CN108535692A - A kind of bus location method and car position system - Google Patents
A kind of bus location method and car position system Download PDFInfo
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- CN108535692A CN108535692A CN201810121712.7A CN201810121712A CN108535692A CN 108535692 A CN108535692 A CN 108535692A CN 201810121712 A CN201810121712 A CN 201810121712A CN 108535692 A CN108535692 A CN 108535692A
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- signal wave
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- positioning
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
Abstract
A kind of bus location method of present invention offer and car position system, at least two positioning devices respectively send one group of signal wave to automobile, and one group of signal wave includes positioning request signal wave and the first signal wave, and every group of two signal waves are simultaneously emitted by；If two signal waves of each group are received simultaneously by automobile, then using positioning request signal wave as useful signal wave, and corresponding position feedback signal wave is generated according to each positioning request signal wave, and send a pair of of signal wave to each positioning device, a pair of of signal wave includes corresponding position feedback signal wave and second signal wave, and each pair of position feedback signal wave and second signal wave are simultaneously emitted by；Each positioning device judges whether receive simultaneously with a pair of position feedback signal wave and second signal wave；If so, using position feedback signal wave as useful signal wave, and determine according to the location information of each positioning request signal wave, position feedback signal wave and each positioning device the position of automobile；Improve the accuracy of bus location result.
Description
Technical field
The present invention relates to technical field of transportation, more specifically to a kind of bus location method and car position system.
Background technology
Currently, when positioning device positions automobile, signal used for positioning that automobile and positioning device receive
Wave, it may be possible to repeatedly pass through the reflected signal wave of barrier, according to this signal wave carry out location Calculation, then will appear compared with
Big error causes positioning result inaccurate.
Invention content
It is a primary object of the present invention to propose a kind of bus location method and car position system, it is intended to solve existing skill
In art, when being positioned to automobile, the problem of positioning result inaccuracy.
In order to solve the above technical problems, the present invention proposes a kind of bus location method, bus location method includes following step
Suddenly：
At least two positioning devices respectively send one group of signal wave to automobile, and one group of signal wave includes positioning request signal wave
With the first signal wave, positioning request signal wave and the first signal wave in every group of signal wave are issued simultaneously；
Automobile receives the positioning request signal wave and the first signal wave that each positioning device is sent；And judge in each group signal wave
Two signal waves whether be received simultaneously along each beam direction；If so, using positioning request signal wave as useful signal wave, and according to each fixed
Position request signal wave generates corresponding position feedback signal wave, and sends a pair of of signal wave, a pair of of signal wave to each positioning device
Including corresponding position feedback signal wave and second signal wave, the position feedback signal wave in each pair of signal wave and second signal wave
It is issued simultaneously；
Each positioning device receives corresponding position feedback signal wave and second signal wave, and judges to determine with a pair of of signal wave
Whether position feedback signal wave and second signal wave are received simultaneously along each beam direction；If so, using position feedback signal wave as useful signal
Wave, and according to each positioning request signal wave, the location information of position feedback signal wave and each positioning device, determine automobile
Position.
Optionally, the frequency of positioning request signal wave and the first signal wave is different, and position feedback signal wave and the second letter
The frequency of number wave is different.
Optionally, positioning request signal wave and position feedback signal wave are that frequency is more than or equal to 3MHz and is less than 30MHz
Shortwave.
Optionally, the first signal wave and second signal wave are that frequency is more than or equal to 100KHz and the length less than 300KHz
Wave, frequency be more than or equal to 300KHz and less than the medium wave of 3MHz, frequency be more than or equal to 30MHz and ultrashort wave less than 300MHz,
Frequency be more than or equal to 300MHz and less than 300GHz microwave in any one.
Optionally, the identity information for corresponding to positioning device is all carried in positioning request signal wave and the first signal wave；
Corresponding positioning is generated using positioning request signal wave as useful signal wave, and according to each positioning request signal wave
Feedback signal wave, and before sending a pair of of signal wave to each positioning device, it is further comprising the steps of：
Judge the identity information of the correspondence positioning device carried in same group of positioning request signal wave and the first signal wave
It is whether identical；
If so, being generated into using positioning request signal wave as useful signal wave, and according to each positioning request signal wave
Corresponding position feedback signal wave, and the step of sending a pair of of signal wave to each positioning device.
Optionally, the identity information of automobile is all carried in position feedback signal wave and second signal wave；
Believe using each position feedback signal wave as useful signal wave, and according to each positioning request signal wave, position feedback
The location information of number wave and each positioning device, it is further comprising the steps of before the position for determining automobile：
Judge whether identical with the identity information of the automobile carried in a pair of position feedback signal wave and second signal wave；
If so, into using each position feedback signal wave as useful signal wave, and according to each positioning request signal wave, fixed
The location information of position feedback signal wave and each positioning device, the step of determining the position of automobile.
Optionally, the time that sends out of positioning request signal wave, position feedback signal are at least carried in positioning request signal wave
At least carried in wave position feedback signal wave send out the time and receive positioning request signal wave and send out position feedback letter
The time difference of number wave；
According to each positioning request signal wave, the location information of position feedback signal wave and each positioning device, automobile is determined
Position include：
Sending out the time, connecing for time and corresponding position feedback signal wave is sent out according to each positioning request signal wave
Receive and positioning request signal wave and send out the time difference of position feedback signal wave, determine between automobile and each positioning device away from
From；
And according to the distance between automobile and each positioning device and the location information of each positioning device, determine automobile
Position.
Optionally, positioning device is mounted on the street lamp of road.
Further, the present invention provides a kind of car position system, and car position system includes：Automobile and at least two is determined
Position device；
At least two positioning devices, for respectively sending one group of signal wave to automobile, one group of signal wave includes Location Request
Signal wave and the first signal wave, positioning request signal wave and the first signal wave in every group of signal wave are issued simultaneously；
Each positioning device receives corresponding position feedback signal wave and second signal wave, and judges to determine with a pair of of signal wave
Whether position feedback signal wave and second signal wave are received simultaneously along each beam direction；If so, using position feedback signal wave as useful signal
Wave, and according to each positioning request signal wave, the location information of position feedback signal wave and each positioning device, determine automobile
Position；
Automobile, the positioning request signal wave and the first signal wave sent for receiving each positioning device；And judge that each group is believed
Whether two signal waves in number wave are received simultaneously along each beam direction；If so, using positioning request signal wave as useful signal wave, and root
Corresponding position feedback signal wave is generated according to each positioning request signal wave, and a pair of of signal wave is sent to each positioning device, it is a pair of
Signal wave includes corresponding position feedback signal wave and second signal wave, the position feedback signal wave and second in each pair of signal wave
Signal wave is issued simultaneously.
Optionally, positioning device is mounted on the street lamp of road.
Advantageous effect
The present invention provides a kind of bus location method and car position system, which includes following step
Suddenly：At least two positioning devices respectively send one group of signal wave to automobile, and one group of signal wave includes positioning request signal wave and the
One signal wave, positioning request signal wave and the first signal wave in every group of signal wave are issued simultaneously；Automobile receives each positioning dress
Set the positioning request signal wave and the first signal wave of transmission；And judge whether two signal waves in each group signal wave are connect simultaneously
It receives；If so, using positioning request signal wave as useful signal wave, and it is corresponding fixed according to the generation of each positioning request signal wave
Position feedback signal wave, and a pair of of signal wave is sent to each positioning device, a pair of of signal wave includes corresponding position feedback signal wave
With second signal wave, position feedback signal wave and second signal wave in each pair of signal wave are issued simultaneously；Each positioning device connects
Corresponding position feedback signal wave and second signal wave are received, and judges the position feedback signal wave and the second letter with a pair of of signal wave
Whether number wave is received simultaneously along each beam direction；If so, using position feedback signal wave as useful signal wave, and believed according to each Location Request
The location information of number wave, position feedback signal wave and each positioning device, determines the position of automobile；Through the above scheme, same
Group positioning request signal wave and the first signal wave be simultaneously emitted by, automobile simultaneously receive same group positioning request signal wave and
Just using positioning request signal wave as useful signal wave when the first signal wave, the wave repeatedly reflected through barrier has been filtered out；It is same
To position feedback signal wave and second signal wave be simultaneously emitted by, positioning device simultaneously receive with a pair position feedback signal
Just using position feedback signal wave as useful signal wave when wave and second signal wave, the wave repeatedly reflected through barrier has been filtered out；
And then the position of automobile is determined according to the location information of positioning request signal wave, position feedback signal wave and each positioning device,
Improve the accuracy of bus location result.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing：
Fig. 1 is a kind of basic flow chart for bus location method that first embodiment of the invention provides；
Fig. 2 is a kind of schematic diagram for car position system that second embodiment of the invention provides.
Specific implementation mode
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
In subsequent description, using for indicating that the suffix of such as " module ", " component " or " unit " of element is only
Be conducive to the explanation of the present invention, itself there is no specific meanings.Therefore, " module " can mixedly make with " component "
With.
Description of specific embodiments of the present invention below in conjunction with the accompanying drawings.
First embodiment
In order to solve in the prior art, when positioning device positions automobile, what automobile and positioning device received
Signal wave used for positioning, it may be possible to repeatedly pass through the reflected signal wave of barrier, be positioned according to this signal wave
It calculates, then will appear larger error, cause the problem of positioning result inaccuracy, the present embodiment that will provide a kind of bus location side
Method, referring to Fig. 1, Fig. 1 is a kind of basic flow chart of bus location method provided in this embodiment, which includes
Following steps：
S101：At least two positioning devices respectively send one group of signal wave to automobile, and one group of signal wave includes Location Request
Signal wave and the first signal wave, positioning request signal wave and the first signal wave in every group of signal wave are issued simultaneously；
The automobile of the present embodiment can be manned, can also be automatic driving car.The positioning device of the present embodiment can
Can also be the high buildings and large mansions etc. mounted on road to be mounted on the street lamp of road.
When positioning device is mounted on the street lamp of road, at a distance from the holding of positioning device and automobile is closer, so as to
To promote the precision of positioning；And street lamp installs often rule, and the interval location between adjacent street lamp is usually fixed
, it thereby may be ensured that the signal covering of positioning device is uniformly and complete, all automobiles that can be looked after on road surface are determined
Position.
Positioning device is a kind of device at least having communication function, can be sent out around in signal strength allowable range
The number of delivering letters, and the signal sent, can be received by automobile.
Signal transmitted by positioning device can be full coverage type, that is, 360 ° of transmitting signal, can also be office
Portion's angle transmitting typically since positioning device is the characteristic for positioning automobile, sends signal and only needs in local angle
Transmitting, as long as launch angle can guarantee to cover at least partly road surface, so as to be received by automobile.
In order to improve the accuracy of positioning, the time difference for sending out the moment that each positioning device sends out one group of signal wave is less than etc.
In predetermined threshold value, predetermined threshold value is smaller, and positioning signal sends out the time with regard to closer, and final result is also more accurate.Certainly, most
Good, the time difference for sending out the moment of each positioning signal is zero, that is, each positioning signal sends out the moment and is all consistent.
S102：Automobile receives the positioning request signal wave and the first signal wave that each positioning device is sent；And judge that each group is believed
Whether two signal waves in number wave are received simultaneously along each beam direction；If so, using positioning request signal wave as useful signal wave, and root
Corresponding position feedback signal wave is generated according to each positioning request signal wave, and a pair of of signal wave is sent to each positioning device, it is a pair of
Signal wave includes corresponding position feedback signal wave and second signal wave, the position feedback signal wave and second in each pair of signal wave
Signal wave is issued simultaneously；
Positioning device sends positioning request signal wave to automobile, for being positioned to automobile request to automobile, automobile root
Position feedback signal wave is generated according to positioning request signal wave, then automobile is outer simultaneously by second signal wave and position feedback signal wave
Issue positioning device.
Optionally, the generated time of triggering second signal wave can receive the positioning that positioning device is sent in automobile to ask
After seeking signal wave, second signal wave can also be to be generated in advance to be stored in automobile local, when automobile needs to believe position feedback
When number wave is sent to positioning device, directly extracted from local, then simultaneously by second signal wave and position feedback signal wave
Outgoing is to positioning device.
Same group of positioning request signal wave and the type of the first signal wave may be the same or different, with a pair
The type of position feedback signal wave and second signal wave may be the same or different.
By taking same group of positioning request signal wave and the first signal wave as an example, same group of positioning request signal wave and first
The type of signal wave is all long wave of the frequency more than or equal to 100KHz and less than 300KHz, or is all that frequency is more than or equal to
300KHz and less than 3MHz medium wave, or be all frequency be more than or equal to 3MHz and less than 30MHz shortwave or be all frequency
Rate is more than or equal to 30MHz and is less than the ultrashort wave of 300MHz or is all frequency more than or equal to 300MHz and is less than 300GHz
Microwave etc.；
Or the type of same group of positioning request signal wave is that frequency is more than or equal to 3MHz and the shortwave less than 30MHz,
The type of same group of the first signal wave is that frequency is more than or equal to 100KHz and the long wave etc. less than 300KHz.
Same group of positioning request signal wave and the frequency of the first signal wave may be the same or different, with a pair
The frequency of position feedback signal wave and second signal wave may be the same or different.
By taking same group of positioning request signal wave and the first signal wave as an example, same group of positioning request signal wave and first
The shortwave that the frequency that signal wave is the positioning request signal wave of the shortwave that frequency is 4MHz or same group is 4MHz, it is same
The frequency of first signal wave of group is the shortwave etc. of 5MHz.
In one embodiment, the frequency of positioning request signal wave and the first signal wave is different, and position feedback signal
Wave is different with the frequency of second signal wave.
Optionally, position feedback signal wave is that frequency is more than or equal to 3MHz and the shortwave less than 30MHz.
Optionally, echo signal wave includes frequency is more than or equal to 100KHz and is less than the long wave of 300KHz, frequency is more than etc.
In 300KHz and the medium wave less than 3MHz, frequency are more than or equal to 30MHz and the ultrashort wave less than 300MHz, frequency are more than or equal to
300MHz and any one being less than in the microwave of 300GHz.
The frequency for the first signal wave that each positioning device is sent out can be identical, can also be different.Such as first
Signal wave is the long wave that frequency is 200KHz or the first signal wave that a positioning device is sent out be frequency is 200KHz
Long wave, the first signal wave that another positioning device is sent out are the long waves that frequency is 230KHz.
The frequency for the positioning request signal wave that each positioning device is sent out can be identical, can also be different.Such as
Positioning request signal wave is the shortwave that frequency is 4MHz or the positioning request signal wave that a positioning device is sent out is frequency
For the shortwave of 4MHz, the positioning request signal wave that another positioning device is sent out is the shortwave that frequency is 5MHz.
The frequency for the second signal wave that automobile is sent out to each positioning device can be identical, can also be different.Example
If second signal wave is the long wave that frequency is 200KHz or the second signal wave that a positioning device is sent out is that frequency is
The long wave of 200KHz, the second signal wave that another positioning device is sent out are the long waves that frequency is 230KHz.
The frequency for the position feedback signal wave that automobile is sent out to each positioning device can be identical, can also be difference
's.Such as position feedback signal wave is the shortwave that frequency is 4MHz or the position feedback signal that a positioning device is sent out
Wave is the shortwave that frequency is 4MHz, and the position feedback signal wave that another positioning device is sent out is the shortwave that frequency is 5MHz.
The frequency of positioning request signal wave and corresponding position feedback signal wave can be it is identical, can also
It is different.Such as positioning request signal wave is the shortwave that frequency is 4MHz, corresponding position feedback signal wave is also frequency
Shortwave or positioning request signal wave that rate is 4MHz are the shortwaves that frequency is 4MHz, corresponding position feedback signal wave
It is the shortwave that frequency is 5MHz.
Optionally, since automobile can receive at least two groups signal wave, so in order to further verify while receive
Positioning request signal wave and the first signal wave come from the same positioning device, are verified using following authentication mechanism：
The identity information of corresponding positioning device is all carried in positioning request signal wave and the first signal wave；
Corresponding positioning is generated using positioning request signal wave as useful signal wave, and according to each positioning request signal wave
Feedback signal wave, and before sending a pair of of signal wave to each positioning device, it is further comprising the steps of：
Judge the identity information of the correspondence positioning device carried in same group of positioning request signal wave and the first signal wave
It is whether identical；
If so, being generated into using positioning request signal wave as useful signal wave, and according to each positioning request signal wave
Corresponding position feedback signal wave, and the step of sending a pair of of signal wave to each positioning device；
If the identity information of the positioning device carried in the positioning request signal wave and the first signal wave that receive simultaneously is
It is identical, then it is assumed that positioning request signal wave and the first signal wave are sent by the same positioning device；If receiving simultaneously
Positioning request signal wave and the first signal wave in the identity information of positioning device that carries it is different, then it is assumed that positioning request signal
Wave and the first signal wave are not sent by the same positioning device；
Wherein, the identity information of positioning device can be number information or location information of positioning device etc..
S103：Each positioning device receives corresponding position feedback signal wave and second signal wave, and judges with a pair of of signal
Whether the position feedback signal wave and second signal wave of wave are received simultaneously along each beam direction；If so, using position feedback signal wave as having
Signal wave is imitated, and according to each positioning request signal wave, the location information of position feedback signal wave and each positioning device, is determined
The position of automobile.
Optionally, due to a more than automobile on highway, so the same positioning device is likely to be received from different vapour
A pair of of signal wave that vehicle is sent out, so for the position feedback signal wave further verified the same positioning device while received
Same automobile is come from second signal wave, is verified using following authentication mechanism：
The identity information of automobile is all carried in position feedback signal wave and second signal wave；
Believe using each position feedback signal wave as useful signal wave, and according to each positioning request signal wave, position feedback
The location information of number wave and each positioning device, it is further comprising the steps of before the position for determining automobile：
Judge whether identical with the identity information of the automobile carried in a pair of position feedback signal wave and second signal wave；
If so, into using each position feedback signal wave as useful signal wave, and according to each positioning request signal wave, fixed
The location information of position feedback signal wave and each positioning device, the step of determining the position of automobile；
If the identity information of the automobile carried in the position feedback signal wave and second signal wave that receive simultaneously is identical
, then it is assumed that position feedback signal wave and second signal wave are sent by the same automobile；If the positioning received simultaneously is anti-
The identity information of the automobile carried in feedback signal wave and second signal wave is different, then it is assumed that position feedback signal wave and second signal
Wave is not sent by the same automobile；
Wherein, the identity information of automobile can be license board information or owner information of automobile etc..
Optionally, the time that sends out of positioning request signal wave, position feedback signal are at least carried in positioning request signal wave
At least carried in wave position feedback signal wave send out the time and receive positioning request signal wave and send out position feedback letter
The time difference of number wave；
According to each positioning request signal wave, the location information of position feedback signal wave and each positioning device, automobile is determined
Position include：
Sending out the time, connecing for time and corresponding position feedback signal wave is sent out according to each positioning request signal wave
Receive and positioning request signal wave and send out the time difference of position feedback signal wave, determine between automobile and each positioning device away from
From；
And according to the distance between automobile and each positioning device and the location information of each positioning device, determine automobile
Position.
If same group of positioning request signal wave and the first signal wave are not by automobile while to receive, by Location Request
Signal wave terminates flow as invalid signals wave.
It, will positioning if not being by positioning device while to receive with a pair of position feedback signal wave and second signal wave
Feedback signal wave terminates flow as invalid signals wave.
Optionally, same group of positioning request signal wave and the first signal wave are wrapped by automobile while the case where receiving
It includes but is not limited to following two modes：
Mode one, positioning request signal wave and the first signal wave one of them be first received by automobile, the other is after
It is received by automobile；
Mode two, automobile receive only one of signal wave, another is not received.
Optionally, it is not by positioning device while the feelings that receive with a pair of position feedback signal wave and second signal wave
Condition includes but not limited to following two modes：
One of them is first to be received by positioning device for mode one, position feedback signal wave and second signal wave, another
It is received by positioning device after being；
Mode two, positioning device receive only one of signal wave, another is not received.
When positioning request signal wave and position feedback signal wave are all the shortwaves used, since the electromagnetic wave of short wavelength is believed
Number can between barrier multiple reflections, this results in being likely to occur the signal wave that automobile receives, and is not that positioning device is straight
The incoming electromagnetic wave signal of sending and receiving, the position feedback signal wave that positioning device receives are not that automobile directly launches
Electromagnetic wave signal.So in the present embodiment, being by the way of：Positioning request signal wave and the first signal are received at the same time
When wave, just using positioning request signal wave as useful signal wave, and position feedback signal wave and the second letter are received at the same time
When number wave, just using position feedback signal wave as useful signal wave, it can filter out in positioning request signal wave, position feedback signal
In the transmission process of wave, the wave repeatedly reflected through barrier improves the accuracy of bus location result.
An example is exemplified below to be further described：
For example, being respectively A, B there are two positioning device, one group of signal wave that A is simultaneously emitted by is positioning request signal wave C
(frequency is the shortwave of 4MHz) and the first signal wave D (frequency is the long wave of 200KHz), one group of signal wave that B is simultaneously emitted by is fixed
Position request signal wave E (frequency is the shortwave of 5MHz) and the first signal wave F (frequency is the long wave of 230KHz)；
Automobile judges whether the positioning request signal wave C received and the first signal wave D are received simultaneously along each beam direction, if so,
Using positioning request signal wave C as useful signal wave, and corresponding position feedback signal wave is generated according to positioning request signal wave C
G (frequency is the shortwave of 4MHz)；
And judge whether positioning request signal wave E and the first signal wave F are received simultaneously along each beam direction, if so, by Location Request
Signal wave E according to positioning request signal wave E generates corresponding position feedback signal wave H (frequency is as useful signal wave
The shortwave of 5MHz)；
And second signal wave I (frequency is the long wave of 200KHz) and position feedback signal wave G are simultaneously emitted by and are filled to positioning
Set A；Second signal wave J (frequency is the long wave of 230KHz) and position feedback signal wave H are simultaneously emitted by and give positioning device B；
Positioning device A judges whether the second signal wave I received and position feedback signal wave G are received simultaneously along each beam direction, if
It is, then using position feedback signal wave G as useful signal wave；
Positioning device B judges whether the second signal wave I received and position feedback signal wave H are received simultaneously along each beam direction, if
It is, then using position feedback signal wave H as useful signal wave；
Time and position feedback signal are sent out according to the positioning request signal wave C carried in positioning request signal wave C
The position feedback signal wave G and receive positioning request signal wave C and send out the time difference of position feedback signal wave G that wave G is carried,
Positioning device A is calculated at a distance from automobile, when the sending out of positioning request signal wave E carried according to positioning request signal wave E
Between and the position feedback signal wave H that carries of position feedback signal wave H and receive positioning request signal wave E and send out positioning
The time difference of feedback signal wave H calculates positioning device B at a distance from automobile；Further according to positioning device A at a distance from automobile,
Positioning device B determines the position of automobile at a distance from automobile and the distance between positioning device A and positioning device B.
Wherein, the method for determination of the distance between positioning device A and positioning device B can be according to positioning request signal wave
The location information of the positioning device A carried in C, according to the location information of the positioning device B carried in positioning request signal wave E into
Row determines.
By the implementation of the present embodiment, at least two positioning devices respectively send one group of signal wave, one group of signal to automobile
Wave includes positioning request signal wave and the first signal wave, and same group of positioning request signal wave and the first signal wave are simultaneously emitted by,
Just using positioning request signal wave as effectively when automobile receives same group of positioning request signal wave and the first signal wave simultaneously
Signal wave has filtered out the wave repeatedly reflected through barrier；And corresponding position feedback is generated according to each positioning request signal wave and is believed
Number wave, and a pair of of signal wave is sent to each positioning device, a pair of of signal wave includes corresponding position feedback signal wave and the second letter
Number wave is simultaneously emitted by with a pair of position feedback signal wave and second signal wave；Positioning device receives simultaneously determines with a pair
Just using position feedback signal wave as useful signal wave when position feedback signal wave and second signal wave, filter out repeatedly through barrier
The wave of reflection；And then it is determined according to the location information of each positioning request signal wave, position feedback signal wave and each positioning device
The position of automobile improves the accuracy of bus location result.
Second embodiment
In order to solve in the prior art, when positioning device positions automobile, what automobile and positioning device received
Signal wave used for positioning, it may be possible to repeatedly pass through the reflected signal wave of barrier, be positioned according to this signal wave
It calculates, then will appear larger error, cause the problem of positioning result inaccuracy, the present embodiment that will provide a kind of bus location system
System, referring to Fig. 2, Fig. 2 is a kind of schematic diagram of car position system provided in this embodiment, which includes：Vapour
Vehicle 201 and at least two positioning devices 202；
At least two positioning devices 202, for respectively sending one group of signal wave to automobile 201, one group of signal wave includes fixed
Position request signal wave and the first signal wave, positioning request signal wave and the first signal wave in every group of signal wave are issued simultaneously；
Each positioning device 202 receives corresponding position feedback signal wave and second signal wave, and judges with a pair of of signal wave
Position feedback signal wave and second signal wave whether be received simultaneously along each beam direction；If so, using position feedback signal wave as effectively
Signal wave, and according to each positioning request signal wave, the location information of position feedback signal wave and each positioning device 202, determine
The position of automobile 201；
Automobile 201, positioning request signal wave and the first signal wave for receiving the transmission of each positioning device 202；And judge
Whether two signal waves in each group signal wave are received simultaneously along each beam direction；If so, using positioning request signal wave as useful signal
Wave, and corresponding position feedback signal wave is generated according to each positioning request signal wave, and send a pair of of letter to each positioning device 202
Number wave, a pair of of signal wave include corresponding position feedback signal wave and second signal wave, the position feedback letter in each pair of signal wave
Number wave and second signal wave are issued simultaneously.
The automobile 201 of the present embodiment can be manned, can also be automatic driving car.The positioning device of the present embodiment
202 can be mounted on the street lamp of road, can also be the high buildings and large mansions etc. mounted on road.
When positioning device 202 is mounted on the street lamp of road, positioning device 202 and automobile 201 keep it is closer away from
From so as to promote the precision of positioning；And street lamp installs often rule, and the interval location between adjacent street lamp is logical
It is often fixed, thereby may be ensured that the signal covering of positioning device 202 is uniformly and complete, the institute on road surface can be looked after
There is the positioning of automobile 201.
Positioning device 202 is a kind of device at least having communication function, can be in signal strength allowable range to week
The signal for enclosing transmission signal, and sending, can be received by automobile 201.
Signal transmitted by positioning device 202 can be full coverage type, that is, 360 ° of transmitting signal, can also be
Local angle emits, and typically, since positioning device 202 is the characteristic for positioning automobile 201, sends signal and only needs
Local angle emits, as long as launch angle can guarantee to cover at least partly road surface, so as to by automobile 201
It is received.
In order to improve the accuracy of positioning, the time difference for sending out the moment that each positioning device 202 sends out one group of signal wave is small
In equal to predetermined threshold value, predetermined threshold value is smaller, and positioning signal sends out the time with regard to closer, and final result is also more accurate.When
So, it is preferred that the time difference for sending out the moment of each positioning signal is zero, that is, it is consistent that each positioning signal, which sends out the moment all,
's.
Positioning device 202 sends positioning request signal wave to automobile 201, for being carried out to the request of automobile 201 to automobile 201
Positioning, automobile 201 generate position feedback signal wave according to positioning request signal wave, and then automobile 201 by second signal wave and is determined
Position feedback signal wave simultaneously outgoing to positioning device 202.
Optionally, the generated time of triggering second signal wave can receive positioning device 202 in automobile 201 and send
After positioning request signal wave, second signal wave can also be to be generated in advance to be stored in automobile 201 locally, when automobile 201 needs
When position feedback signal wave is sent to positioning device 202, directly extracted from local, then by second signal wave and positioning
Feedback signal wave simultaneously outgoing to positioning device 202.
Same group of positioning request signal wave and the type of the first signal wave may be the same or different, with a pair
The type of position feedback signal wave and second signal wave may be the same or different.
By taking same group of positioning request signal wave and the first signal wave as an example, same group of positioning request signal wave and first
The type of signal wave is all long wave of the frequency more than or equal to 100KHz and less than 300KHz, or is all that frequency is more than or equal to
300KHz and less than 3MHz medium wave, or be all frequency be more than or equal to 3MHz and less than 30MHz shortwave or be all frequency
Rate is more than or equal to 30MHz and is less than the ultrashort wave of 300MHz or is all frequency more than or equal to 300MHz and is less than 300GHz
Microwave etc.；
Or the type of same group of positioning request signal wave is that frequency is more than or equal to 3MHz and the shortwave less than 30MHz,
The type of same group of the first signal wave is that frequency is more than or equal to 100KHz and the long wave etc. less than 300KHz.
Same group of positioning request signal wave and the frequency of the first signal wave may be the same or different, with a pair
The frequency of position feedback signal wave and second signal wave may be the same or different.
By taking same group of positioning request signal wave and the first signal wave as an example, same group of positioning request signal wave and first
The shortwave that the frequency that signal wave is the positioning request signal wave of the shortwave that frequency is 4MHz or same group is 4MHz, it is same
The frequency of first signal wave of group is the shortwave etc. of 5MHz.
In one embodiment, the frequency of positioning request signal wave and the first signal wave is different, and position feedback signal
Wave is different with the frequency of second signal wave.
Optionally, position feedback signal wave is that frequency is more than or equal to 3MHz and the shortwave less than 30MHz.
Optionally, echo signal wave includes frequency is more than or equal to 100KHz and is less than the long wave of 300KHz, frequency is more than etc.
In 300KHz and the medium wave less than 3MHz, frequency are more than or equal to 30MHz and the ultrashort wave less than 300MHz, frequency are more than or equal to
300MHz and any one being less than in the microwave of 300GHz.
The frequency for the first signal wave that each positioning device 202 is sent out can be identical, can also be different.Such as the
One signal wave is the long wave that frequency is 200KHz or the first signal wave that a positioning device 202 is sent out is that frequency is
The long wave of 200KHz, the first signal wave that another positioning device 202 is sent out are the long waves that frequency is 230KHz.
The frequency for the positioning request signal wave that each positioning device 202 is sent out can be identical, can also be different.Example
If positioning request signal wave is the shortwave that frequency is 4MHz or the positioning request signal wave that a positioning device 202 is sent out
It is the shortwave that frequency is 4MHz, the positioning request signal wave that another positioning device 202 is sent out is the shortwave that frequency is 5MHz.
The frequency for the second signal wave that automobile 201 is sent out to each positioning device 202 can be identical, can also be difference
's.Such as second signal wave is the long wave that frequency is 200KHz or the second signal wave that a positioning device 202 is sent out is
Frequency is the long wave of 200KHz, and the second signal wave that another positioning device 202 is sent out is the long wave that frequency is 230KHz.
The frequency for the position feedback signal wave that automobile 201 is sent out to each positioning device 202 can be identical, can also be
Different.Such as position feedback signal wave is that the shortwave that frequency is 4MHz or the positioning that a positioning device 202 is sent out are anti-
Feedback signal wave is the shortwave that frequency is 4MHz, and the position feedback signal wave that another positioning device 202 is sent out is that frequency is 5MHz
Shortwave.
The frequency of positioning request signal wave and corresponding position feedback signal wave can be it is identical, can also
It is different.Such as positioning request signal wave is the shortwave that frequency is 4MHz, corresponding position feedback signal wave is also frequency
Shortwave or positioning request signal wave that rate is 4MHz are the shortwaves that frequency is 4MHz, corresponding position feedback signal wave
It is the shortwave that frequency is 5MHz.
Optionally, since automobile 201 can receive at least two groups signal wave, so in order to further verify while receive
Positioning request signal wave and the first signal wave come from the same positioning device 202, tested using following authentication mechanism
Card：
The identity information of corresponding positioning device 202 is all carried in positioning request signal wave and the first signal wave；
Corresponding positioning is generated using positioning request signal wave as useful signal wave, and according to each positioning request signal wave
Feedback signal wave, and before sending a pair of of signal wave to each positioning device 202, it is further comprising the steps of：
Judge the identity letter of the correspondence positioning device 202 carried in same group of positioning request signal wave and the first signal wave
Whether breath is identical；
If so, being generated into using positioning request signal wave as useful signal wave, and according to each positioning request signal wave
Corresponding position feedback signal wave, and the step of sending a pair of of signal wave to each positioning device 202；
If the identity information of the positioning device 202 carried in the positioning request signal wave and the first signal wave that receive simultaneously
It is identical, then it is assumed that positioning request signal wave and the first signal wave are sent by the same positioning device 202；If connecing simultaneously
The identity information of the positioning device 202 carried in the positioning request signal wave and the first signal wave that receive is different, then it is assumed that positioning
Request signal wave and the first signal wave are not sent by the same positioning device 202；
Wherein, the identity information of positioning device 202 can be number information or location information of positioning device 202 etc..
Optionally, due to a more than automobile 201 on highway, so the same positioning device 202 is likely to be received and comes from
A pair of of signal wave that different automobiles 201 are sent out, so in order to further verify the same positioning device 202 while what is received determine
Position feedback signal wave and second signal wave come from same automobile 201, are verified using following authentication mechanism：
The identity information of automobile 201 is all carried in position feedback signal wave and second signal wave；
Believe using each position feedback signal wave as useful signal wave, and according to each positioning request signal wave, position feedback
The location information of number wave and each positioning device 202, it is further comprising the steps of before the position for determining automobile 201：
Judge with the automobile 201 carried in a pair of position feedback signal wave and second signal wave identity information whether phase
Together；
If so, into using each position feedback signal wave as useful signal wave, and according to each positioning request signal wave, fixed
The location information of position feedback signal wave and each positioning device 202, the step of determining the position of automobile 201；
If the identity information of the automobile 201 carried in the position feedback signal wave and second signal wave that receive simultaneously is phase
With, then it is assumed that position feedback signal wave and second signal wave are sent by the same automobile 201；If what is received simultaneously determines
The identity information of automobile 201 carried in position feedback signal wave and second signal wave is different, then it is assumed that position feedback signal wave and
Second signal wave is not sent by the same automobile 201；
Wherein, the identity information of automobile 201 can be license board information or owner information of automobile 201 etc..
Optionally, the time that sends out of positioning request signal wave, position feedback signal are at least carried in positioning request signal wave
At least carried in wave position feedback signal wave send out the time and receive positioning request signal wave and send out position feedback letter
The time difference of number wave；
According to each positioning request signal wave, the location information of position feedback signal wave and each positioning device 202, determine
The position of automobile 201 includes：
Sending out the time, connecing for time and corresponding position feedback signal wave is sent out according to each positioning request signal wave
It receives positioning request signal wave and sends out the time difference of position feedback signal wave, determine between automobile 201 and each positioning device 202
Distance；
And according to the distance between automobile 201 and each positioning device 202 and the location information of each positioning device 202, really
Determine the position of automobile 201.
It, will positioning if same group of positioning request signal wave and the first signal wave are not by automobile 201 while to receive
Request signal wave terminates flow as invalid signals wave.
It, will if not being by positioning device 202 while to receive with a pair of position feedback signal wave and second signal wave
Position feedback signal wave terminates flow as invalid signals wave.
Optionally, same group of positioning request signal wave and the first signal wave are not by automobile 201 while the feelings that receive
Condition includes but not limited to following two modes：
Mode one, positioning request signal wave and the first signal wave one of them be first received by automobile 201, the other is
It is received afterwards by automobile 201；
Mode two, automobile 201 receive only one of signal wave, another is not received.
Optionally, it is not by positioning device 202 while to receive with a pair of position feedback signal wave and second signal wave
The case where including but not limited to following two modes：
One of them is first to be received by positioning device 202 for mode one, position feedback signal wave and second signal wave, another
It is a be after received by positioning device 202；
Mode two, positioning device 202 receive only one of signal wave, another is not received.
When positioning request signal wave and position feedback signal wave are all the shortwaves used, since the electromagnetic wave of short wavelength is believed
Number can between barrier multiple reflections, this results in being likely to occur the signal wave that automobile receives, and is not that positioning device is straight
The incoming electromagnetic wave signal of sending and receiving, the position feedback signal wave that positioning device receives are not that automobile directly launches
Electromagnetic wave signal.So in the present embodiment, being by the way of：Positioning request signal wave and the first signal are received at the same time
When wave, just using positioning request signal wave as useful signal wave, and position feedback signal wave and the second letter are received at the same time
When number wave, just using position feedback signal wave as useful signal wave, it can filter out in positioning request signal wave, position feedback signal
In the transmission process of wave, the wave repeatedly reflected through barrier improves the accuracy of bus location result.
An example is exemplified below to be further described：
For example, being respectively A, B there are two positioning device, one group of signal wave that A is simultaneously emitted by is positioning request signal wave C
(frequency is the shortwave of 4MHz) and the first signal wave D (frequency is the long wave of 200KHz), one group of signal wave that B is simultaneously emitted by is fixed
Position request signal wave E (frequency is the shortwave of 5MHz) and the first signal wave F (frequency is the long wave of 230KHz)；
Automobile judges whether the positioning request signal wave C received and the first signal wave D are received simultaneously along each beam direction, if so,
Using positioning request signal wave C as useful signal wave, and corresponding position feedback signal wave is generated according to positioning request signal wave C
G (frequency is the shortwave of 4MHz)；
And judge whether positioning request signal wave E and the first signal wave F are received simultaneously along each beam direction, if so, by Location Request
Signal wave E according to positioning request signal wave E generates corresponding position feedback signal wave H (frequency is as useful signal wave
The shortwave of 5MHz)；
And second signal wave I (frequency is the long wave of 200KHz) and position feedback signal wave G are simultaneously emitted by and are filled to positioning
Set A；Second signal wave J (frequency is the long wave of 230KHz) and position feedback signal wave H are simultaneously emitted by and give positioning device B；
Positioning device A judges whether the second signal wave I received and position feedback signal wave G are received simultaneously along each beam direction, if
It is, then using position feedback signal wave G as useful signal wave；
Positioning device B judges whether the second signal wave I received and position feedback signal wave H are received simultaneously along each beam direction, if
It is, then using position feedback signal wave H as useful signal wave；
Time and position feedback signal are sent out according to the positioning request signal wave C carried in positioning request signal wave C
The position feedback signal wave G and receive positioning request signal wave C and send out the time difference of position feedback signal wave G that wave G is carried,
Positioning device A is calculated at a distance from automobile, when the sending out of positioning request signal wave E carried according to positioning request signal wave E
Between and the position feedback signal wave H that carries of position feedback signal wave H and receive positioning request signal wave E and send out positioning
The time difference of feedback signal wave H calculates positioning device B at a distance from automobile；Further according to positioning device A at a distance from automobile,
Positioning device B determines the position of automobile at a distance from automobile and the distance between positioning device A and positioning device B.
Wherein, the method for determination of the distance between positioning device A and positioning device B can be according to positioning request signal wave
The location information of the positioning device A carried in C, according to the location information of the positioning device B carried in positioning request signal wave E into
Row determines.
By the implementation of the present embodiment, at least two positioning devices 202 respectively to automobile 201 send one group of signal wave, one
Group signal wave includes positioning request signal wave and the first signal wave, and same group of positioning request signal wave and the first signal wave are simultaneously
It sends out, just by positioning request signal wave when automobile 201 receives same group of positioning request signal wave and the first signal wave simultaneously
As useful signal wave, the wave repeatedly reflected through barrier has been filtered out；And it is corresponding fixed according to the generation of each positioning request signal wave
Position feedback signal wave, and a pair of of signal wave is sent to each positioning device 202, a pair of of signal wave includes corresponding position feedback signal
Wave and second signal wave are simultaneously emitted by with a pair of position feedback signal wave and second signal wave；Positioning device 202 receives simultaneously
To same a pair position feedback signal wave and second signal wave when just using position feedback signal wave as useful signal wave, filter out
The wave repeatedly reflected through barrier；And then according to each positioning request signal wave, position feedback signal wave and each positioning device 202
Location information determine the position of automobile 201, improve the accuracy of 201 positioning result of automobile.
It should be noted that herein, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that process, method, article or device including a series of elements include not only those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including this
There is also other identical elements in the process of element, method, article or device.
The embodiments of the present invention are for illustration only, can not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical scheme of the present invention substantially in other words does the prior art
Going out the part of contribution can be expressed in the form of software products, which is stored in a storage medium
In (such as ROM/RAM, magnetic disc, CD), including some instructions are used so that a station terminal equipment (can be mobile phone, computer, clothes
Be engaged in device, air conditioner or the network equipment etc.) method that executes each embodiment of the present invention.
It these are only the preferred embodiment of the present invention, be not intended to limit the scope of the invention, it is every to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of bus location method, which is characterized in that the bus location method includes the following steps：
At least two positioning devices respectively send one group of signal wave to automobile, and one group of signal wave includes positioning request signal wave
With the first signal wave, the positioning request signal wave and the first signal wave in every group of signal wave are issued simultaneously；
The automobile receives the positioning request signal wave and the first signal wave that each positioning device is sent；And judge each group
Whether two signal waves in signal wave are received simultaneously along each beam direction；If so, using the positioning request signal wave as useful signal
Wave, and corresponding position feedback signal wave is generated according to each positioning request signal wave, and sent to each positioning device
A pair of of signal wave, the pair of signal wave include corresponding position feedback signal wave and second signal wave, in each pair of signal wave
The position feedback signal wave and second signal wave are issued simultaneously；
Each positioning device receives corresponding position feedback signal wave and second signal wave, and judges the institute with a pair of of signal wave
It states position feedback signal wave and whether second signal wave is received simultaneously along each beam direction；If so, using the position feedback signal wave as
Useful signal wave, and according to the position of each positioning request signal wave, position feedback signal wave and each positioning device
Information determines the position of the automobile.
2. bus location method as described in claim 1, which is characterized in that the positioning request signal wave and the first signal wave
Frequency it is different, and the frequency of the position feedback signal wave and second signal wave is different.
3. bus location method as claimed in claim 2, which is characterized in that the positioning request signal wave and position feedback letter
Number wave is that frequency is more than or equal to 3MHz and the shortwave less than 30MHz.
4. bus location method as claimed in claim 3, which is characterized in that first signal wave and second signal wave are
Frequency is more than or equal to 100KHz and the long wave less than 300KHz, frequency are more than or equal to 300KHz and the medium wave less than 3MHz, frequency
Ultrashort wave, frequency more than or equal to 30MHz and less than 300MHz are more than or equal to 300MHz and are less than appointing in the microwave of 300GHz
Meaning is a kind of.
5. such as Claims 1-4 any one of them bus location method, which is characterized in that the positioning request signal wave and
The identity information of corresponding positioning device is all carried in first signal wave；
Described using the positioning request signal wave as useful signal wave, and according to each positioning request signal wave generation pair
The position feedback signal wave answered, and before sending a pair of of signal wave to each positioning device, it is further comprising the steps of：
Judge the identity information of the correspondence positioning device carried in same group of the positioning request signal wave and the first signal wave
It is whether identical；
If so, into described using the positioning request signal wave as useful signal wave, and believed according to each Location Request
Number wave generates corresponding position feedback signal wave, and the step of sending a pair of of signal wave to each positioning device.
6. bus location method as claimed in claim 5, which is characterized in that the position feedback signal wave and second signal wave
In all carry the identity information of the automobile；
Described using each position feedback signal wave as useful signal wave, and according to each positioning request signal wave, fixed
The location information of position feedback signal wave and each positioning device further includes following step before the position for determining the automobile
Suddenly：
Whether the identity information of the automobile carried in judgement same a pair of the position feedback signal wave and second signal wave
It is identical；
If so, into described using each position feedback signal wave as useful signal wave, and according to each Location Request
The location information of signal wave, position feedback signal wave and each positioning device, the step of determining the position of the automobile.
7. bus location method as claimed in claim 6, which is characterized in that at least carry institute in the positioning request signal wave
The time that sends out of positioning request signal wave is stated, the hair of the position feedback signal wave is at least carried in the position feedback signal wave
Go out the time and receives the positioning request signal wave and send out the time difference of the position feedback signal wave；
It is described according to each positioning request signal wave, the location information of position feedback signal wave and each positioning device,
Determine that the position of the automobile includes：
Time and when sending out of the corresponding position feedback signal wave are sent out according to each positioning request signal wave
Between, receive the positioning request signal wave and time difference for sending out the position feedback signal wave, determine the automobile with it is each
The distance between described positioning device；
And according to the distance between the automobile and each positioning device and the location information of each positioning device, really
The position of the fixed automobile.
8. such as Claims 1-4 any one of them bus location method, which is characterized in that the positioning device is mounted on public affairs
On the street lamp in roadside.
9. a kind of car position system, which is characterized in that the car position system includes：Automobile and at least two positioning dresses
It sets；
At least two positioning device, for respectively sending one group of signal wave to automobile, one group of signal wave includes positioning
Request signal wave and the first signal wave, the positioning request signal wave and the first signal wave in every group of signal wave are sent out simultaneously
Go out；
Each positioning device receives corresponding position feedback signal wave and second signal wave, and judges the institute with a pair of of signal wave
It states position feedback signal wave and whether second signal wave is received simultaneously along each beam direction；If so, using the position feedback signal wave as
Useful signal wave, and according to the position of each positioning request signal wave, position feedback signal wave and each positioning device
Information determines the position of the automobile；
The automobile, the positioning request signal wave and the first signal wave sent for receiving each positioning device；And sentence
Whether two signal waves in disconnected each group signal wave are received simultaneously along each beam direction；If so, using the positioning request signal wave as having
Signal wave is imitated, and corresponding position feedback signal wave is generated according to each positioning request signal wave, and is filled to each positioning
A pair of of signal wave of transmission is set, the pair of signal wave includes corresponding position feedback signal wave and second signal wave, each pair of signal
The position feedback signal wave and second signal wave in wave are issued simultaneously.
10. car position system as claimed in claim 9, which is characterized in that the positioning device is mounted on the road of road
On lamp.
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