CN109444929A - Vehicle positioning system based on vehicle CAN bus and satellite positioning - Google Patents
Vehicle positioning system based on vehicle CAN bus and satellite positioning Download PDFInfo
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- CN109444929A CN109444929A CN201811056717.2A CN201811056717A CN109444929A CN 109444929 A CN109444929 A CN 109444929A CN 201811056717 A CN201811056717 A CN 201811056717A CN 109444929 A CN109444929 A CN 109444929A
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- vehicle
- positioning
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- bus
- tuning
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention proposes a kind of vehicle positioning system based on vehicle CAN bus and satellite positioning, comprising: CAN bus, CAN data analysis device, global position system and the car-mounted terminal being installed in vehicle；CAN bus is connect with the input terminal of CAN data analysis device by OBD interface, and CAN data analysis device is inputted in car-mounted terminal by the vehicle driving parameter that parsing obtains by output end；Car-mounted terminal includes: tuning on-line data analysis module, is used to read the tuning on-line data of global position system, and tuning on-line data include satellite location data, timestamp and signal strength；Vehicle data read module reads vehicle driving parameter；Offline location data analysis module is used to generate the offline location data of vehicle driving trace generation according to vehicle driving parameter；Correction module is positioned, offline location data revision tuning on-line data is used, generates final positioning data of vehicles.
Description
Technical field
The invention belongs to field of locating technology more particularly to a kind of vehicle based on vehicle CAN bus and satellite positioning are fixed
Position system.
Background technique
The location information of vehicle is the important element for realizing intelligent transportation, such as navigation, traffic control, charge.With fixed
The continuous development of position technology, the requirement to positioning accuracy is higher and higher, and positioning result needs to distinguish on main road or bypass, bridge also
It is under bridge.Satellite and base station have become the basic technical means of vehicle location, but due to the road environment of vehicle driving complexity
It is changeable, it is blocked when reflecting in the covering of no signal or signal, cannot achieve continual accurate positioning, it is necessary to which auxiliary is other
Location technology.
In order to solve the above-mentioned technical problem, the present invention proposes that a kind of vehicle based on vehicle CAN bus and satellite positioning is fixed
Position system.This system, for the householder method under above situation as GPS positioning, is realized and is accurately positioned by specific algorithm.
More accurate data are provided for client to support.
Summary of the invention
To overcome the problems of the prior art, a kind of vehicle based on vehicle CAN bus and satellite positioning proposed by the present invention
Positioning system, comprising: CAN bus, CAN data analysis device, global position system and the car-mounted terminal being installed in vehicle；
The CAN bus is connect with the input terminal of the CAN data analysis device by OBD interface, the CAN data solution
Analysis apparatus is inputted in the car-mounted terminal by the vehicle driving parameter that parsing obtains by output end；
The car-mounted terminal includes:
Tuning on-line data analysis module, is used to read the tuning on-line data of the global position system, it is described
Line location data includes satellite location data, timestamp and signal strength；
Vehicle data read module reads the vehicle driving parameter；
Offline location data analysis module is used for proposed by the present invention described based on vehicle CAN bus and satellite positioning
Vehicle positioning system in, use offline location data revision tuning on-line data, generate final vehicle location
Data.
In the vehicle positioning system based on vehicle CAN bus and satellite positioning proposed by the present invention, the vehicle number
According to read module from the vehicle driving parameter that the CAN data analysis device is read include: the momentary rate of vehicle driving, direction
The deflection angle of disk and the timestamp for obtaining data.
It is described offline fixed in the vehicle positioning system based on vehicle CAN bus and satellite positioning proposed by the present invention
Position data analysis module meter pick up the car current time stamp instantaneous velocity and latter time stamp instantaneous velocity average value and
Time interval between timestamp calculates the ranging offset amount that vehicle occurs in the time interval.
It is described offline fixed in the vehicle positioning system based on vehicle CAN bus and satellite positioning proposed by the present invention
Position data analysis module meter takes surrounding time to stab the deflection angle of interior steering wheel, and is converted to the steering angle of pivoted wheels on vehicle, ties
Ranging offset amount and steering angle in one time interval of contract, generate the shift offset of vehicle in the time interval.
In the vehicle positioning system based on vehicle CAN bus and satellite positioning proposed by the present invention, the vehicle number
According to the maximum deflection angle of the further read direction disk of read module and the steering locking angle of pivoted wheels on vehicle；The offline positioning
Data analysis module converts the steering angle of pivoted wheels on vehicle in proportion by deflection angle and maximum deflection angle.
It is described online fixed in the vehicle positioning system based on vehicle CAN bus and satellite positioning proposed by the present invention
The geographical traffic information for receiving or prestoring vehicle region is configured that in the data analysis module of position；Geographical traffic information includes
The road conditions of travelable road and road.
In the vehicle positioning system based on vehicle CAN bus and satellite positioning proposed by the present invention, the positioning is repaired
Positive module is configured that the positioning correction module vehicle based on vehicle CAN bus and satellite positioning proposed by the present invention
In positioning system, it will be defined as off-line phase between two timestamps, is existed in off-line phase using the amendment of offline location data
Line location data generates final positioning data of vehicles.
In the vehicle positioning system based on vehicle CAN bus and satellite positioning proposed by the present invention, the positioning is repaired
Positive module is configured that the positioning correction module vehicle based on vehicle CAN bus and satellite positioning proposed by the present invention
In positioning system, it will be defined as off-line phase between two timestamps, in off-line phase just using the modification of offline location data
Tuning on-line data generate final positioning data of vehicles.
In the vehicle positioning system based on vehicle CAN bus and satellite positioning proposed by the present invention, the vehicle-mounted end
End further includes display device, for according to the geographical location where final positioning data of vehicles real-time display vehicle.
Compared with prior art, beneficial effects of the present invention: provided by the present invention based on CAN bus and satellite positioning
Vehicle positioning system is integrated on car-mounted terminal using the speed and steering wheel deflection information carried on automobile CAN-bus, real
Show the reckoning of vehicle driving trace while reducing equipment cost, also increases the precision of auxiliary positioning.
Detailed description of the invention
The structural schematic diagram of the vehicle positioning system the present invention is based on vehicle CAN bus and satellite positioning is shown in Fig. 1.
In Fig. 1,1-CAN bus, 2-CAN data analysis device, 3- car-mounted terminal, 4- global position system, 31- is fixed online
Position data analysis module, 32- vehicle data read module, the offline location data analysis module of 33-, 34- position correction module.
Specific embodiment
Below in conjunction with schematic diagram to proposed by the present invention described based on vehicle CAN bus and satellite
The vehicle positioning system of position is described in more detail, and which show the preferred embodiment of the present invention, it should be appreciated that this field
Technical staff can modify invention described herein, and still realize advantageous effects of the invention.Therefore, following description should
It is understood to for the widely known of those skilled in the art, and is not intended as limitation of the present invention.
As shown in Figure 1, in the preferred embodiment of the present invention, comprising: CAN bus 1, the CAN data solution being installed in vehicle
Analysis apparatus 2, global position system 4 and car-mounted terminal 3；The CAN bus 1 and the input terminal of the CAN data analysis device 2 are logical
The connection of OBD interface is crossed, the CAN data analysis device 2 inputs institute by output end by the vehicle driving parameter that parsing obtains
It states in car-mounted terminal 3；The car-mounted terminal 3 includes: tuning on-line data analysis module 31, is used to read the satellite positioning
The tuning on-line data of system 4, the tuning on-line data include satellite location data, timestamp and signal strength；Vehicle number
According to read module 32, the vehicle driving parameter is read；Offline location data analysis module 32 is used for of the invention preferred
In embodiment, offline location data revision tuning on-line data are used, final positioning data of vehicles is generated.
In the preferred embodiment of the present invention, the vehicle data read module 32 is read from the CAN data analysis device 2
Vehicle driving parameter include: the momentary rate of vehicle driving, steering wheel deflection angle and obtain data timestamp.
In the preferred embodiment of the present invention, the offline meter of location data analysis module 32 pick-up is in current time stamp
Time interval between the average value and timestamp of the instantaneous velocity of instantaneous velocity and latter time stamp, calculates vehicle in the time
The ranging offset amount occurred in interval.
In the preferred embodiment of the present invention, the offline meter of location data analysis module 32 takes surrounding time to stab interior steering wheel
Deflection angle, and be converted to the steering angle of pivoted wheels on vehicle, in conjunction with the ranging offset amount and steering angle in same time interval,
Generate the shift offset of vehicle in the time interval.
In the preferred embodiment of the present invention, the maximum deflection of the further read direction disk of the vehicle data read module 32
The steering locking angle of angle and pivoted wheels on vehicle；The offline location data analysis module 32 presses deflection angle and maximum deflection angle
Spend the steering angle for the pivoted wheels on vehicle that converts in proportion.
In the preferred embodiment of the present invention, reception or pre- bicycle parking are configured that in the tuning on-line data analysis module 31
The geographical traffic information of region；Geographical traffic information includes the road conditions of travelable road and road.
In the preferred embodiment of the present invention, the positioning correction module 34 is configured that positioning correction module 34 hairs
In bright preferred embodiment, it will be defined as off-line phase between two timestamps, offline location data is used in off-line phase
Tuning on-line data are corrected, final positioning data of vehicles is generated.
In the preferred embodiment of the present invention, the positioning correction module 34 is configured that positioning correction module 34 hairs
In bright preferred embodiment, it will be defined as off-line phase between two timestamps, offline location data is used in off-line phase
Just online location data is modified, final positioning data of vehicles is generated.
In the preferred embodiment of the present invention, the car-mounted terminal 3 further includes display device, for fixed according to final vehicle
Geographical location where the data real-time display vehicle of position.
The above is only a preferred embodiment of the present invention, does not play the role of any restrictions to the present invention.Belonging to any
Those skilled in the art, in the range of not departing from technical solution of the present invention, to the invention discloses technical solution and
Technology contents make the variation such as any type of equivalent replacement or modification, belong to the content without departing from technical solution of the present invention, still
Within belonging to the scope of protection of the present invention.
Claims (9)
1. a kind of vehicle positioning system based on vehicle CAN bus and satellite positioning characterized by comprising be installed on vehicle
Interior CAN bus, CAN data analysis device, global position system and car-mounted terminal；
The CAN bus is connect with the input terminal of the CAN data analysis device by OBD interface, the CAN data parsing dress
The vehicle driving parameter obtained by parsing is set to input in the car-mounted terminal by output end；
The car-mounted terminal includes:
Tuning on-line data analysis module is used to read the tuning on-line data of the global position system, described online fixed
Position data include satellite location data, timestamp and signal strength；
Vehicle data read module reads the vehicle driving parameter；
Offline location data analysis module is used to generate vehicle driving trace according to vehicle driving parameter and generates offline positioning number
According to；
Correction module is positioned, offline location data revision tuning on-line data is used, generates final vehicle location
Data.
2. the vehicle positioning system according to claim 1 based on vehicle CAN bus and satellite positioning, which is characterized in that
The vehicle data read module includes: the wink of vehicle driving from the vehicle driving parameter that the CAN data analysis device is read
When rate, steering wheel deflection angle and obtain data timestamp.
3. the vehicle positioning system according to claim 2 based on vehicle CAN bus and satellite positioning, which is characterized in that
An instantaneous velocity for instantaneous velocity and latter time stamp of the offline location data analysis module meter pick-up in current time stamp
Average value and timestamp between time interval, calculate the ranging offset amount that occurs in the time interval of vehicle.
4. the vehicle positioning system according to claim 3 based on vehicle CAN bus and satellite positioning, which is characterized in that
The offline location data analysis module meter takes surrounding time to stab the deflection angle of interior steering wheel, and is converted to pivoted wheels on vehicle
Steering angle generates the displacement bias of vehicle in the time interval in conjunction with the ranging offset amount and steering angle in same time interval
Amount.
5. the vehicle positioning system according to claim 4 based on vehicle CAN bus and satellite positioning, which is characterized in that
The maximum deflection angle of the further read direction disk of vehicle data read module and the steering locking angle of pivoted wheels on vehicle；Institute
Offline location data analysis module is stated to convert in proportion the steering angle of pivoted wheels on vehicle by deflection angle and maximum deflection angle.
6. the vehicle positioning system according to claim 1 based on vehicle CAN bus and satellite positioning, which is characterized in that
The geographical traffic information for receiving or prestoring vehicle region is configured that in the tuning on-line data analysis module；Ground line of reasoning
Condition information includes the road conditions of travelable road and road.
7. -6 described in any item vehicle positioning systems based on vehicle CAN bus and satellite positioning according to claim 1,
It is characterized in that, the positioning correction module is configured that the positioning correction module is low according to the signal strength of tuning on-line data
Restore two timestamps to more than threshold value in threshold value and again, off-line phase will be defined as between two timestamps, offline
Tuning on-line data are corrected using offline location data in stage, generate final positioning data of vehicles.
8. described in any item vehicle positioning systems based on vehicle CAN bus and satellite positioning of 1-6 are sought according to claim,
It is characterized in that, the positioning correction module is configured that the positioning correction module according to before tuning on-line loss of data and again
Secondary two timestamps for receiving tuning on-line data will be defined as off-line phase between two timestamps, make in off-line phase
Just online location data is modified with offline location data, generates final positioning data of vehicles.
9. the vehicle positioning system according to claim 8 based on vehicle CAN bus and satellite positioning, which is characterized in that
The car-mounted terminal further includes display device, for according to the geographical position where final positioning data of vehicles real-time display vehicle
It sets.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811056717.2A CN109444929B (en) | 2018-09-11 | 2018-09-11 | Vehicle positioning system based on vehicle CAN bus and satellite positioning |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811056717.2A CN109444929B (en) | 2018-09-11 | 2018-09-11 | Vehicle positioning system based on vehicle CAN bus and satellite positioning |
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| CN109444929B CN109444929B (en) | 2023-09-26 |
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Cited By (4)
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| CN113103869A (en) * | 2021-03-28 | 2021-07-13 | 大运汽车股份有限公司 | Vehicle clock synchronous display method |
| CN113543014A (en) * | 2020-03-31 | 2021-10-22 | 北京慧行实达科技有限公司 | Vehicle satellite positioning data aggregation optimization system and method thereof |
| CN116152950A (en) * | 2022-12-28 | 2023-05-23 | 宁波高新区阶梯科技有限公司 | Data processing method, device and system, electronic equipment and storage medium |
| CN116466382A (en) * | 2023-04-24 | 2023-07-21 | 贵州一招信息技术有限公司 | GPS-based high-precision real-time positioning system |
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| CN109444929B (en) | 2023-09-26 |
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