CN108111979B - BDS and LoRa-based vehicle positioning, tracking and scheduling system and method - Google Patents
BDS and LoRa-based vehicle positioning, tracking and scheduling system and method Download PDFInfo
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Abstract
The invention provides a BDS and LoRa-based vehicle positioning, tracking and scheduling system and method, wherein the system comprises a vehicle-mounted positioning terminal, a LoRa communication base station and a positioning, tracking and scheduling platform; the vehicle-mounted positioning terminal is connected with the LoRa communication base station through a LoRa wireless spread spectrum signal, and the LoRa communication base station is connected with the positioning, tracking and scheduling platform in a wired mode. Has the advantages that: the LoRa is a low-power-consumption long-distance wireless communication technology, mainly operates in a global free frequency band, has strong network coverage capacity, and can completely meet the wireless transmission requirement of the vehicle real-time positioning information in the on-site production area in a shipyard. The system adopts the spread spectrum signal wireless communication based on the LoRa technology to transmit the real-time positioning information of the vehicle, can avoid the problem that other long-distance transmission technologies such as 2G, 3G and 4G need to generate flow charge, and reduces the use cost.
Description
Technical Field
The invention belongs to the technical field of wireless communication, and particularly relates to a BDS and LoRa-based vehicle positioning, tracking and scheduling system and method.
Background
At present, China has become a large shipbuilding country, and the shipbuilding process is developing towards digitization, automation, intellectualization and greening. The modern shipbuilding mode adopts an area shipbuilding technology, the hull construction is in a section unit, the ship section serving as an intermediate product tends to be large-sized and huge, and the transportation of the section between each production workshop and the section storage yard depends on production transportation vehicles such as a heavy-duty power flat-bed transportation vehicle and a large-scale forklift, so that the related production transportation vehicles are just important production resources of ship construction enterprises.
Because the ship section is very huge in size and weight, the safety requirement of driving of the ship section in the process of transferring the ship section is extremely high in the production and transportation vehicles of a shipyard, the driving is very slow, and meanwhile, other vehicles, pedestrians and the like need to be allowed to pass by so as to avoid collision dangerous accidents. In general, both road resources and segment yard space resources of a shipyard are very short, segment transfer needs to consume much time and cost, and how to improve the utilization efficiency of related resources is always a particular concern for shipbuilding enterprises.
In the prior art, when information of a shipyard is transmitted, the information is mainly transmitted by mobile communication technologies such as 2G, 3G, 4G and the like, so that flow charge is generated; and if the WIFI network technology is adopted, a large wireless network needs to be built, a large number of relay nodes are deployed, and the WIFI network is not suitable for information transmission in different scenes of a shipyard.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a BDS and LoRa-based vehicle positioning, tracking and scheduling system and method, which can effectively solve the problems.
The technical scheme adopted by the invention is as follows:
the invention provides a BDS and LoRa-based vehicle positioning, tracking and scheduling system, which comprises a vehicle-mounted positioning terminal, a LoRa communication base station and a positioning, tracking and scheduling platform; the vehicle-mounted positioning terminal is connected with the LoRa communication base station through a LoRa wireless spread spectrum signal, and the LoRa communication base station is connected with the positioning, tracking and scheduling platform in a wired mode.
Preferably, the vehicle-mounted positioning terminal comprises a BDS positioning module, a micro control unit and a LoRa communication module; the micro control unit is respectively connected with the BDS positioning module and the LoRa communication module.
Preferably, the LoRa communication base station is an LoRa/LoRaWAN gateway and a concentrator.
The invention also provides a BDS and LoRa-based vehicle positioning, tracking and scheduling system method, which comprises the following steps:
step 1, in the running process of a vehicle, a micro-control unit of a vehicle-mounted positioning terminal mounted on the vehicle drives a BDS positioning module to acquire BDS positioning information according to sampling frequency; then, the micro control unit packages the acquired BDS positioning information, the unique identification code of the vehicle-mounted positioning terminal and the positioning time information into a vehicle positioning information message; then, the micro control unit controls the LoRa communication module to send the vehicle positioning information message to a LoRa communication base station;
step 2, the LoRa communication base station receives the vehicle positioning information message sent back by the LoRa communication module, and then sends the received vehicle positioning information message to the positioning tracking scheduling platform through an RJ45 Ethernet;
the positioning, tracking and scheduling platform comprises a vehicle positioning information message analysis module, an information checking and storing module, an information query module, a vehicle positioning information visual display module and a vehicle positioning information database;
when the positioning tracking scheduling platform receives the vehicle positioning information message, the vehicle positioning information message analyzing module analyzes the received vehicle positioning information message into BDS positioning information, a unique identification code of a vehicle positioning terminal and positioning time information;
then, the information checking and storing module checks the consistency of the BDS positioning information of the vehicle, the unique identification code of the vehicle-mounted positioning terminal and the positioning time information which are analyzed by the vehicle positioning information message analyzing module, and after the check is passed, the mapping relation of the BDS positioning information of the vehicle, the unique identification code of the vehicle-mounted positioning terminal and the positioning time information is stored in the vehicle positioning information database;
when the vehicle positioning information visual display module receives an operation request from a vehicle scheduling manager, the vehicle positioning information visual display module submits the operation request to the information query module;
after receiving the operation request, the information query module formats the operation request according to a database information query specification to generate a database query request and submits the database query request to the vehicle positioning information database; then receiving a query result returned by the vehicle positioning information database, and returning the query result to the vehicle positioning information visual display module;
and the vehicle positioning information visual display module displays the query result to a manager in a visual form after receiving the query result.
Preferably, in step 1, the vehicle-mounted positioning terminal further has a drift point screening function, and is specifically implemented in the following manner:
the vehicle-mounted positioning terminal adopts an excessive acquisition method to improve the positioning longitude, specifically, a micro control unit of the vehicle-mounted positioning terminal sets a cache, and the BDS positioning information received from the BDS positioning module is analyzed and then is put into the cache one by one; after continuously receiving N pieces of BDS positioning information, N is a preset value, the micro control unit respectively uses longitude data and latitude data as reference for sequencing, marks a longitude maximum point and a longitude minimum point in a sequence using longitude as reference, and marks a latitude maximum point and a latitude minimum point in the sequence using latitude as reference; then, in the N pieces of BDS positioning information, deleting the longitude maximum point, the longitude minimum point, the latitude maximum point and the latitude minimum point one by one, calculating the central positions of the remaining points, and taking the point coordinate closest to the central position and the time thereof as the effective acquisition data.
The BDS and LoRa-based vehicle positioning, tracking and scheduling system and method provided by the invention have the following advantages:
the LoRa is a low-power-consumption long-distance wireless communication technology, mainly operates in a global free frequency band, has strong network coverage capacity, and can completely meet the wireless transmission requirement of the vehicle real-time positioning information in the on-site production area in a shipyard. The system adopts the spread spectrum signal wireless communication based on the LoRa technology to transmit the real-time positioning information of the vehicle, can avoid the problem that other long-distance transmission technologies such as 2G, 3G and 4G need to generate flow charge, and reduces the use cost. The positioning, tracking and driving route recording of the shipyard production transportation vehicles are beneficial to improving the safety and efficiency of production logistics operation such as segmented transportation, optimizing the scheduling of the shipyard production transportation vehicles and improving the utilization efficiency of shipyard road resources and segmented yard space resources.
Drawings
Fig. 1 is a schematic structural diagram of a BDS and LoRa-based vehicle positioning, tracking and scheduling system provided in the present invention;
FIG. 2 is a schematic diagram of the vehicular positioning terminal provided by the present invention;
FIG. 3 is a schematic diagram of the operation of the location tracking scheduling platform provided by the present invention;
wherein: 1-vehicle positioning terminal; 2-LoRa communication base station; 3-positioning, tracking and scheduling platform.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The problems of location information positioning, tracking, driving route recording and vehicle scheduling of the transport vehicles produced by the shipyard become key factors influencing the production efficiency of the shipyard. The positioning, tracking and driving route recording of the shipyard production transportation vehicles are beneficial to improving the safety and efficiency of production logistics operation such as segmented transportation, optimizing the scheduling of the shipyard production transportation vehicles and improving the utilization efficiency of shipyard road resources and segmented yard space resources.
The invention provides a system for positioning, tracking, recording and scheduling position information of shipyard production vehicles based on a BDS technology and a LoRa technology, which is used for positioning vehicles in real time by utilizing BDS signals and feeding back related positioning information to a distribution scheduling center through a LoRa wireless transmission technology, and is used for solving the problems of positioning, tracking, recording and scheduling optimization of shipyard production transportation vehicles and the like.
The features of LoRa and BDS are first described below:
LoRa is a low-power consumption long-distance wireless communication technology, and mainly operates in a global free frequency band. LoRa has strong signal penetration capability, strong network coverage capability and wide range. In a dense urban environment, the transmission distance of LoRa data can reach more than 3 KM; in an open area, the transmission distance can reach 15-30 KM, even more. In addition, the LoRa technology also has the advantages of low cost, low power consumption and the like of the terminal sensor.
The BDS is a short name for the BeiDou satellite navigation System, and the BeiDou navigationsationsatellite navigation System (BDS) is a global satellite navigation System developed by china. The BDS is the third mature satellite navigation system following the united states Global Positioning System (GPS), russian GLONASS satellite navigation system (GLONASS).
Referring to fig. 1, the present invention provides a BDS and LoRa-based vehicle positioning, tracking and scheduling system, which includes three parts, namely a vehicle-mounted positioning terminal, an LoRa communication base station and a positioning, tracking and scheduling platform; the vehicle-mounted positioning terminal is connected with the LoRa communication base station through a LoRa wireless spread spectrum signal, and the LoRa communication base station is connected with the positioning, tracking and scheduling platform in a wired mode. The vehicle-mounted positioning terminal sends the collected vehicle position information to the LoRa communication base station through a LoRa wireless spread spectrum signal, and the LoRa communication base station sends the received vehicle position information to the positioning tracking scheduling platform through the RJ45 Ethernet wired network.
Specifically, referring to fig. 2, the vehicle-mounted positioning terminal is configured to acquire BDS satellite positioning information and transmit the BDS satellite positioning information to the LoRa communication base station by using the LoRa technology, and the vehicle-mounted positioning terminal includes three parts, which are a BDS positioning module, a micro control unit, and an LoRa communication module, respectively. The BDS positioning module is responsible for acquiring the position information of the production transport vehicle through the BDS. The micro control unit is responsible for packaging and forwarding BDS information acquired by the BDS positioning module and the unique identification code of the vehicle-mounted positioning terminal and controlling the LoRa communication module to send the information to the LoRa communication base station. The vehicle-mounted positioning terminal takes the micro control unit as a core, and the working mechanism is as follows: firstly, driving a BDS positioning module to acquire BDS positioning information; then, the collected positioning information is combined with the unique identification code, the positioning time and other information of the vehicle positioning terminal to generate a vehicle positioning information message; and finally, controlling the LoRa communication module to send the vehicle positioning information message to the LoRa communication base station.
The LoRa communication base station is LoRa/LoRaWAN gateway and concentrator, has two functions: one function is responsible for receiving the vehicle positioning information message sent back by the LoRa communication module; and the other function is responsible for sending the received vehicle positioning information message to the positioning, tracking and dispatching platform through the RJ45 Ethernet.
The positioning, tracking and scheduling platform is used for receiving vehicle positioning information, and further visual real-time positioning, tracking, driving route recording, scheduling optimization and the like of the shipyard production and transportation vehicles based on the GIS map are achieved.
Referring to fig. 3, the location tracking scheduling platform includes a vehicle location information message parsing program, an information checking and storing program, an information query program, a vehicle location information visual display program, and a vehicle location information database. The working mechanism of the positioning, tracking and scheduling platform is as follows: the vehicle positioning information message analysis program is responsible for analyzing the received vehicle positioning information message into vehicle positioning information, a unique identification code of the vehicle positioning terminal and positioning time. And the information checking and storing sequence is used for checking the consistency of the related information after receiving the analysis result of the vehicle positioning information message and storing the related information into the vehicle positioning information database. The vehicle positioning information visual display program can accept different types of operation requests of vehicle dispatching management personnel, wherein the operation requests can comprise real-time tracking, historical tracks, electronic fences, mileage statistics and the like, then sends the related requests to the information inquiry program, and displays the related information to the management personnel in a visual form such as a chart and the like after receiving inquiry records returned by the information inquiry program. The information inquiry program is responsible for formatting the information inquiry request from the vehicle positioning information visual display program according to the database information inquiry specification, generating a database inquiry request and submitting the database inquiry request to the vehicle positioning information database, and sending the information inquiry request to the vehicle positioning information visual display program after receiving the returned related inquiry records. The visual display program of the vehicle positioning information realizes the visual dynamic display and statistical chart information display of the production logistics vehicle positioning, tracking, path playback and the like based on the GIS map technology. The vehicle positioning information database is responsible for storing and maintaining vehicle positioning historical information records. By combining the arrangement condition of the current vehicle transportation task, the vehicle transportation capacity, the current position of the vehicle and the specific production transportation task, the system can automatically perform production transportation task and vehicle matching and vehicle running route recommendation, and realizes the scheduling optimization of the production transportation vehicle.
The invention also provides a BDS and LoRa-based vehicle positioning, tracking and scheduling system method, which comprises the following steps:
step 1, in the running process of a vehicle, a micro-control unit of a vehicle-mounted positioning terminal mounted on the vehicle drives a BDS positioning module to acquire BDS positioning information according to sampling frequency; then, the micro control unit packages the acquired BDS positioning information, the unique identification code of the vehicle-mounted positioning terminal and the positioning time information into a vehicle positioning information message; then, the micro control unit controls the LoRa communication module to send the vehicle positioning information message to a LoRa communication base station;
in step 1, the vehicle-mounted positioning terminal also has a drift point screening function, and is specifically realized by the following mode:
the vehicle-mounted positioning terminal adopts an excessive acquisition method to improve the positioning longitude, specifically, a micro control unit of the vehicle-mounted positioning terminal sets a cache, and the BDS positioning information received from the BDS positioning module is analyzed and then is put into the cache one by one; after continuously receiving N pieces of BDS positioning information, N is a predetermined value, for example, 7; the micro control unit takes longitude data and latitude data as reference for sequencing respectively, marks a longitude maximum point and a longitude minimum point in a sequence taking longitude as reference, and marks a latitude maximum point and a latitude minimum point in the sequence taking latitude as reference; then, in the N pieces of BDS positioning information, deleting the longitude maximum point, the longitude minimum point, the latitude maximum point and the latitude minimum point one by one, calculating the central positions of the remaining points, and taking the point coordinate closest to the central position and the time thereof as the effective acquisition data.
Step 2, the LoRa communication base station receives the vehicle positioning information message sent back by the LoRa communication module, and then sends the received vehicle positioning information message to the positioning tracking scheduling platform through an RJ45 Ethernet;
the positioning, tracking and scheduling platform comprises a vehicle positioning information message analysis module, an information checking and storing module, an information query module, a vehicle positioning information visual display module and a vehicle positioning information database;
when the positioning tracking scheduling platform receives the vehicle positioning information message, the vehicle positioning information message analyzing module analyzes the received vehicle positioning information message into BDS positioning information, a unique identification code of a vehicle positioning terminal and positioning time information;
then, the information checking and storing module checks the consistency of the BDS positioning information of the vehicle, the unique identification code of the vehicle-mounted positioning terminal and the positioning time information which are analyzed by the vehicle positioning information message analyzing module, and after the check is passed, the mapping relation of the BDS positioning information of the vehicle, the unique identification code of the vehicle-mounted positioning terminal and the positioning time information is stored in the vehicle positioning information database;
when the vehicle positioning information visual display module receives an operation request from a vehicle scheduling manager, the vehicle positioning information visual display module submits the operation request to the information query module;
after receiving the operation request, the information query module formats the operation request according to a database information query specification to generate a database query request and submits the database query request to the vehicle positioning information database; then receiving a query result returned by the vehicle positioning information database, and returning the query result to the vehicle positioning information visual display module;
and the vehicle positioning information visual display module displays the query result to a manager in a visual form after receiving the query result.
Compared with the prior art, the beneficial effects of the invention are embodied in the following aspects:
(1) the LoRa is a low-power-consumption long-distance wireless communication technology, mainly operates in a global free frequency band, has strong network coverage capacity, and can completely meet the wireless transmission requirement of the vehicle real-time positioning information in the on-site production area in a shipyard. The system adopts spread spectrum signal wireless communication based on the LoRa technology to transmit the real-time positioning information of the vehicle, so that the problem that flow charge needs to be generated by other long-distance transmission technologies such as 2G, 3G and 4G can be avoided, and the use cost is reduced;
(2) the system adopts GIS technology and displays the position of a production transport vehicle in a map form in real time;
(3) the system can arrange scheduling transportation tasks such as ship segmentation and the like nearby based on the real-time position of the production transportation vehicle, and optimize production transportation scheduling;
(4) the system displays the occupation condition of the road flat car in the shipyard in real time in a map-based mode, and can prompt the optimization analysis result of the segmented transfer path.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements should also be considered within the scope of the present invention.
Claims (4)
1. A BDS and LoRa-based vehicle positioning, tracking and scheduling system method is characterized in that the BDS and LoRa-based vehicle positioning, tracking and scheduling system comprises a vehicle-mounted positioning terminal, a LoRa communication base station and a positioning, tracking and scheduling platform; the vehicle-mounted positioning terminal is connected with the LoRa communication base station through a LoRa wireless spread spectrum signal, and the LoRa communication base station is connected with the positioning, tracking and scheduling platform in a wired mode; the method comprises the following steps:
step 1, in the running process of a vehicle, a micro-control unit of a vehicle-mounted positioning terminal mounted on the vehicle drives a BDS positioning module to acquire BDS positioning information according to sampling frequency; then, the micro control unit packages the acquired BDS positioning information, the unique identification code of the vehicle-mounted positioning terminal and the positioning time information into a vehicle positioning information message; then, the micro control unit controls the LoRa communication module to send the vehicle positioning information message to a LoRa communication base station;
step 2, the LoRa communication base station receives the vehicle positioning information message sent back by the LoRa communication module, and then sends the received vehicle positioning information message to the positioning tracking scheduling platform through an RJ45 Ethernet;
the positioning, tracking and scheduling platform comprises a vehicle positioning information message analysis module, an information checking and storing module, an information query module, a vehicle positioning information visual display module and a vehicle positioning information database;
when the positioning tracking scheduling platform receives the vehicle positioning information message, the vehicle positioning information message analyzing module analyzes the received vehicle positioning information message into BDS positioning information, a unique identification code of a vehicle positioning terminal and positioning time information;
then, the information checking and storing module checks the consistency of the BDS positioning information of the vehicle, the unique identification code of the vehicle-mounted positioning terminal and the positioning time information which are analyzed by the vehicle positioning information message analyzing module, and after the check is passed, the mapping relation of the BDS positioning information of the vehicle, the unique identification code of the vehicle-mounted positioning terminal and the positioning time information is stored in the vehicle positioning information database;
when the vehicle positioning information visual display module receives an operation request from a vehicle scheduling manager, the vehicle positioning information visual display module submits the operation request to the information query module;
after receiving the operation request, the information query module formats the operation request according to a database information query specification to generate a database query request and submits the database query request to the vehicle positioning information database; then receiving a query result returned by the vehicle positioning information database, and returning the query result to the vehicle positioning information visual display module;
and the vehicle positioning information visual display module displays the query result to a manager in a visual form after receiving the query result.
2. The method of claim 1, wherein in step 1, the vehicle-mounted positioning terminal further has a drift point screening function, and is implemented by:
the vehicle-mounted positioning terminal adopts an excessive acquisition method to improve the positioning longitude, specifically, a micro control unit of the vehicle-mounted positioning terminal sets a cache, and the BDS positioning information received from the BDS positioning module is analyzed and then is put into the cache one by one; after continuously receiving N pieces of BDS positioning information, N is a preset value, the micro control unit respectively uses longitude data and latitude data as reference for sequencing, marks a longitude maximum point and a longitude minimum point in a sequence using longitude as reference, and marks a latitude maximum point and a latitude minimum point in the sequence using latitude as reference; then, in the N pieces of BDS positioning information, deleting the longitude maximum point, the longitude minimum point, the latitude maximum point and the latitude minimum point one by one, calculating the central positions of the remaining points, and taking the point coordinate closest to the central position and the time thereof as the effective acquisition data.
3. The method of the BDS and LoRa-based vehicle positioning, tracking and dispatching system of claim 1, wherein the vehicle positioning terminal comprises a BDS positioning module, a micro control unit and an LoRa communication module; the micro control unit is respectively connected with the BDS positioning module and the LoRa communication module.
4. The BDS and LoRa-based vehicle location, tracking and dispatching system method according to claim 1, wherein the LoRa communication base station is a LoRa/LoRaWAN gateway and concentrator.
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| CN109255964A (en) * | 2018-10-11 | 2019-01-22 | 深圳市亿兆互联技术有限公司 | Vehicle speed measuring method and system based on LoRa wisdom street lamp |
| CN110866713A (en) * | 2019-09-25 | 2020-03-06 | 上海优链供应链管理有限公司 | Logistics system based on LoRa technology and logistics supervision method |
| CN111523828B (en) * | 2020-05-25 | 2022-06-03 | 广东电网有限责任公司 | Self-adjusting center system of transport vehicle of mobile substation |
| CN118631677A (en) * | 2024-08-09 | 2024-09-10 | 西北工业大学 | LoRaWAN networking and positioning simulation system based on NS3 and CHIRPSTACK |
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Denomination of invention: Vehicle positioning tracking scheduling system and method based on BDS and LoRa Effective date of registration: 20220829 Granted publication date: 20200324 Pledgee: CSSC Finance Co.,Ltd. Pledgor: CHINA SHIPBUILDING IT Corp.,Ltd. Registration number: Y2022980013892 |