n=A;Point set v is represented by described1,mAnd v2,nIn the representative point corresponding to be connected two-by-two, obtain altogether Obtain A2Individual virtual communication path;According to the R trees, the virtual communication path is judged, will be judged as los path The result of determination of the virtual communication path is arranged to 1, by sentencing for the virtual communication path for being judged as obstructed path Determine result and be arranged to 0, generation result of determination set lm,n=(l1,n, l1,2... l1,n, l2,n, l2,2... l2,n..., lm,1, lm,2... lm,n), m=n=A;Calculate the probability that the communication path between two cars is los path

Specifically, the execution module 703 is used for:The geometric center for choosing the probability region represents a little as described.

Further, described device also includes:Iteration execution module, for obtaining the target from the positioning result One group of second coordinate corresponding to two cars in region;The car networking co-positioned based on geographical location information is performed again, its In, second coordinate is replaced first coordinate;It is repeated several times and performs foregoing two step.

Further, the locating module 705 is additionally operable to:When the probability is less than predetermined threshold value, terminate positioning or again Newly perform the car networking co-positioned based on geographical location information.

The device of above-described embodiment is used to realize corresponding method in previous embodiment, and implements with corresponding method The beneficial effect of example, will not be repeated here.

Those of ordinary skills in the art should understand that:The discussion of any of the above embodiment is exemplary only, not It is intended to imply that the scope of the present disclosure (including claim) is limited to these examples;Under the thinking of the present invention, above example Or can also be combined between the technical characteristic in different embodiments, step can be realized with random order, and exist such as Many other changes of upper described different aspect of the invention, for simplicity, they are not provided in details.

In addition, to simplify explanation and discussing, and in order to obscure the invention, can in the accompanying drawing provided To show or can not show that the known power ground with integrated circuit (IC) chip and other parts is connected.Furthermore, it is possible to Device is shown in block diagram form, to avoid obscuring the invention, and this have also contemplated that following facts, i.e., on this The details of the embodiment of a little block diagram arrangements be depend highly on the platform that will implement the present invention (that is, these details should It is completely in the range of the understanding of those skilled in the art).Elaborating detail (for example, circuit) with the description present invention's In the case of exemplary embodiment, it will be apparent to those skilled in the art that can be in these no details In the case of or implement the present invention in the case that these details change.Therefore, these descriptions are considered as illustrating It is property rather than restricted.

Although having been incorporated with specific embodiment of the invention, invention has been described, according to retouching above State, many replacements of these embodiments, modifications and variations will be apparent for those of ordinary skills.Example Such as, other memory architectures (for example, dynamic ram (DRAM)) can use discussed embodiment.

Embodiments of the invention be intended to fall within the broad range of appended claims it is all it is such replace, Modifications and variations.Therefore, within the spirit and principles of the invention, any omission, modification, equivalent substitution, the improvement made Deng should be included in the scope of the protection.

Claims (10)

  1. A kind of 1. car networking Cooperative Localization Method based on geographical location information, it is characterised in that including:
    The geographical location information of target area is obtained, generates R trees corresponding to the geographical location information;
    Obtain one group of first coordinate corresponding to the two cars in the target area;
    Based on the R trees and first coordinate, the probability that the communication path between two cars is los path is calculated;
    When the probability is more than or equal to predetermined threshold value, the ranging information of the two cars is obtained;Obtain in the target area Multiple ranging informations between different vehicle, ranging information collection is generated using the multiple ranging information;
    Using the ranging information collection and the GNSS location informations obtained in advance, co-positioned is carried out to the vehicle in car networking.
  2. 2. according to the method for claim 1, it is characterised in that it is described to be based on the R trees and first coordinate, calculate two Communication path between car is the probability of los path, including:
    One group of first coordinate be:(x1,y1) and (x2,y2);Respectively with (x1,y1) and (x2,y2) it is the center of circle, and by some Some radiuses of concentric circles and maximum concentric circles, are drawn and take A probability region of acquisition, and a representative is chosen in each probability region Point, acquisition represent point set:v1,m=(v1,1, v1,2... v1,m) and v2,n=(v2,1, v2,2... v2,n), m=n=A;
    Angle, θ, radius r and probability density function according to shared by each probability region, pass through formulaCalculate and by after result of calculation normalized, obtain the true of two cars The Making by Probability Sets p that position is in the Probability Region1,m=(p1,1, p1,2..., p1,m) and p2,n=(p2,1, p2,2..., p1,n), m =n=A;
    Point set v is represented by described1,mAnd v2,nIn the representative point corresponding to be connected two-by-two, obtain A altogether2Individual virtual communication road Footpath;According to the R trees, the virtual communication path is judged, the virtual communication road of los path will be judged as The result of determination in footpath is arranged to 1, and the result of determination for the virtual communication path for being judged as obstructed path is arranged into 0, Generate result of determination set lm,n=(l1,n, l1,2... l1,n, l2,n, l2,2... l2,n..., lm,1, lm,2... lm,n), m=n=A;
    Calculate the probability that the communication path between two cars is los path
  3. 3. according to the method for claim 2, it is characterised in that the selection one in each probability region represents a little, Including:
    The geometric center for choosing the probability region represents a little as described.
  4. 4. according to the method for claim 3, it is characterised in that also include:
    One group of second coordinate corresponding to the two cars in the target area is obtained from the positioning result;
    The car networking Cooperative Localization Method based on geographical location information is performed again, wherein, replace second coordinate First coordinate;
    It is repeated several times and performs foregoing two step.
  5. 5. according to the method described in Claims 1-4 any one, it is characterised in that also include:
    When the probability is less than predetermined threshold value, terminates positioning or re-execute the car networking association based on geographical location information Make localization method.
  6. A kind of 6. car networking co-positioned device based on geographical location information, it is characterised in that including:
    First acquisition module, for obtaining the geographical location information of target area, generate R corresponding to the geographical location information Tree;
    Second acquisition module, for obtaining one group of first coordinate corresponding to the two cars in the target area;
    Execution module, for based on the R trees and first coordinate, the communication path calculated between two cars to be los path Probability;
    Generation module, for when the probability is more than or equal to predetermined threshold value, obtaining the ranging information of the two cars;Obtain institute Multiple ranging informations between different vehicle in target area are stated, ranging information collection is generated using multiple ranging informations;
    Locating module, it is used for, using the ranging information collection and the GNSS location informations obtained in advance, to the vehicle in car networking Carry out co-positioned.
  7. 7. device according to claim 6, it is characterised in that the execution module is specifically used for:Described one group first is sat It is designated as:(x1,y1) and (x2,y2);Respectively with (x1,y1) and (x2,y2) it is the center of circle, and pass through some concentric circles and maximum concentric circles Some radiuses, draw take obtain A probability region, in each probability region choose one represent a little, obtain represent point set: v1,m=(v1,1, v1,2... v1,m) and v2,n=(v2,1, v2,2... v2,n), m=n=A;According to shared by each probability region Angle, θ, radius r and probability density function, pass through formulaCalculate and will calculate As a result after normalized, the Making by Probability Sets p that the actual position of two cars is in the Probability Region is obtained1,m=(p1,1, p1,2..., p1,m) and p2,n=(p2,1, p2,2..., p1,n), m=n=A;Point set v is represented by described1,mAnd v2,nIn the generation It is connected two-by-two corresponding to table point, obtains A altogether2Individual virtual communication path;According to the R trees, the virtual communication path is sentenced It is fixed, the result of determination for the virtual communication path for being judged as los path is arranged to 1, obstructed path will be judged as The result of determination of the virtual communication path be arranged to 0, generation result of determination set lm,n=(l1,n, l1,2... l1,n, l2,n, l2,2... l2,n..., lm,1, lm,2... lm,n), m=n=A;Calculate the probability that the communication path between two cars is los path
  8. 8. device according to claim 7, it is characterised in that the execution module is specifically used for:Choose the Probability Region The geometric center in domain represents a little as described.
  9. 9. device according to claim 8, it is characterised in that also include:Iteration execution module, for being tied from the positioning One group of second coordinate corresponding to the two cars in the target area is obtained in fruit;The car based on geographical location information is performed again Networking co-positioned, wherein, second coordinate is replaced first coordinate;It is repeated several times and performs foregoing two step.
  10. 10. according to the device described in claim 6 to 9 any one, it is characterised in that the locating module is additionally operable to:Work as institute When stating probability and being less than predetermined threshold value, terminate positioning or re-execute the car networking co-positioned based on geographical location information.
CN201710693654.0A 2017-08-14 2017-08-14 A kind of car networking Cooperative Localization Method and device based on geographical location information CN107484139B (en)

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