CN108761390A - A kind of bus location method, positioning device and computer readable storage medium - Google Patents
A kind of bus location method, positioning device and computer readable storage medium Download PDFInfo
- Publication number
- CN108761390A CN108761390A CN201810168957.5A CN201810168957A CN108761390A CN 108761390 A CN108761390 A CN 108761390A CN 201810168957 A CN201810168957 A CN 201810168957A CN 108761390 A CN108761390 A CN 108761390A
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- automobile
- reference location
- location device
- positioning signal
- 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
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
A kind of bus location method of present invention offer, mobile terminal and computer readable storage medium, for the problem of the existing precision deficiency for bus location mode, determine that at least two reference location devices are sent to the positioning signal of automobile to be positioned, according to positioning signal, determine the distance between automobile to be positioned and each reference location device, then according to the location information of preset reference location device, to determine the position of automobile to be positioned.Implementation through the invention realizes the positioning to automobile with reference location device, to by being positioned to automobile for the preset accurate location of reference location device, be obviously improved positioning accuracy.The present invention also provides a kind of intelligent objects of precise positioning in car assisted driving.The intelligent object may be mounted at automobile and street lamp post etc. above, car assisted to be accurately positioned.
Description
Technical field
The present invention relates to field of traffic facilities, more specifically to a kind of bus location method, mobile terminal and calculating
Machine readable storage medium storing program for executing.
Background technology
Car steering positioning is usually foundation GPS (Global Positioning System, global positioning system), but
It is such technology during automobile assistant driving, existing Major Difficulties are：Signal is easily blocked, positioning accuracy compared with
It is low, especially stand in great numbers in high building, underground parking, the places such as tunnel, there are blind areas by GPS.It is either manned or nobody
Driving, positioning is all very important, in particular with the development progress of pilotless automobile, and to unmanned vapour
One critically important requirement of vehicle is exactly, and when automobile on the way travels, needs the position for being accurately positioned its traveling.It is original
Although the universal height of the positioning methods such as GPS, the Big Dipper, its positioning accuracy is inadequate, is easily blocked so that pilotless automobile is dangerous
Coefficient is high.
Invention content
The technical problem to be solved in the present invention is how to solve the problems, such as that bus location precision is low in the prior art, for
The technical problem provides a kind of bus location method, positioning device and computer readable storage medium.
In order to solve the above technical problems, the present invention provides a kind of bus location method, the bus location method includes：
Determine that at least two reference location devices are sent to the positioning signal of automobile to be positioned；Wherein, each positioning letter
Number the time difference for sending out the moment be less than or equal to predetermined threshold value；
According to the positioning signal, the distance between automobile to be positioned and each reference location device are determined；
According to the location information of the preset reference location device and automobile to be positioned and each reference location device it
Between distance, determine the position of the automobile to be positioned.
Optionally, described according to the positioning signal, determine the distance between automobile to be positioned and each reference location device
Including：
According to the positioning signal from the passed through duration of reception is issued to, determine that the reference location device is waited for described
Position the direct range between automobile；
According to the direct range and the reference location device and the position of automobile to be positioned in vertical direction
Difference determines the distance between the automobile to be positioned and the reference location device.
Optionally, pass through difference in height between the preset reference location device and ground and/or the vapour to be positioned
Vehicle receives the angle for the positioning signal that the reference location device is sent, and determines that the reference location device exists with automobile to be positioned
Alternate position spike in vertical direction.
Optionally, described according to the positioning signal, determine the distance between automobile to be positioned and each reference location device
Including：
The positioning signal is fed back into the corresponding reference location device；
The handling result that the reference location device is handled according to the positioning signal is received, the handling result is extremely
Include the distance between the automobile to be positioned and each reference location device less.
Optionally, in the handling result and/or the positioning signal, the position letter of the reference location device is carried
Breath.
Optionally, the positioning signal for receiving the transmission of at least two reference location devices includes：
It receives and is received in allowable range in the vehicle signal to be positioned, what three nearest reference location devices were sent determines
Position signal.
Optionally, after the position of the determination automobile to be positioned, further include：
The position of the automobile to be positioned is presented；
Position based on the automobile to be positioned and traffic information navigate for the automobile to be positioned.
Optionally, the reference location device is set on the lamp stand of street lamp.
The present invention also provides a kind of positioning devices, including processor, memory and communication bus；
The communication bus is for realizing the connection communication between processor and memory；
The processor is for executing one or more program stored in memory, to realize above-mentioned bus location
The step of method.
The present invention also provides a kind of computer readable storage medium, the computer-readable recording medium storage there are one or
The multiple programs of person, one or more of programs can be executed by one or more processor, to realize that above-mentioned automobile is fixed
The step of position method.
Advantageous effect
The present invention provides a kind of bus location method, mobile terminal and computer readable storage medium, for it is existing for
The problem of the precision deficiency of bus location mode determines that at least two reference location devices are sent to the positioning letter of automobile to be positioned
Number, according to positioning signal, determine the distance between automobile to be positioned and each reference location device, it is then fixed according to preset benchmark
The location information of position device, to determine the position of automobile to be positioned.Implementation through the invention is realized with reference location device
Positioning to automobile positions automobile the preset accurate location of reference location device to rely on, is obviously improved
Positioning accuracy.
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 the bus location method flow diagram that first embodiment of the invention provides；
Fig. 2 is that the reference location device signal that first embodiment of the invention provides covers schematic diagram；
Fig. 3 is the positioning schematic diagram that first embodiment of the invention provides；
Fig. 4 is the positioning device composition schematic diagram 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
The explanation for being conducive to the present invention, itself does not have a specific meaning.Therefore, " module ", " component " or " unit " can mix
Ground uses.
Description of specific embodiments of the present invention below in conjunction with the accompanying drawings.
First embodiment
Referring to FIG. 1, Fig. 1 is a kind of bus location method flow diagram that first embodiment of the invention provides, including：
S101, determine that at least two reference location devices are sent to the positioning signal of automobile to be positioned；Wherein, each positioning letter
Number the time difference for sending out the moment be less than or equal to predetermined threshold value；
S102, according to positioning signal, determine the distance between automobile to be positioned and each reference location device；
S103, according to the location information of preset reference location device and automobile to be positioned and each reference location device
The distance between, determine the position of automobile to be positioned.
In S101, determine that at least two reference location devices are sent to the positioning signal of automobile to be positioned.In the present embodiment
In, reference location 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 to be positioned.Wherein, referring to FIG. 2, transmitted by reference location device
Signal can be full coverage type, that is, 360 ° of transmitting signal, can also be local angle transmitting, typically, by
It is the characteristic for positioning automobile in reference location device, sends signal and only need to emit in local angle, as long as transmitting
Angle can guarantee to cover at least partly road surface, so as to be received by automobile.In addition, the positioning in the present embodiment
Signal, be merely representative of the signal be for being positioned to automobile to be positioned, it is any without limiting its specific format and content
It can send out from reference location device and can be believed as the positioning in the present embodiment by automobile received signal to be positioned
Number.
Since automobile to be positioned is often during exercise, in order to ensure that the accuracy of positioning, reference location device are sent out
The time interval that sends out of positioning signal should be as short as possible, that is to say, that the time difference for sending out the moment of each positioning signal 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.
In the present embodiment, reference location device can be arranged on the lamp stand of street lamp.Street lamp on street is often just set
Set in the both sides in track, can with automobile to be positioned keep it is closer at a distance from, so as to promote the precision of positioning；And street lamp
Install often rule, what the interval location between adjacent street lamp was usually fixed, thereby may be ensured that origin reference location fills
The signal covering set is uniformly and complete, can look after the positioning of all automobiles on road surface.
In S102, according to positioning signal, the distance between automobile to be positioned and each reference location device are determined.Specifically,
According to positioning signal, the distance between automobile to be positioned and each reference location device are determined, exactly according to positioning signal from sending out
To passed through duration is received, the distance between reference location device and automobile to be positioned are determined.Wherein, from be issued to receive,
What is indicated is sent out from reference location device, is received by automobile to be positioned, is a unidirectional process.
Specifically, in the present embodiment, according to positioning signal from the passed through duration of reception is issued to, determining origin reference location
The distance between device and automobile to be positioned include：According to positioning signal from the passed through duration of reception is issued to, benchmark is determined
Direct range between positioning device and automobile to be positioned；According to direct range, and from reference location device and vapour to be positioned
The alternate position spike of vehicle in vertical direction, determines the distance between automobile to be positioned and reference location device.Positioning to automobile, from
See should be in plane as a result, but in fact, the interaction between reference location device and automobile to be positioned is space on map
On interaction, and the physical location between reference location device and automobile to be positioned may be not in a plane, then,
Direct range between the reference location device and automobile to be positioned determined by positioning signal, with practically necessary positioning
Distance be it is inconsistent, this direct range commonly greater than positioning needed for distance；In this case, positioning is determined
Required distance, then can be according to direct range and reference location device and the position of automobile to be positioned in vertical direction
Relationship determines the distance between automobile to be positioned and reference location device, that is, positions required plan range.
It in the present embodiment, can be by difference in height between preset reference location device and ground and/or to be positioned
Automobile receives the angle for the positioning signal that reference location device is sent, and determines reference location device with automobile to be positioned in Vertical Square
Upward alternate position spike.The installation position of reference location device is known, such as, reference location device is set on street lamp,
For the reference location device, the position of setting and the height of setting are all known, in addition, automobile is essentially all
It is much the same, therefore, according to installation position known to the reference location device, so that it may with determine the reference location device with it is undetermined
The alternate position spike of position automobile in vertical direction.In addition to determining it according to the installation position and height of known reference location device
It outside, can also be according to the angle of the positioning signal received by automobile to be positioned, to determine reference location device and vapour to be positioned
The alternate position spike of vehicle in vertical direction.Above two mode can choose one as automobile to be positioned with reference location device vertical
Determination of distance mode on direction, or both can combine determination, to promote positioning accuracy.Referring to FIG. 3, figure
3 show when reference location device is arranged on street lamp, the positioning to automobile to be positioned；Including three street lamp M1~M3 and
Reference location device N1~the N3 being set on street lamp, the distance between each reference location device and ground respectively h1~
H3, automobile to be positioned then drive to B points from A.When being positioned to automobile to be positioned, each reference location device N1~N3 difference
Send out positioning signal to the automobile to be positioned positioned at A points, according to positioning signal, determine respectively N1~N3 and automobile to be positioned it
Between direct range be l1~l3；Then, automobile and benchmark to be positioned are determined in conjunction with Pythagorean theorem based on known h1~h3
Plan range d1~d3 between positioning device, that is, the distance between automobile to be positioned and street lamp；Then, according to d1~
D3, so that it may the position with determination automobile to be positioned relative to each reference location device, then it is based on known each reference location device
Location information, it may be determined that go out the accurate location of automobile to be positioned.When running car to be positioned is to B points positioning method with
A points are consistent.
After the position for determining automobile to be positioned, can also include：The position of automobile to be positioned is presented, based on to be positioned
Automobile position and traffic information, navigate for automobile to be positioned.If it is general-utility car, automobile to be positioned is presented
Position can directly be presented on automobile, the built-in navigation system including but not limited on automobile, or by soft
Part is presented on the mobile terminal that user uses；If it is pilotless automobile, other than it can be presented on automobile,
It can also be presented on background management system, because being pilotless automobile, therefore whether be presented not necessarily on automobile
It wants, as long as ensureing that pilotless automobile can be travelled normally on road.
Optionally, in the present embodiment, it is determined between automobile to be positioned and each reference location device according to positioning signal
Distance can also include：Determine that positioning signal is fed back to corresponding reference location device by automobile to be positioned；Receive origin reference location
The handling result that device is handled according to positioning signal, handling result include at least automobile to be positioned and reference location device it
Between distance.The distance between automobile to be positioned and reference location device are determined, in addition to reference location device directly transmits positioning
Signal is given except this unidirectional process of automobile to be positioned, positioning signal can also be fed back to benchmark by automobile to be positioned and determined
Position this two-way process of device carries out, and such benefit is to eliminate the calculating process of automobile to be positioned, all calculating is all
It can be carried out by reference location device, terminal of the automobile to be positioned as just positioning signal；Then, reference location device
The distance between automobile to be positioned is determined based on the positioning signal received again, and in handling result, including at least should
Wait for the distance between reference location device and automobile to be positioned.In addition, it is further, it can be in handling result and/or positioning letter
In number, the location information of reference location device is carried, so as to according between fixed reference location device and automobile to be positioned
Distance, determine the specific location of automobile to be positioned.
In the present embodiment, optionally, receiving the positioning signal that at least two reference location devices are sent may include：It connects
It is received in vehicle signal to be positioned to receive in allowable range, the positioning signal that three nearest reference location devices are sent.By extremely
Few two reference location devices are assured that the position of automobile to be positioned, and for more accurate positioning, and money is saved enough
Source, by three reference location devices come to automobile to be positioned carry out positioning be proper.
A kind of bus location method is present embodiments provided, is asked for the existing precision for bus location mode is insufficient
Topic, determines that at least two reference location devices are sent to the positioning signal of automobile to be positioned, according to positioning signal, determines to be positioned
The distance between automobile and each reference location device wait for then according to the location information of preset reference location device to determine
Position the position of automobile.Implementation through the invention realizes the positioning to automobile with reference location device, to by for
Reference location device preset accurate location positions automobile, has been obviously improved positioning accuracy.
Second embodiment
Referring to FIG. 4, Fig. 4 is a kind of composition schematic diagram for positioning device that second embodiment of the invention provides；This implementation
Mobile terminal in example specifically includes processor 41, memory 42 and communication bus 43；
Communication bus 43 is for realizing the connection communication between processor 41 and memory 42；
Processor 41 is for executing one or more program stored in memory 42, to realize in the various embodiments described above
Bus location method the step of.
Positioning device in the present embodiment can be set to as a part for automobile in automobile, or as benchmark
A part for positioning device is set in reference location device, or is disposed on the control management backstage of reference location device
In；It is specifically implemented, and the realizations such as server, PC either microcontroller can be passed through.
Positioning device in the present embodiment can also be the intelligent object of precise positioning in car assisted driving.The intelligence mould
Block may be mounted at automobile and street lamp post etc. above, car assisted to be accurately positioned.
In addition, the present embodiment also provides a kind of computer readable storage medium, computer-readable recording medium storage has one
A or multiple programs, one or more program can be executed by one or more processor, to realize the various embodiments described above
In bus location method the step of, which is not described herein again.
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 (can be mobile phone, computer, service
Device, air conditioner or network equipment etc.) execute method described in each embodiment of the present invention.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited in above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (10)
1. a kind of bus location method, which is characterized in that the bus location method includes：
Determine that at least two reference location devices are sent to the positioning signal of automobile to be positioned；Wherein, each positioning signal
The time difference for sending out the moment is less than or equal to predetermined threshold value；
According to the positioning signal, the distance between automobile to be positioned and each reference location device are determined；
According between the location information and automobile to be positioned and each reference location device of the preset reference location device
Distance determines the position of the automobile to be positioned.
2. bus location method as described in claim 1, which is characterized in that it is described according to the positioning signal, it determines undetermined
Position the distance between automobile and each reference location device include：
Receive passed through duration from being issued to according to the positioning signal, determine the reference location device with it is described to be positioned
Direct range between automobile；
According to the direct range and the reference location device and the alternate position spike of automobile to be positioned in vertical direction, really
Fixed the distance between the automobile to be positioned and the reference location device.
3. bus location method as claimed in claim 2, which is characterized in that pass through the preset reference location device and ground
Difference in height and/or the automobile to be positioned between face receive the angle for the positioning signal that the reference location device is sent, really
The fixed reference location device and the alternate position spike of automobile to be positioned in vertical direction.
4. bus location method as described in claim 1, which is characterized in that it is described according to the positioning signal, it determines undetermined
Position the distance between automobile and each reference location device include：
Determine that the positioning signal is fed back to the corresponding reference location device by the automobile to be positioned；
The handling result that the reference location device is handled according to the positioning signal is received, the handling result is at least wrapped
Include the distance between the automobile to be positioned and the reference location device.
5. bus location method as claimed in claim 4, which is characterized in that the handling result and/or the positioning signal
In, carry the location information of the reference location device.
6. bus location method as described in any one in claim 1-5, which is characterized in that at least two benchmark of the reception are fixed
Position device send positioning signal include：
It receives and is received in allowable range in the vehicle signal to be positioned, the positioning letter that three nearest reference location devices are sent
Number.
7. bus location method as described in any one in claim 1-5, which is characterized in that in the determination vapour to be positioned
After the position of vehicle, further include：
The position of the automobile to be positioned is presented；
Position based on the automobile to be positioned and traffic information navigate for the automobile to be positioned.
8. bus location method as described in any one in claim 1-5, which is characterized in that the reference location device is set to
On the lamp stand of street lamp.
9. a kind of positioning device, which is characterized in that including processor, memory and communication bus；
The communication bus is for realizing the connection communication between processor and memory；
The processor is for executing one or more program stored in memory, to realize as appointed in claim 1 to 8
The step of bus location method described in one.
10. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage there are one or
Multiple programs, one or more of programs can be executed by one or more processor, to realize such as claim 1 to 8
Any one of described in bus location method the step of.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018100055727 | 2018-01-03 | ||
| CN201810005572 | 2018-01-03 |
Publications (1)
| Publication Number | Publication Date |
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| CN108761390A true CN108761390A (en) | 2018-11-06 |
Family
ID=63980112
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810168957.5A Pending CN108761390A (en) | 2018-01-03 | 2018-02-28 | A kind of bus location method, positioning device and computer readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112955771A (en) * | 2019-02-08 | 2021-06-11 | 丰田自动车株式会社 | Position specifying system for moving body and moving body used for position specifying system |
| US12072431B2 (en) | 2019-02-08 | 2024-08-27 | Toyota Jidosha Kabushiki Kaisha | Position specifying system for mobile object and mobile object used for the position specifying system |
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| CN107371236A (en) * | 2016-05-12 | 2017-11-21 | 罗斯蒙特公司 | Alignment system |
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| CN204442708U (en) * | 2014-12-31 | 2015-07-01 | 深圳市金溢科技股份有限公司 | For the UWB base station of vehicle location |
| CN106205136A (en) * | 2014-12-31 | 2016-12-07 | 深圳市金溢科技股份有限公司 | Vehicle positioning system based on UWB and method |
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