CN107484139B - 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 PDFInfo
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- CN107484139B CN107484139B CN201710693654.0A CN201710693654A CN107484139B CN 107484139 B CN107484139 B CN 107484139B CN 201710693654 A CN201710693654 A CN 201710693654A CN 107484139 B CN107484139 B CN 107484139B
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- H04W4/046—
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The invention discloses a kind of car networking Cooperative Localization Method and device based on geographical location information；The described method includes: obtaining the geographical location information of target area, the corresponding R tree of the geographical location information is generated；Obtain corresponding one group of first coordinate of two cars in the target area；Based on the R tree 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 preset threshold, the ranging information of the two cars is obtained；Multiple ranging informations in the target area between different vehicle are obtained, generate ranging information collection using the multiple ranging information；The GNSS location information obtained using the ranging information collection and in advance, obtains positioning result by co-positioned.The present invention is sufficiently used geographical location information, solves in car networking co-positioned that the path NLOS on locating effect influences, and effectively increases the co-positioned precision in car networking.
Description
Technical field
The present invention relates to field of locating technology, particularly relate to a kind of car networking co-positioned side based on geographical location information
Method and device.
Background technique
In car networking environment, location aware technology is one of the direction studied emphatically.It is satellite-based in car networking
Positioning system mainly has GPS (GNSS), GPS including the U.S., the dipper system of China, Russia
GLONASS and the Galileo system of European Union.These systems are capable of providing 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 issued
Signal is stopped, and the receivable satellite-signal of receiver is faint or the receivable number of satellite of receiver is reduced, and is held very much in this way
Easily causing can not position or the phenomenon of locating effect difference.
Co-positioned is the method to solve the above problems.Co-positioned is not only believed using GNSS information as priori
Breath, more by ranging acquisition vehicle between relative distance, vehicle Che Xiezuo.Preferably for initial position (GNSS obtains position)
Ground vehicle, they provide help in co-positioned for other vehicles, with playing the role of similar satellite.And not for initial position
Vehicle well by other vehicles helps, and obtains better positioning result.
But co-positioned is higher to the accuracy requirement of the ranging information between vehicle.Especially in urban environment, vehicle
Los path (LOS path) between is easy to be blocked by building, and transmitting signal passes through the non-views such as reflection, diffraction and scattering
It is reached away from path (path NLOS) when receiving signal vehicle, there be biggish prolong in arrival time (TOA) relative to linear distance
Late, it is converted into after distance, larger positive disturbance is produced on actual distance.And the essence of co-positioned algorithm is by vehicle
Measured value between is that priori knowledge comes out the coordinate setting of vehicle, therefore the presence in the path NLOS is car networking co-positioned
A major challenge.Current existing co-positioned algorithm is mostly only focused in promoting positioning accuracy, does not account for the path pair NLOS
The influence of co-positioned effect.
Summary 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, packet
It includes:
The geographical location information for obtaining target area, generates the corresponding R tree of the geographical location information；Obtain the target
Corresponding one group of first coordinate of two cars in region；
Based on the R tree 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 preset threshold, the ranging letter of the two cars is obtained based on first coordinate
Breath；Multiple ranging informations in the target area between different vehicle are obtained, it is raw using the multiple ranging information
At ranging information collection；
The GNSS location information obtained using the ranging information collection and in advance, it is fixed cooperate to the vehicle in car networking
Position.
In some embodiments, the communication lines for being based on the R tree and first coordinate, calculating between two cars
Diameter is the probability of los path, comprising:
One group of first coordinate are as follows: (x1,y1) and (x2,y2)；Respectively with (x1,y1) and (x2,y2) it is the center of circle, and pass through
Several radiuses of several concentric circles and maximum concentric circles are drawn and take A probability region of acquisition, one is chosen in each probability region
It represents 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；
According to angle, θ shared by each probability region, radius r and probability density function, pass through formulaCalculate and by after calculated result normalized, obtain the true of two cars
Position is in the Making by Probability Sets p 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 it is corresponding be connected two-by-two, obtain A altogether2It is a virtual logical
Believe path；According to the R tree, the virtual communication path is determined, the described virtual logical of los path will be judged as
The judgement result in letter path is set as 1, will be judged as the judgement result setting of the virtual communication path of obstructed path
It is 0, generates and determine results set lm,n=(l1,1, l1,2... l1,n, l2,1, 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, comprising:
The geometric center for choosing the probability region represents a little as described.
In some embodiments, the method also includes:
From corresponding one group of second coordinate of the two cars obtained in the positioning result in the target area；
The car networking Cooperative Localization Method based on geographical location information is executed again, wherein makes second coordinate
Replace first coordinate；
It is repeated several times and executes aforementioned two step.
In some embodiments, the method also includes:
When the probability is less than preset threshold, terminates positioning or re-execute the vehicle connection based on geographical location information
Net Cooperative Localization Method.
On the other hand, the present invention also provides a kind of car networking co-positioned device based on geographical location information, comprising:
First obtains module, and for obtaining the geographical location information of target area, it is corresponding to generate the geographical location information
R tree；
Second obtains module, for obtaining corresponding one group of first coordinate of the two cars in the target area；
Execution module, for being based on the R tree and first coordinate, calculating the communication path between two cars is sighting distance
The probability in path；
Generation module, for obtaining the ranging information of the two cars when the probability is more than or equal to preset threshold；It obtains
Multiple ranging informations in the target area between different vehicle are taken, generate ranging information using multiple ranging informations
Collection；
Locating module, the GNSS location information for obtaining using the ranging information collection and 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 are as follows: (x1,y1) and (x2,
y2)；Respectively with (x1,y1) and (x2,y2) it is the center of circle, and by several radiuses of several concentric circles and 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；According to angle, θ shared by each probability region, radius r and general
Rate density function, passes through formulaIt calculates and by calculated result normalized
Afterwards, the actual position for obtaining two cars is in Making by Probability Sets p 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 corresponding two two-phase of the representative point
Even, A is obtained altogether2A virtual communication path；According to the R tree, the virtual communication path is determined, will be judged as sighting distance
The judgement result of the virtual communication path in path is set as 1, will be judged as the virtual communication road of obstructed path
The judgement result of diameter is set as 0, generates and determines results set lm,n=(l1,1, l1,2... l1,n, l2,1, 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: choosing the geometric center conduct of the probability region
It is described to represent a little.
In some embodiments, shown device further include: iteration execution module, for being obtained from the positioning result
Corresponding one group of second coordinate of two cars in the target area；The car networking cooperation based on geographical location information is executed again
Positioning, wherein second coordinate is made to replace first coordinate；It is repeated several times and executes aforementioned two step.
In some embodiments, the locating module is also used to: when the probability is less than preset threshold, terminating 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 is sufficiently used geographical location information, solves in car networking co-positioned that the path NLOS on locating effect influences,
Effectively increase the co-positioned precision in car networking.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these 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 diagram in the embodiment of the present invention；
Fig. 3 is the R tree schematic diagram 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 the path NLOS/LOS path schematic diagram is determined in the embodiment of the present invention；
Fig. 6 is the iterative execution flow diagram 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.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached 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 a same names or non-equal parameter, it is seen that " first " " second " only for the convenience of statement, does not answer
It is interpreted as the restriction to the embodiment of the present invention, subsequent embodiment no longer illustrates this one by one.
The embodiment of the invention provides a kind of car networking Cooperative Localization Method based on geographical location information.With reference to Fig. 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, comprising the following steps:
Step 101, the geographical location information for obtaining target area, generate the corresponding R tree of the geographical location information.
In this step, the geographical location information of target area is obtained by the prior art first.In the present embodiment, with
(other existing geographical location information acquisition sides in other embodiments, also can be used for OpenStretMap technology
Method), corresponding region is intercepted from OpenStretMap, exports osm file, as shown in Figure 2.It include interception area in osm file
The profile information of interior owned building and geographical position information.
On the basis of the geographical location information of acquisition, the corresponding R tree of entire map is constructed.R tree is a kind of tree data knot
Structure, its very good solution is the higher dimensional space search the problems such as.R tree is extension of the B-tree in higher dimensional space, is a balanced tree,
The theory for having used space to divide.R tree uses a kind of method for being known as MBR (Minimal Bounding Rectangle),
It can be translated as " minimum boundary rectangle ".Space is framed with rectangle (rectangle) since leaf node, node is more past
On, the space framed is bigger, is split with this to space.In the present embodiment, the R tree of generation is as shown in figure 3, can from figure
To find out, R tree remains geographical location information with the structure set, convenient for retrieval and inquiry.
Corresponding one group of first coordinate of 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 is respectively (x1,y1) and (x2,y2), as one group of first coordinate.
Step 103 is based on the R tree and first coordinate, and calculating the communication path between two cars is los path
Probability.
In this step, it is assumed that the first coordinate based on GPS positioning technology acquisition is using true coordinate as the Gauss of mean value point
Cloth, then the true coordinate of two cars is also using the first coordinate as the Gaussian Profile of mean value in the case where obtaining the first coordinate.
And assume that abscissa and ordinate are independently distributed, i.e. x~N (x0,σ2) and y~N (y0,σ2).Assuming that fixed based on GPS
The GPS coordinate that position technology obtains is (x0,y0), then the probability density function of true coordinate (x, y) are as follows:
Respectively with (x1,y1) and (x2,y2) it is the center of circle, and by several radiuses of several concentric circles and maximum concentric circles, draw
It takes and obtains A probability region；In the present embodiment, respectively with (x1,y1) and (x2,y2) it is the center of circle, take acquisition 18 for each stroke respectively
Probability region.One is chosen in each probability region to represent a little；Preferably, choosing the geometric center of the probability region
It is 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).It draws
The distribution map for the probability region separately won is with reference to shown in Fig. 4.With reference to Fig. 4, with (x1,y1) center of circle divide probability region be distributed as
Example, the probability region divided is fan-shaped or partial sector, then correspondingly, angle fan-shaped locating for probability region is probability
Angle, θ shared by region, fan-shaped radius locating for probability region are radius r (as shown in Figure 4, r1, r2, r3 of probability region
Corresponding to different concentric circles).
According to angle, θ shared by each probability region, radius r and probability density function, pass through formulaIts probability is calculated, the calculated result 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
Actual position be in the Making by Probability Sets p in the Probability Region1,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 it is corresponding be connected two-by-two, obtain 18*18=324 altogether
A virtual communication path.Then, according to the R tree, virtual communication path described in every is determined, determines that it is the road NLOS
Diameter or LOS path, decision process can refer to shown in Fig. 5.By sentencing for the virtual communication path for being judged as los path
Determine result and be set as 1, sets 0 for the judgement result for being judged as the virtual communication path of obstructed path, 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 be more than or equal to preset threshold when, obtain the ranging information of the two cars；Obtain institute
Multiple ranging informations in target area between different vehicle are stated, generate ranging information using the multiple ranging information
Collection.
In this step, a threshold value t is set, p is worked asLOSWhen > 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；Ranging letter
Breath is TOA (Time of arrival) in the prior art, is the distance completing transmitting-receiving elapsed time based on electromagnetic wave and obtaining
Data.Then, it by repeating step 101 to step 104, obtains different vehicle in target area and (is able to carry out the two of TOA ranging
Vehicle) between multiple ranging informations, multiple ranging informations integration of acquisition is then generated into ranging information collection.
Work as pLOSWhen < t, then it is assumed that the communication path between two cars is the path NLOS, then two cars v1And v2Between it is logical
Letter path will cause positioning result inaccuracy, therefore it cannot be used for positioning；Then correspondingly, terminating positioning, or return to step 101
The method for re-executing the present embodiment.
Step 105, the GNSS location information obtained using the ranging information collection and in advance, to the vehicle in car networking into
Row co-positioned.
In this step, using the ranging information collection obtained in abovementioned steps, and the GNSS location information being obtained ahead of time is 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, the survey that uses
The ranging information concentrated away from information both corresponds to LOS path, 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
In the middle.Vehicle location is not confined to a specific point by method of the invention, but is extended to one piece of region, and in this region
The interior sampled point that fixed quantity is chosen according to certain rule, these sampled points represent the position of corresponding vehicle with certain probability
It sets.Full connection is done between sampled point between Adjacent vehicles, obtains the sample path of fixed quantity.For every sample path, I
It is judged for LOS path or the path NLOS by geographical location information, Adjacent vehicles are calculated by mutually multiplying accumulating etc.
Between path belong to the probability of LOS, then think it as LOS path, otherwise it is assumed that it is the path NLOS higher than the threshold value set.Then
The positioning for abandoning the path NLOS is positioned using only the corresponding coordinate of LOS path, and the cooperation effectively increased in car networking is fixed
Position precision.
In some embodiments, after the ranging information of the acquisition two cars in the step 104 of previous embodiment,
Further, from corresponding one group of second coordinate of the two cars obtained in the positioning result in the target area；It holds 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 executes aforementioned two step.Wherein, it since no change has taken place for target area, is then holding
When row, repeats and execute step 102 to step 104.The flow diagram of the present embodiment is with reference to shown in Fig. 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 a possibility that algorithm diverging is failed, while improving positioning accuracy.Specifically,
In positioning each time, algorithm iteration several times is carried out, using the result of last time positioning as the initial estimation position of current iteration
Set, reevaluate LOS path/NLOS path probability between vehicle, be input in the middle of current iteration, until algorithmic statement or
Reach stop condition, then the positioning result of kind is done in output.In this manner, the initial estimated location of each iteration is compared
It is once all more accurate, so that positional accuracy is also obviously improved.
As an alternative embodiment, on the basis of aforementioned iterative Cooperative Localization Method, implement to save
Process carries out subsequent co-positioned using the ranging information is obtained when executing for the first time if being judged as LOS path；If sentencing
Break as non-LOS path, then carries out subsequent co-positioned 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, is only decided whether according to judging result using the acquisition
Ranging information.
Based on the same inventive concept, the car networking cooperation based on geographical location information that the embodiment of the invention also provides a kind of
Positioning device.It is the car networking co-positioned apparatus structure signal based on geographical location information of the embodiment of the present invention with reference to Fig. 7
Figure.
The shown car networking co-positioned device based on geographical location information, comprising:
First acquisition module 701 generates the geographical location information pair for obtaining the geographical location information of target area
The R tree answered；
Second obtains module 702, for obtaining corresponding one group of first coordinate of the two cars in the target area；
Execution module 703, for being based on the R tree and first coordinate, the communication path calculated between two cars is
The probability of los path；
Generation module 704, for when the probability is more than or equal to preset threshold, obtaining the ranging letter of the two cars
Breath；Multiple ranging informations in the target area between different vehicle are obtained, is generated and is surveyed using multiple ranging informations
Away from information collection；
Locating module 705, the GNSS location information for obtaining using the ranging information collection and in advance, in car networking
Vehicle carry out co-positioned.
Specifically, the execution module 703 is used for: one group of first coordinate are as follows: (x1,y1) and (x2,y2)；Respectively with
(x1,y1) and (x2,y2) it is the center of circle, and by several radiuses of several concentric circles and maximum concentric circles, draws to take and obtain A probability
Region is chosen one in each probability region and is represented a little, and acquisition represents point set: v1,m=(v1,1, v1,2... v1,m) and v2,n
=(v2,1, v2,2... v2,n), m=n=A；According to angle, θ shared by each probability region, radius r and probability density letter
Number, passes through formulaCalculate and by after calculated result normalized, obtain two
The actual position of vehicle is in the Making by Probability Sets p 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 it is corresponding be connected two-by-two, obtain altogether
Obtain A2A virtual communication path；According to the R tree, the virtual communication path is determined, will be judged as los path
The judgement result of the virtual communication path is set as 1, by sentencing for the virtual communication path for being judged as obstructed path
Determine result and be set as 0, generates and determine results set lm,n=(l1,1, l1,2... l1,n, l2,1, 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 further include: iteration execution module, for obtaining the target from the positioning result
Corresponding one group of second coordinate of two cars in region；The car networking co-positioned based on geographical location information is executed again,
In, so that second coordinate is replaced first coordinate；It is repeated several times and executes aforementioned two step.
Further, the locating module 705 is also used to: when the probability be less than preset threshold when, terminate positioning or again
It is new to execute the car networking co-positioned based on geographical location information.
The device of above-described embodiment for realizing method corresponding in previous embodiment there is corresponding method to implement
The beneficial effect of example, details are not described herein.
It should be understood by those ordinary skilled in the art 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 thinking of the invention, above embodiments
Or can also be combined between the technical characteristic in different embodiments, step can be realized with random order, and be existed such as
Many other variations of the upper different aspect of the invention, for simplicity, they are not provided in details.
In addition, to simplify explanation and discussing, and in order not to obscure the invention, it can in provided attached drawing
It is connect with showing or can not show with the well known power ground of integrated circuit (IC) chip and other components.Furthermore, it is possible to
Device is shown in block diagram form, to avoid obscuring the invention, and this has also contemplated following facts, i.e., about this
The details of the embodiment of a little block diagram arrangements be height depend on will implementing platform of the invention (that is, these details should
It is completely within the scope of the understanding of those skilled in the art).Elaborating that detail (for example, circuit) is of the invention to describe
In the case where exemplary embodiment, it will be apparent to those skilled in the art that can be in these no details
In the case where or implement the present invention in the case that these details change.Therefore, these descriptions should be considered as explanation
Property rather than it is restrictive.
Although having been incorporated with specific embodiments of the present invention, invention has been described, according to retouching for front
It states, many replacements of these embodiments, modifications and variations will be apparent for those of ordinary skills.Example
Such as, discussed embodiment can be used in other memory architectures (for example, dynamic ram (DRAM)).
The embodiment of the present invention be intended to cover fall into all such replacements within the broad range of appended claims,
Modifications and variations.Therefore, all within the spirits and principles of the present invention, any omission, modification, equivalent replacement, the improvement made
Deng should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of car networking Cooperative Localization Method based on geographical location information characterized by comprising
The geographical location information for obtaining target area, generates the corresponding R tree of the geographical location information；
Obtain corresponding one group of first coordinate of two cars in the target area；
Based on the R tree 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 preset threshold, the ranging information of the two cars is obtained；It obtains in the target area
Multiple ranging informations between different vehicle generate ranging information collection using the multiple ranging information；
The GNSS location information obtained using the ranging information collection and in advance carries out co-positioned to the vehicle in car networking；
Wherein, described to be based on the R tree and first coordinate, calculating the communication path between two cars is the general of los path
Rate, comprising:
One group of first coordinate are as follows: (x1,y1) and (x2,y2)；Respectively with (x1,y1) and (x2,y2) it is the center of circle, and by several
Several radiuses of concentric circles and maximum concentric circles, draw 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；
According to angle, θ shared by each probability region, radius r and probability density function, pass through formulaCalculate and by after calculated result normalized, obtain the true of two cars
Position is in the Making by Probability Sets p 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 it is corresponding be connected two-by-two, obtain A altogether2A virtual communication road
Diameter；According to the R tree, the virtual communication path is determined, the virtual communication road of los path will be judged as
The judgement result of diameter is set as 1, sets 0 for the judgement result for being judged as the virtual communication path of obstructed path,
It generates and determines results set lm,n=(l1,1, l1,2... l1,n, l2,1, 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
2. the method according to claim 1, wherein it is described in each probability region choose one represent a little,
Include:
The geometric center for choosing the probability region represents a little as described.
3. according to the method described in claim 2, it is characterized by further comprising:
From corresponding one group of second coordinate of the two cars obtained in the positioning result in the target area；
The car networking Cooperative Localization Method based on geographical location information is executed again, wherein replaces second coordinate
First coordinate；
It is repeated several times and executes aforementioned two step.
4. according to claim 1 to method described in 3 any one, which is characterized in that further include:
When the probability is less than preset threshold, terminates positioning or re-execute the car networking association based on geographical location information
Make localization method.
5. a kind of car networking co-positioned device based on geographical location information characterized by comprising
First acquisition module generates the corresponding R of the geographical location information for obtaining the geographical location information of target area
Tree；
Second obtains module, for obtaining corresponding one group of first coordinate of the two cars in the target area；
Execution module, for being based on the R tree and first coordinate, calculating the communication path between two cars is los path
Probability；
Generation module, for obtaining the ranging information of the two cars when the probability is more than or equal to preset threshold；Obtain institute
Multiple ranging informations in target area between different vehicle are stated, generate ranging information collection using multiple ranging informations；
Locating module is used for, the GNSS location information obtained using the ranging information collection and in advance, to the vehicle in car networking
Carry out co-positioned；
Wherein, the execution module is specifically used for: one group of first coordinate are as follows: (x1,y1) and (x2,y2)；Respectively with (x1,y1)
(x2,y2) it is the center of circle, and by several radiuses of several concentric circles and maximum concentric circles, draws to take and obtain A probability region,
It chooses one in each probability region to 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；According to angle, θ shared by each probability region, radius r and probability density function, pass through public affairs
FormulaCalculate and by after calculated result normalized, obtain the true of two cars
Real position is in the Making by Probability Sets p 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 it is corresponding be connected two-by-two, obtain A altogether2It is a virtual logical
Believe path；According to the R tree, the virtual communication path is determined, will be judged as the virtual communication of los path
The judgement result in path is set as 1, sets the judgement result for being judged as the virtual communication path of obstructed path to
0, it generates and determines results set lm,n=(l1,1, l1,2... l1,n, l2,1, 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
6. device according to claim 5, which is characterized in that the execution module is specifically used for: choosing the Probability Region
The geometric center in domain represents a little as described.
7. device according to claim 6, which is characterized in that further include: iteration execution module, for being tied from the positioning
Corresponding one group of second coordinate of two cars in the target area is obtained in fruit；The vehicle based on geographical location information is executed again
Networking co-positioned, wherein second coordinate is made to replace first coordinate；It is repeated several times and executes aforementioned two step.
8. according to device described in claim 5 to 7 any one, which is characterized in that the locating module is also used to: when described
When probability is less than preset threshold, terminates positioning or re-execute the car networking co-positioned based on geographical location information.
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| CN110839209B (en) * | 2019-10-18 | 2020-10-27 | 东南大学 | Method for direct-view path discrimination and cooperative positioning among vehicles suitable for Internet of vehicles |
| CN115767413A (en) * | 2020-08-29 | 2023-03-07 | 华为技术有限公司 | Cooperative positioning method and device |
| CN115061176B (en) * | 2022-08-05 | 2022-12-06 | 合肥工业大学 | Vehicle GPS enhanced positioning method based on V2V instantaneous data exchange |
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