CN108762165B - Automobile state measurement and control method - Google Patents

Automobile state measurement and control method Download PDF

Info

Publication number
CN108762165B
CN108762165B CN201810688489.4A CN201810688489A CN108762165B CN 108762165 B CN108762165 B CN 108762165B CN 201810688489 A CN201810688489 A CN 201810688489A CN 108762165 B CN108762165 B CN 108762165B
Authority
CN
China
Prior art keywords
module
data
automobile
measuring
state
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201810688489.4A
Other languages
Chinese (zh)
Other versions
CN108762165A (en
Inventor
赵忠义
黄伟
黄海龙
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mianyang Signal Processing Technology Co ltd
Liaoning University of Technology
Original Assignee
Mianyang Signal Processing Technology Co ltd
Liaoning University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mianyang Signal Processing Technology Co ltd, Liaoning University of Technology filed Critical Mianyang Signal Processing Technology Co ltd
Priority to CN201810688489.4A priority Critical patent/CN108762165B/en
Publication of CN108762165A publication Critical patent/CN108762165A/en
Application granted granted Critical
Publication of CN108762165B publication Critical patent/CN108762165B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423Input/output
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/20Pc systems
    • G05B2219/24Pc safety
    • G05B2219/24215Scada supervisory control and data acquisition

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)

Abstract

The invention discloses a method for measuring and controlling automobile states, which belongs to the field of unmanned automobiles; the invention discloses an automobile state measurement and control method.A state measurement system comprises a platinum resistor temperature sensor module, a resistor-current conversion module, a signal conditioning circuit, an analog switch, an analog-to-digital conversion module, a storage module, an FPGA (field programmable gate array) controller, a single chip microcomputer, an online calibration module, a power supply module and an interface circuit; the platinum resistor temperature sensor is connected with a resistor-current conversion module, and the resistor-current conversion module is connected with the signal conditioning circuit; aiming at the research of a special unmanned automobile measurement and control technology, the network RTK has great technical advantages in the aspect of high-precision positioning; the application of the network RTK technology in the special unmanned automobile measurement and control can greatly improve the operation precision, so that the special automobile can be used in any scene possibly, and the environmental adaptability of the special unmanned automobile is greatly improved.

Description

Automobile state measurement and control method
Technical Field
The invention discloses an automobile state measurement and control method, and belongs to the field of unmanned automobiles.
Background
In the civil aspect, the unmanned technology can improve the driving safety of the vehicle, and the unmanned vehicle can realize the perception of the road environment, report various dangerous conditions to a driver and give an early warning prompt or intelligently and rapidly take corresponding safety measures under the condition that danger is about to occur by installing a processor and various sensor devices.
On the basis of global battle for examining the positioning accuracy, method and application research of GPS, it provides a method for synchronously observing several GPS receivers, fixing several instruments as reference stations, and using the rest instruments as mobile stations to observe, then using the reference station to track data to correct the satellite orbit, and using the corrected orbit to perform precise and static network positioning on other mobile stations. In view of this theoretical idea, some experts in the international association of geodetic survey suggest that a fixed and permanent reference station is provided for continuous satellite observation and for providing post-hoc ephemeris for precise satellites. Known as a continuously operating reference station system (CORS). At this point, the network RTK study curtain is also pulled open. After the efforts of scientists, many mature network RTK technologies have been applied in practice and there are also technical theories under study. Currently, the mature and representative network RTK technologies include the virtual reference station VRS technology, the area correction (FKP) technology and the master and slave station (MAC) technology proposed by Trimble. China scientific researchers have made certain research achievements in the network RTK technology. Such as the composite error interpolation (CBI) technique proposed by the university of wuhan satellite navigation positioning research center, and the enhanced reference station network (ARS) technique proposed by the well-known professor of the yellow-butyl issue, the southwest university of transportation. The network RTK modes can meet centimeter-level requirements in real-time dynamic positioning.
The construction of the continuous operation reference station in China has the defects and shortcomings, and can be summarized as follows: the technical obstacle that resources such as data, service and the like cannot be shared is caused because no part of travel related to the construction and service standard of the continuously-operating reference station exists in the surveying and mapping competent department; the CORS system is constructed in an independent state, so that the CORS system has network coverage and service gaps; the CORS system which is actually built lacks unified management, the reference stations of the system are not uniformly distributed, the phenomena of ultra-short edges and ultra-long edges exist, and the positioning accuracy of the system is seriously influenced.
Disclosure of Invention
Aiming at the problems, the invention discloses a vehicle state measurement and control method, aiming at the research of a special unmanned vehicle measurement and control technology, and a network RTK has great technical advantages in the aspect of high-precision positioning; the application of the network RTK technology in the special unmanned automobile measurement and control can greatly improve the operation precision, so that the special automobile can be used in any scene possibly, and the environmental adaptability of the special unmanned automobile is greatly improved.
A method for measuring and controlling automobile states comprises the following steps:
a, monitoring the temperature, air pressure and humidity conditions of the external environment of the automobile by using an intelligent temperature, air pressure and humidity measurement technology module;
b, transmitting the monitored temperature, air pressure and humidity condition data outside the automobile into a state measuring system; the state measuring system and the intelligent measuring technology modules of the temperature, the air pressure and the humidity are mutually influenced, the state measuring system readjusts information distribution after analyzing related data, transmits the data back to the intelligent measuring technology modules of the temperature, the air pressure and the humidity, and guides the intelligent measuring technology modules of the temperature, the air pressure and the humidity to act;
c, monitoring the three-dimensional attitude condition and the running state of the automobile by utilizing a three-dimensional attitude acquisition module, an MCU module, a BD satellite positioning signal module and a communication exchange module;
d, importing the monitored three-dimensional attitude condition and running state data of the automobile into an attitude determination system for analysis and processing; the attitude determination system analyzes and processes the data after analyzing the data, and makes a guiding operation to further guide the three-dimensional attitude acquisition module, the MCU module, the BD satellite positioning signal module and the communication switching module to monitor a route and a positioning track;
step e, importing the data collected in the step a and the step c into a network RTK algorithm module, and analyzing the data, wherein the network RTK algorithm module can improve the analysis accuracy;
step f, importing the analyzed data in the network RTK algorithm module into a high-precision positioning system for analysis, transmitting the data analyzed by the high-precision positioning system back to the network RTK algorithm module for re-more-precise calculation, and transmitting the more-precise calculated data back to the high-precision positioning system;
step g, importing the data after analysis and feedback in the state measuring system, the attitude measuring system and the high-precision positioning system into a transmission system for analysis and processing;
and h, outputting the analyzed data in the transmission system to a detection result.
In the method for measuring and controlling the automobile state, the BD satellite positioning signal module in the step c adopts a continuously operating reference station system as a support, and the data processing center processes the observed values of the reference stations and then establishes an accurate differential information resolving model; and correcting the calculated high-precision differential data by using a wireless network technology, and transmitting the corrected information to the mobile client.
In the method for measuring and controlling the automobile state, the high-precision positioning system in the step f is a BD, a GPS and a foundation differential GPS, and the automobile position is positioned at high precision.
In the method for measuring and controlling the automobile state, the state measuring system in the step b comprises a platinum resistor temperature sensor module, a resistor-current conversion module, a signal conditioning circuit, an analog switch, an analog-to-digital conversion module, a storage module, an FPGA controller, a single chip microcomputer, an online calibration module, a power supply module and an interface circuit;
the platinum resistor temperature sensor is connected with a resistor-current conversion module, and the resistor-current conversion module is connected with the signal conditioning circuit;
the signal conditioning circuit is connected with the analog switch and then connected with the analog-to-digital conversion module; the analog-to-digital conversion module is directly connected with the FPGA controller; the FPGA controller outputs data to the storage module, the interface circuit and the singlechip; the singlechip data is provided by the FPGA controller and the online calibration; the power supply module supplies power to the platinum resistor temperature sensor module, the resistor-current conversion module, the signal conditioning circuit, the analog switch, the analog-to-digital conversion module, the storage module, the FPGA controller, the single chip microcomputer, the online calibration module and the interface circuit which need power supply equipment.
In the automobile state measurement and control method, the platinum resistor temperature sensor, the connecting resistor-current conversion module and the signal conditioning circuit are ten groups.
Has the advantages that:
firstly, in the automobile state measurement and control method, aiming at the research of a special unmanned automobile measurement and control technology, the network RTK has great technical advantages in the aspect of high-precision positioning; the application of the network RTK technology in the special unmanned automobile measurement and control can greatly improve the operation precision, so that the special automobile can be used in any scene possibly, and the environmental adaptability of the special unmanned automobile is greatly improved.
Secondly, in the automobile state measurement and control method, the special unmanned automobile needs to face the interference of a complex electromagnetic environment during special operation, and meanwhile, because the geographical environment is often more complex when the special automobile deals with special conditions, in order to solve the situation that the geographical environment is complex and the electromagnetic environment is complex, an ultrashort wave mode needs to be adopted, so that a communication frequency band has a certain diffraction capability, and in the situation that the complex electromagnetic environment is faced, data transmission is realized by adopting a spread spectrum communication mode, so that the communication anti-interference capability is improved.
Drawings
FIG. 1 is a schematic view of the invention as a whole.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Detailed description of the preferred embodiment
The embodiment is a specific embodiment of an automobile state measurement and control method.
An automobile state measurement and control method is shown in fig. 1 and comprises the following steps:
a, monitoring the temperature, air pressure and humidity conditions of the external environment of the automobile by using an intelligent temperature, air pressure and humidity measurement technology module;
b, transmitting the monitored temperature, air pressure and humidity condition data outside the automobile into a state measuring system; the state measuring system and the intelligent measuring technology modules of the temperature, the air pressure and the humidity are mutually influenced, the state measuring system readjusts information distribution after analyzing related data, transmits the data back to the intelligent measuring technology modules of the temperature, the air pressure and the humidity, and guides the intelligent measuring technology modules of the temperature, the air pressure and the humidity to act;
c, monitoring the three-dimensional attitude condition and the running state of the automobile by utilizing a three-dimensional attitude acquisition module, an MCU module, a BD satellite positioning signal module and a communication exchange module;
the three-dimensional attitude acquisition module is mainly used for measuring the three-dimensional attitude of the vehicle, so that the position and the direction of the vehicle are positioned, and the position, the direction and the safety of the special operation vehicle are guaranteed; the attitude data is output in real time by acquiring data of the sensor and fusing Kalman filtering, and the excellent stability and real-time performance of the full attitude are realized by adopting a triaxial accelerometer and a triaxial magnetic sensor to assist a triaxial gyroscope and a temperature compensation algorithm technology, so that the attitude data can be output, and original data, physical quantities, quaternion and the like of the sensor can also be output by modifying system parameters; and meanwhile, the system operation period can be modified.
The comprehensive application of the satellite positioning signal, the three-axis attitude measurement and the electronic compass can effectively acquire the attitude data of the vehicle, and card Raman filtering and data flying spot elimination are carried out in the MCU module, so that a high-precision attitude measurement result is obtained.
D, importing the monitored three-dimensional attitude condition and running state data of the automobile into an attitude determination system for analysis and processing; the attitude determination system analyzes and processes the data after analyzing the data, and makes a guiding operation to further guide the three-dimensional attitude acquisition module, the MCU module, the BD satellite positioning signal module and the communication switching module to monitor a route and a positioning track;
step e, importing the data collected in the step a and the step c into a network RTK algorithm module, and analyzing the data, wherein the network RTK algorithm module can improve the analysis accuracy;
step f, importing the analyzed data in the network RTK algorithm module into a high-precision positioning system for analysis, transmitting the data analyzed by the high-precision positioning system back to the network RTK algorithm module for re-more-precise calculation, and transmitting the more-precise calculated data back to the high-precision positioning system;
step g, importing the data after analysis and feedback in the state measuring system, the attitude measuring system and the high-precision positioning system into a transmission system for analysis and processing;
and h, outputting the analyzed data in the transmission system to a detection result.
In the method for measuring and controlling the automobile state, the BD satellite positioning signal module in the step c adopts a continuously operating reference station system as a support, and a data processing center processes the observed values of all the reference stations and then establishes an accurate differential information resolving model; and correcting the calculated high-precision differential data by using a wireless network technology, and transmitting the corrected information to the mobile client.
In the automobile state measurement and control method, the high-precision positioning system in the step f is a BD, a GPS and a foundation differential GPS, and the automobile position is positioned at high precision.
The CORS system is a system which is composed of one or a plurality of continuously operating fixed GPS/GNSS reference stations, and provides different types of GPS observation values (pseudo ranges and carrier phases), state information, various correction numbers and other related GPS service items to different users with different requirements and different levels in real time by utilizing a network which is composed of modern computer technology, data communication technology and Internet technology. The CORS makes up for the deficiencies of some conventional RTKs and promotes the application of the GPS technology in measurement and other fields.
The network RTK technology is that a CORS system is used as a support, a data processing center processes observed values of all reference stations, establishes an accurate differential information resolving model, resolves high-accuracy differential data, and then sends correction information to a mobile user by using a wireless network technology.
In the method for measuring and controlling the automobile state, the state measuring system in the step b comprises a platinum resistor temperature sensor module, a resistor-current conversion module, a signal conditioning circuit, an analog switch, an analog-to-digital conversion module, a storage module, an FPGA controller, a single chip microcomputer, an online calibration module, a power supply module and an interface circuit;
the platinum resistor temperature sensor is connected with a resistor-current conversion module, and the resistor-current conversion module is connected with the signal conditioning circuit;
the signal conditioning circuit is connected with the analog switch and then connected with the analog-to-digital conversion module; the analog-to-digital conversion module is directly connected with the FPGA controller; the FPGA controller outputs data to the storage module, the interface circuit and the singlechip; the singlechip data is provided by the FPGA controller and the online calibration; the power supply module supplies power to the platinum resistor temperature sensor module, the resistor-current conversion module, the signal conditioning circuit, the analog switch, the analog-to-digital conversion module, the storage module, the FPGA controller, the single chip microcomputer, the online calibration module and the interface circuit which need power supply equipment.
According to the automobile state measurement and control method, the platinum resistor temperature sensor, the connecting resistor-current conversion module and the signal conditioning circuit are ten groups.
The state attitude transmission system mainly utilizes an ultrashort wave spread spectrum communication system to transmit attitude, position and state information, and utilizes the spread spectrum communication system to enable the system to have a plurality of special automobile operation data collection and support the application of code division multiple access.
Spread Spectrum Communication (Spread Spectrum Communication) is Communication in which different orthogonal codes are allocated to different users to modulate signals, and the signal bus Spectrum bandwidth of an original signal is Spread, so that multiple users can simultaneously use the same frequency access system and network. Spread spectrum communication is also called Code Division multiple access (Code Division multiple access).
The wireless communication channel is mainly characterized by attenuation, slow fading and various multi-path fast fading. Among the fast fading types, which have the greatest impact on transmission reliability, are space-selective fading, frequency-selective fading, and time-selective fading. A technique for effectively eliminating the influence of channel fading is a diversity technique; the wireless diversity technology is a main anti-fading technology, and can greatly improve the transmission reliability under a multipath fading channel.
In the automobile state measurement and control method, aiming at the research of a special unmanned automobile measurement and control technology, the network RTK has great technical advantages in the aspect of high-precision positioning; the application of the network RTK technology in the special unmanned automobile measurement and control can greatly improve the operation precision, so that the special automobile can be used in any scene possibly, and the environmental adaptability of the special unmanned automobile is greatly improved.
In the automobile state measurement and control method, aiming at the problem that a special unmanned automobile needs to face interference of a complex electromagnetic environment during special operation, and meanwhile, because the geographical environment is often more complex when the special automobile deals with special situations, in order to solve the situations of complex geographical environment and complex electromagnetic environment, an ultrashort wave mode needs to be adopted, so that a communication frequency band has diffraction capability to a certain degree, and in the case of facing the complex electromagnetic environment, data transmission is realized by adopting a spread spectrum communication mode, so that the communication anti-interference capability is improved.
Finally, it should be noted that: the fixable connection modes such as the specific installation and the like which are not mentioned above are specifically selected according to the preference of the operator, and are not limited herein; although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims (3)

1. A method for measuring and controlling automobile states is characterized by comprising the following steps:
a, monitoring the temperature, air pressure and humidity conditions of the external environment of the automobile by using an intelligent temperature, air pressure and humidity measurement technology module;
b, transmitting the monitored temperature, air pressure and humidity condition data outside the automobile into a state measuring system; the state measuring system and the intelligent measuring technology modules of the temperature, the air pressure and the humidity are mutually influenced, the state measuring system readjusts information distribution after analyzing related data, transmits the data back to the intelligent measuring technology modules of the temperature, the air pressure and the humidity, and guides the intelligent measuring technology modules of the temperature, the air pressure and the humidity to act;
c, monitoring the three-dimensional attitude condition and the running state of the automobile by utilizing a three-dimensional attitude acquisition module, an MCU module, a BD satellite positioning signal module and a communication exchange module;
d, importing the monitored three-dimensional attitude condition and running state data of the automobile into an attitude determination system for analysis and processing; the attitude determination system analyzes and processes the data after analyzing the data, and makes a guiding operation to further guide the three-dimensional attitude acquisition module, the MCU module, the BD satellite positioning signal module and the communication switching module to monitor a route and a positioning track;
step e, importing the data collected in the step a and the step c into a network RTK algorithm module, and analyzing the data, wherein the network RTK algorithm module can improve the analysis accuracy;
step f, importing the analyzed data in the network RTK algorithm module into a high-precision positioning system for analysis, transmitting the data analyzed by the high-precision positioning system back to the network RTK algorithm module for re-more-precise calculation, and transmitting the more-precise calculated data back to the high-precision positioning system;
step g, importing the data after analysis and feedback in the state measuring system, the attitude measuring system and the high-precision positioning system into a transmission system for analysis and processing;
and h, outputting the analyzed data in the transmission system to a detection result.
2. The method for measuring and controlling the automobile state according to claim 1, wherein in the step c, the BD satellite positioning signal module is supported by a continuously operating reference station system, and a data processing center processes the observed values of the reference stations and then establishes an accurate differential information calculation model; and correcting the calculated high-precision differential data by using a wireless network technology, and transmitting the corrected information to the mobile client.
3. The method for measuring and controlling the state of an automobile according to claim 1, wherein the high-precision positioning system in step f is a BD, a GPS and a ground-based differential GPS, and the high-precision positioning system is used for positioning the position of the automobile with high precision.
CN201810688489.4A 2018-06-28 2018-06-28 Automobile state measurement and control method Expired - Fee Related CN108762165B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810688489.4A CN108762165B (en) 2018-06-28 2018-06-28 Automobile state measurement and control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810688489.4A CN108762165B (en) 2018-06-28 2018-06-28 Automobile state measurement and control method

Publications (2)

Publication Number Publication Date
CN108762165A CN108762165A (en) 2018-11-06
CN108762165B true CN108762165B (en) 2020-10-30

Family

ID=63974597

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810688489.4A Expired - Fee Related CN108762165B (en) 2018-06-28 2018-06-28 Automobile state measurement and control method

Country Status (1)

Country Link
CN (1) CN108762165B (en)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20090005522A (en) * 2007-07-09 2009-01-14 서호전기주식회사 Position estimation device of the container transfortation vehicle and method thereof
CN103247199A (en) * 2013-05-15 2013-08-14 安徽三联交通应用技术股份有限公司 Precise measuring method for moving position and moving gesture of motor vehicle
CN106403964A (en) * 2016-08-30 2017-02-15 北汽福田汽车股份有限公司 Positioning navigation system and vehicle

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4798487B2 (en) * 2005-11-25 2011-10-19 株式会社アイ・トランスポート・ラボ Peripheral vehicle motion state estimation device, host vehicle motion state estimation device, host vehicle and surrounding vehicle motion state estimation device, and program
CN200979501Y (en) * 2006-04-19 2007-11-21 吉林大学 A complete auto moving state detecting system
CN100541121C (en) * 2007-01-18 2009-09-16 上海交通大学 Intelligent vehicular vision device and global localization method thereof based on ground texture
CN101419765A (en) * 2008-10-31 2009-04-29 广东工业大学 Synthetic experiment device for monitoring system
CN103018757B (en) * 2012-12-10 2015-04-22 中山大学 Monitoring and display system for position and three-dimensional attitude of floating and semi-submersible type mobile platform
CN103383464A (en) * 2013-05-17 2013-11-06 南京邮电大学 Method for improving locating precision in vehicle locating system
CN105319571A (en) * 2014-06-04 2016-02-10 北京嘉兴网泰科技有限公司 Global high-precision track measurement system
KR101473241B1 (en) * 2014-06-27 2014-12-16 한국해양과학기술원 Monitoring system for irregularity of tropospheric delay using weather sensor in network rtk, and monitoring method for irregularity of tropospheric delay using the same
CN108082279A (en) * 2016-11-22 2018-05-29 李彦松 A kind of automatic Steering Control System of Tractor Based

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20090005522A (en) * 2007-07-09 2009-01-14 서호전기주식회사 Position estimation device of the container transfortation vehicle and method thereof
CN103247199A (en) * 2013-05-15 2013-08-14 安徽三联交通应用技术股份有限公司 Precise measuring method for moving position and moving gesture of motor vehicle
CN106403964A (en) * 2016-08-30 2017-02-15 北汽福田汽车股份有限公司 Positioning navigation system and vehicle

Also Published As

Publication number Publication date
CN108762165A (en) 2018-11-06

Similar Documents

Publication Publication Date Title
RU2439497C1 (en) Automated system of navigation and survey control
KR101626606B1 (en) Apparatus of detecting position information for underground facilities
CN105387872A (en) Navigation and positioning performance testing device and method for autonomous mobile robot
CN101989363A (en) System and method for processing digital air data
CN103399335A (en) Mobile platform test system and error compensation algorithm
CN111158036A (en) Nacelle attitude real-time measurement, calculation and monitoring device
CN110095826A (en) Mobile weather station
US10908300B2 (en) Navigation method, navigation device and navigation system
CN110673170A (en) Method and terminal for testing dynamic single-point positioning accuracy
CN208044099U (en) Mobile weather station
Serr et al. Comparing GPS receivers: A field study
CN105319571A (en) Global high-precision track measurement system
CN108762165B (en) Automobile state measurement and control method
CN104898146A (en) Vehicle-mounted positioning device
Salih et al. The suitability of GPS receivers update rates for navigation applications
KR20010097597A (en) Navigation system using pseudolites
CN210401657U (en) Individual soldier radar positioning and orienting system
Günther et al. Developments towards a low-cost GNSS based sensor network for the monitoring of landslides
CN210180456U (en) Multi-mode combined receiving device for airborne radio navigation
Wang et al. Navigation system of pilotless aircraft via GPS
CN208360096U (en) A kind of monitoring system towards vehicle condition investigating method
CN208366625U (en) Motion state of automobile fault monitoring system
KR101475035B1 (en) Mobile accumbent apparatus using medium electric wave
RU2330320C1 (en) Mobile basic check point to provide for parameters of trajectory motion of aircraft and estimation of performances of aircraft instrumentation in flight tests
Bo et al. Research and experimental validation of the method for barometric altimeter aid GPS in challenged environment

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20201030

Termination date: 20210628

CF01 Termination of patent right due to non-payment of annual fee